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Test:MRS UAV System - Test coverage reportLines:146662322263.2 %
Date:2024-01-14 11:12:21Functions:2477416059.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib/safety_zone +
0.0%
+ 		0.0 %0 / 80.0 %0 / 4
mrs_lib/src/geometry +
14.6%14.6%
+ 		14.6 %65 / 44514.9 %14 / 94
mrs_uav_state_estimators/src/estimators/heading +
18.9%18.9%
+ 		18.9 %88 / 46622.2 %12 / 54
mrs_uav_trajectory_generation/src/eth_trajectory_generation +
45.2%45.2%
+ 		45.2 %450 / 99629.5 %31 / 105
mrs_uav_trackers/src/speed_tracker +
14.8%14.8%
+ 		14.8 %61 / 41136.8 %7 / 19
mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
+ 		46.5 %66 / 14238.9 %7 / 18
mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
+ 		71.0 %66 / 9340.8 %49 / 120
mrs_lib/src/batch_visualizer +
47.1%47.1%
+ 		47.1 %192 / 40846.5 %20 / 43
mrs_lib/src/safety_zone/polygon +
40.8%40.8%
+ 		40.8 %42 / 10350.0 %4 / 8
mrs_lib/src/scope_timer +
14.1%14.1%
+ 		14.1 %20 / 14250.0 %5 / 10
mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
74.7%74.7%
+ 		74.7 %130 / 17450.0 %17 / 34
mrs_lib/include/mrs_lib/impl +
80.3%80.3%
+ 		80.3 %342 / 42655.6 %731 / 1315
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
+ 		58.3 %7 / 1257.1 %4 / 7
mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
50.2%50.2%
+ 		50.2 %314 / 62559.4 %19 / 32
mrs_lib/include/mrs_lib +
77.7%77.7%
+ 		77.7 %748 / 96359.3 %759 / 1279
mrs_uav_state_estimators/src/estimators/agl +
70.2%70.2%
+ 		70.2 %73 / 10460.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_trackers/src/mpc_tracker +
72.0%72.0%
+ 		72.0 %1205 / 167363.3 %31 / 49
mrs_uav_trackers/src/line_tracker +
67.9%67.9%
+ 		67.9 %322 / 47463.3 %19 / 30
mrs_uav_managers/src/control_manager +
59.4%59.4%
+ 		59.4 %2198 / 369966.4 %81 / 122
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_trackers/src/landoff_tracker +
72.3%72.3%
+ 		72.3 %428 / 59267.7 %21 / 31
mrs_uav_managers/src/control_manager/common +
40.9%40.9%
+ 		40.9 %230 / 56367.7 %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/include/mrs_uav_state_estimators/estimators +
58.2%58.2%
+ 		58.2 %402 / 69172.5 %66 / 91
mrs_uav_state_estimators/src/estimators/altitude +
56.3%56.3%
+ 		56.3 %209 / 37173.3 %22 / 30
mrs_uav_managers/include/transform_manager +
52.0%52.0%
+ 		52.0 %207 / 39873.7 %14 / 19
mrs_uav_state_estimators/src/estimators/state +
70.7%70.7%
+ 		70.7 %311 / 44075.7 %28 / 37
mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
+ 		64.9 %120 / 18576.9 %10 / 13
mrs_lib/src/transformer +
66.1%66.1%
+ 		66.1 %185 / 28076.9 %20 / 26
mrs_uav_managers/src +
67.5%67.5%
+ 		67.5 %1151 / 170479.5 %58 / 73
mrs_lib/src/timeout_manager +
79.0%79.0%
+ 		79.0 %49 / 6281.8 %9 / 11
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/src/estimators/lateral +
58.3%58.3%
+ 		58.3 %236 / 40583.3 %25 / 30
mrs_uav_managers/src/estimation_manager +
69.7%69.7%
+ 		69.7 %427 / 61385.1 %40 / 47
mrs_uav_controllers/src +
80.4%80.4%
+ 		80.4 %1746 / 217287.9 %58 / 66
mrs_lib/src/safety_zone +
63.3%63.3%
+ 		63.3 %31 / 4988.9 %8 / 9
mrs_lib/src/profiler +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
mrs_uav_managers/src/transform_manager +
81.4%81.4%
+ 		81.4 %355 / 43692.3 %12 / 13
mrs_lib/src/median_filter +
89.1%89.1%
+ 		89.1 %82 / 9294.1 %16 / 17
mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
+ 		97.2 %106 / 10994.4 %17 / 18
mrs_lib/src/attitude_converter +
94.6%94.6%
+ 		94.6 %212 / 22495.1 %39 / 41
mrs_uav_trajectory_generation/src +
61.6%61.6%
+ 		61.6 %637 / 103495.5 %21 / 22
mrs_lib/src/math +
100.0%
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0.0%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
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mrs_uav_trackers/src/joy_tracker +
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mrs_uav_managers/src/estimation_manager/estimators +
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mrs_uav_trajectory_generation/src +
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation +
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_uav_managers/src +
67.5%67.5%
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mrs_uav_trackers/src/line_tracker +
67.9%67.9%
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mrs_uav_managers/src/estimation_manager +
69.7%69.7%
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mrs_uav_state_estimators/src/estimators/agl +
70.2%70.2%
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mrs_uav_state_estimators/src/estimators/state +
70.7%70.7%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_uav_trackers/src/mpc_tracker +
72.0%72.0%
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mrs_uav_trackers/src/landoff_tracker +
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80.0%80.0%
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88.5%88.5%
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mrs_lib/src/math +
100.0%
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100.0%
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47.1%47.1%
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mrs_lib/src/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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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/utils +
100.0%
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mrs_uav_autostart/src +
88.5%88.5%
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mrs_uav_controllers/include +
94.8%94.8%
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mrs_uav_controllers/src +
80.4%80.4%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_uav_managers/include/mrs_uav_managers +
100.0%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_managers/include/transform_manager +
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mrs_uav_managers/src +
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mrs_uav_managers/src/control_manager +
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mrs_uav_managers/src/control_manager/common +
40.9%40.9%
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mrs_uav_managers/src/estimation_manager +
69.7%69.7%
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mrs_uav_managers/src/estimation_manager/estimators +
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mrs_uav_managers/src/transform_manager +
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100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
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58.3%58.3%
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mrs_uav_trackers/src/mpc_tracker +
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mrs_uav_trackers/src/speed_tracker +
14.8%14.8%
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mrs_uav_trajectory_generation/include/eth_mav_msgs +
100.0%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation +
64.9%64.9%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
50.2%50.2%
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mrs_uav_trajectory_generation/src +
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
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mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly +
91.3%91.3%
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+
+
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2024-01-14 11:12:21Functions:91275.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::EulerFormatException::what() const0
auto mrs_lib::AttitudeConverter::get<0ul>()1
auto mrs_lib::AttitudeConverter::get<1ul>()1
auto mrs_lib::AttitudeConverter::get<2ul>()1
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv58126
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)191265
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)362801
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2024-01-14 11:12:21Functions:91275.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)191265
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>)362801
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_Li0EEEIdEEv58126
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232979.3 %
Date:2024-01-14 11:12:21Functions: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      191265 :   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     8905313 :   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      362801 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      361921 :     double       angle = angle_axis.angle();
+     255      361596 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      362389 :     tf2_quaternion_.setRotation(axis, angle);
+     258      362185 :   }
+     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       58126 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335       58126 :     return Eigen::Quaternion<T>(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     336             :   }
+     337             : 
+     338             :   operator Eigen::Matrix3d() const;
+     339             : 
+     340             :   /**
+     341             :    * @brief typecase to tuple of Euler angles in extrinsic RPY
+     342             :    *
+     343             :    * @return std::tuple of extrinsic RPY
+     344             :    */
+     345             :   operator std::tuple<double&, double&, double&>();
+     346             : 
+     347             :   /**
+     348             :    * @brief typecase to tf2::Matrix3x3
+     349             :    *
+     350             :    * @return tf2::Matrix3x3 rotational matrix
+     351             :    */
+     352             :   operator tf2::Matrix3x3() const;
+     353             : 
+     354             :   /**
+     355             :    * @brief typecase to tf2::Transform
+     356             :    *
+     357             :    * @return tf2::Transform
+     358             :    */
+     359             :   operator tf2::Transform() const;
+     360             : 
+     361             :   //}
+     362             : 
+     363             :   /* getters //{ */
+     364             : 
+     365             :   /**
+     366             :    * @brief get the roll angle
+     367             :    *
+     368             :    * @return roll
+     369             :    */
+     370             :   double getRoll(void);
+     371             : 
+     372             :   /**
+     373             :    * @brief get the pitch angle
+     374             :    *
+     375             :    * @return pitch
+     376             :    */
+     377             :   double getPitch(void);
+     378             : 
+     379             :   /**
+     380             :    * @brief get the yaw angle
+     381             :    *
+     382             :    * @return yaw
+     383             :    */
+     384             :   double getYaw(void);
+     385             : 
+     386             :   /**
+     387             :    * @brief get the angle of the rotated x-axis in the original XY plane, a.k.a
+     388             :    *
+     389             :    * @return heading
+     390             :    */
+     391             :   double getHeading(void);
+     392             : 
+     393             :   /**
+     394             :    * @brief get heading rate base on the orientation and body-based attitude rate
+     395             :    *
+     396             :    * @param attitude_rate in the body frame
+     397             :    *
+     398             :    * @return heading rate in the world
+     399             :    */
+     400             :   double getHeadingRate(const Vector3Converter& attitude_rate);
+     401             : 
+     402             :   /**
+     403             :    * @brief get the intrinsic yaw rate from a heading rate
+     404             :    *
+     405             :    * @param heading_rate
+     406             :    *
+     407             :    * @return intrinsic yaw rate
+     408             :    */
+     409             :   double getYawRateIntrinsic(const double& heading_rate);
+     410             : 
+     411             :   /**
+     412             :    * @brief get a unit vector pointing in the X direction
+     413             :    *
+     414             :    * @return the vector
+     415             :    */
+     416             :   Vector3Converter getVectorX(void);
+     417             : 
+     418             :   /**
+     419             :    * @brief get a unit vector pointing in the Y direction
+     420             :    *
+     421             :    * @return the vector
+     422             :    */
+     423             :   Vector3Converter getVectorY(void);
+     424             : 
+     425             :   /**
+     426             :    * @brief get a unit vector pointing in the Z direction
+     427             :    *
+     428             :    * @return the vector
+     429             :    */
+     430             :   Vector3Converter getVectorZ(void);
+     431             : 
+     432             :   /**
+     433             :    * @brief get the Roll, Pitch, Yaw angles in the Intrinsic convention
+     434             :    *
+     435             :    * @return RPY
+     436             :    */
+     437             :   std::tuple<double, double, double> getIntrinsicRPY();
+     438             : 
+     439             :   /**
+     440             :    * @brief get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverter assignment.
+     441             :    *
+     442             :    * @return RPY
+     443             :    */
+     444             :   std::tuple<double, double, double> getExtrinsicRPY();
+     445             : 
+     446             :   //}
+     447             : 
+     448             :   /* setters //{ */
+     449             : 
+     450             :   /**
+     451             :    * @brief Updates the heading of the current orientation by updating the intrinsic yaw
+     452             :    *
+     453             :    * @param new heading
+     454             :    *
+     455             :    * @return the orientation
+     456             :    */
+     457             :   AttitudeConverter setHeading(const double& heading);
+     458             : 
+     459             :   /**
+     460             :    * @brief Updates the extrinsic yaw of the current orientation.
+     461             :    *
+     462             :    * @param new yaw
+     463             :    *
+     464             :    * @return the orientation
+     465             :    */
+     466             :   AttitudeConverter setYaw(const double& new_yaw);
+     467             : 
+     468             :   //}
+     469             : 
+     470             :   template <std::size_t I>
+     471             :   constexpr auto get();
+     472             : 
+     473             : private:
+     474             :   /**
+     475             :    * @brief Internal representation of the attitude
+     476             :    */
+     477             :   tf2::Quaternion tf2_quaternion_;
+     478             : 
+     479             :   /**
+     480             :    * @brief convert the internal quaternion representation to internally-stored RPY
+     481             :    */
+     482             :   void calculateRPY(void);
+     483             : 
+     484             :   /**
+     485             :    * @brief throws exception when the internal attitude is invalid
+     486             :    */
+     487             :   void validateOrientation(void);
+     488             : 
+     489             :   /**
+     490             :    * @brief Internal representation in RPY. is used only when converting to RPY.
+     491             :    */
+     492             :   double roll_, pitch_, yaw_;
+     493             :   bool   got_rpy_ = false;
+     494             : };
+     495             : 
+     496             : 
+     497             : template <std::size_t I>
+     498           3 : constexpr auto AttitudeConverter::get() {
+     499             : 
+     500           3 :   calculateRPY();
+     501             : 
+     502             :   // call compilation error if I > 2
+     503             :   static_assert(I <= 2);
+     504             : 
+     505             :   // get the RPY components based on the index in the tuple
+     506             :   if constexpr (I == 0) {
+     507           1 :     return static_cast<double>(roll_);
+     508             :   } else if constexpr (I == 1) {
+     509           1 :     return static_cast<double>(pitch_);
+     510             :   } else if constexpr (I == 2) {
+     511           1 :     return static_cast<double>(yaw_);
+     512             :   }
+     513             : }
+     514             : 
+     515             : }  // namespace mrs_lib
+     516             : 
+     517             : template <>
+     518             : struct std::tuple_size<mrs_lib::AttitudeConverter>
+     519             : { static constexpr int value = 3; };
+     520             : 
+     521             : template <>
+     522             : struct std::tuple_element<0, mrs_lib::AttitudeConverter>
+     523             : { using type = double; };
+     524             : 
+     525             : template <>
+     526             : struct std::tuple_element<1, mrs_lib::AttitudeConverter>
+     527             : { using type = double; };
+     528             : 
+     529             : template <>
+     530             : struct std::tuple_element<2, mrs_lib::AttitudeConverter>
+     531             : { using type = double; };
+     532             : 
+     533             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html new file mode 100644 index 0000000000..2b64ca38c0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html @@ -0,0 +1,154 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..708a493ebf15f10db204e2e60e12329b8d395a7e GIT binary patch literal 1660 zcmV-?27~#DP)R0{{R3v^8aD0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpRn< zn<Azo}&sJLrpMfT}Pk+x>i}3hiljFHK z=1Nx63Ge-A7s_wY#}A;7K_$0eSJB5@;!Ad26IP|lfkJ+RKBhZ9E4{puJ|+}x(auDu z?H?sLe)+F(^ZMR@@_I9l>Kx;4hh8wGCYr@qx`f!S-&ue#U?kaB6m>R9jXC>0F*Gmv zD*IONA90PfVxLS6+4!nwu!Ld0RkLv=feXAR39S|zysf41%n*9@N_kZ z0nd1UO$<-I#!3b_^57YmmqdHo<|TtiWL_+IhUdx1@EACb*78CE4@_bhji)^$-%Q+{ zNuUg>$wxKo%?xoHXPSEKVf8W-QZE|vH62!(l%U}139qC)9-R^UkAz0S(hA;flFD%}&FKWlTp zTlI*9*sfdfv{^AS=rtKFNA}6bn?}T5Su@q&;*{M zu{0DpZou!0}f;Q=#?<=C6FFLhk`p zp7zw0`xGAoZtpz_n1d@;iU~*Zp}2HlDV=>YrNrQMfm7$Q@noICIr}(qQNA7_2XK(p zr&p|CkRwAMUGn)h;$IVDy9R(y2q_%%_UF*!vH;JsDTyakz->A5X~Nrm*Hn1ss|50X zxSkjIgJ;a~51t`MUT)^9{~=JF{CIEjQ9GTC6E~GrgvY=6U*W-XeD~t4BuNHfWNey2 zdV*x<05e?5#Q4cdQJvB-65qlE+}R!Gg$)_-sRY*nTnzUqR#+xs^4O4z%Ly$R@JKM9 z5Cbd110it=1;_6W9GNy_pd3|MfH0VnuXDxUaik6=21zg`TQ9p=gAv3v$WfwZ;V1lx z6GUE0#TDb|rj@G)ZMNg8f5IQ#&>kh0eqeD(T5M_+Sw$Rgc}Bxtlj(*NS9C!ONE5$u z@4k+7+!Kse)q8q9w?-|l1J5=s;VGx>wf&&fy<>{J{80000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-01-14 11:12:21Functions: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&)65
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)65
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)65
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&)65
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)117
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)117
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)117
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&)117
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)130
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&)195
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&)195
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)195
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)195
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)234
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&)247
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&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)247
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)247
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)247
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&)247
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&)351
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&)351
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)351
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)351
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)494
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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..8a9164c957 --- /dev/null +++ b/mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h.func.html @@ -0,0 +1,420 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-01-14 11:12:21Functions: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&)247
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&)247
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&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)494
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)247
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*&)247
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)247
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)247
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&)247
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&)195
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&)195
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&)65
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)130
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)65
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)65
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*&)195
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)195
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&)65
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&)351
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&)351
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&)117
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)234
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)117
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)117
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*&)351
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)351
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&)117
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-01-14 11:12:21Functions:288532.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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         429 :   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         429 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         429 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         429 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         429 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         247 :   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         858 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73         858 :     m_server.updateConfig(cfg);
+      74         858 :   }
+      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         429 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         429 :     if (m_print_values)
+     109             :     {
+     110         429 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         429 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         429 :     if (m_not_initialized)
+     117             :     {
+     118         429 :       load_defaults(new_config);
+     119         429 :       update_config(new_config);
+     120             :     }
+     121         429 :     if (m_print_values)
+     122             :     {
+     123         429 :       print_changed_params(new_config);
+     124             :     }
+     125         429 :     m_not_initialized = false;
+     126         429 :     config = new_config;
+     127         429 :     if (m_usr_cbf)
+     128         182 :       m_usr_cbf(new_config, level);
+     129         429 :   }
+     130             : 
+     131             :   template <typename T>
+     132         793 :   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        1586 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136         793 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137         793 :   }
+     138             :   
+     139         429 :   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         858 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143        1222 :     for (auto& descr : descrs)
+     144             :     {
+     145        1586 :       std::string name = descr->name;
+     146         793 :       size_t pos = name.find("__");
+     147         793 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153         793 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155         793 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157         793 :       else if (descr->type == "double")
+     158         793 :         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         429 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         429 :   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         858 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174        1222 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177         793 :       descr->getValue(new_config, val);
+     178         793 :       descr->getValue(config, old_val);
+     179         793 :       std::string name = descr->name;
+     180         793 :       const size_t pos = name.find("__");
+     181         793 :       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         793 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202         793 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204         793 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205         793 :           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         429 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224         793 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226         793 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229         793 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230         793 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        1586 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        1586 :     return (out = boost::any_cast<T>(&val));
+     236             :   }
+     237             :   template <typename T>
+     238           0 :   inline bool try_compare(boost::any& val, T*& to_what)
+     239             :   {
+     240             :     T* tmp;
+     241           0 :     if ((tmp = boost::any_cast<T>(&val)))
+     242             :     {
+     243             :       /* std::cout << std::endl << *tmp << " vs " << *to_what << std::endl; */
+     244           0 :       return *tmp == *to_what;
+     245             :     } else
+     246             :     {  // the value should not change during runtime - this should never happen (but its better to be safe than sorry)
+     247           0 :       if (m_node_name.empty())
+     248           0 :         ROS_WARN("DynamicReconfigure value type has changed - this should not happen!");
+     249             :       else
+     250           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: DynamicReconfigure value type has changed - this should not happen!");
+     251           0 :       return false;
+     252             :     }
+     253             :   }
+     254             : };
+     255             : //}
+     256             : 
+     257             : }
+     258             : 
+     259             : #endif // DYNAMIC_RECONFIGURE_MGR_H
+
+
+
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::sdegrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::sradians const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>&&)6
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)198
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::unwrap(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::unwrap(double, double)10001
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)10008
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10428
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(double)20000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::wrap(double)30000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)236491
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)337992
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)396358
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)396360
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)396360
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)452545
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)492722
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>)584491
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)812740
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)1198799
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)1221757
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)1976120
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)1987818
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>)2393954
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)4887909
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)5377398
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-01-14 11:12:21Functions:4611739.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::diff(double, double)10000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::wrap(double)30005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::unwrap(double, double)10000
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(double)20005
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)198
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>)584491
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)337992
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>)236491
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10428
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)1221757
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&)452545
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)492722
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)1198799
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)396358
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)396360
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>)2393954
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)1987818
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)5377398
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)396360
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)1976120
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&)812740
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)4887909
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-01-14 11:12:21Functions:4611739.3 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines the cyclic class for calculations with cyclic quantities.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef CYCLIC_H
+       8             : #define CYCLIC_H
+       9             : 
+      10             : #include <cmath>
+      11             : #include <ostream>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             :   namespace geometry
+      16             :   {
+      17             :     /**
+      18             :      * \brief Implementation of the a general cyclic value (such as angles in radians/degrees etc).
+      19             :      *
+      20             :      * This class implements a periodical value with a period of \f$ r \in {\rm I\!R} \f$ so that a general number \f$ v \in {\rm I\!R} \f$ represents the same
+      21             :      * value as \f$ v + kr,~k \in {\rm I\!N} \f$. For the purposes of calculations in this class, \f$ v \f$ is confined to a half-open interval \f$ v \in
+      22             :      * [~m,~s~[ \f$, where \f$ m \f$ is the minimum of this interval and \f$ s \f$ is its supremum, and \f$ s = m + r \f$ holds. This approach enables
+      23             :      * representing \f$ v \f$ in different intervals on the real numbers axis; eg. angle in radians may be represented within the interval \f$ v \in
+      24             :      * [~-\pi,~\pi~[ \f$ or \f$ v \in [~0,~2\pi~[ \f$, according to the needs of the specific application. The period \f$ r \f$ is called \p range for the
+      25             :      * purposes of this class, as it represents range of the interval of valid ("wrapped") values of \f$ v \f$.
+      26             :      *
+      27             :      * This class may be used as an object or its static methods may be used on regular floating-point types, avoiding any object-related overheads (see
+      28             :      * example). Specializations for the most common cyclic values are provided and a new specialization may be easily created simply by inheriting from this
+      29             :      * class and specifying a different minimum and supremum values.
+      30             :      *
+      31             :      * Implementation inspired by: https://www.codeproject.com/Articles/190833/Circular-Values-Math-and-Statistics-with-Cplusplus
+      32             :      *
+      33             :      * \parblock
+      34             :      * \note For a better intuitive understanding of the used functions, the term **walk** is sometimes used in the function explanations.
+      35             :      * You can imagine walking along the circle from one angle to another (represented by the circular quantities).
+      36             :      * The walk may be the shortest - then you're walking in such a manner that you reach the other point in the least of steps.
+      37             :      * The walk may also be oriented - then you're walking in a specific direction (ie. according to the increasing/decreasing angle).
+      38             :      * \endparblock
+      39             :      *
+      40             :      * \parblock
+      41             :      * \note The terms **circular quantity** and **value** are used in the function explanations.
+      42             :      * A circular quantity is eg. an angle and the same quantity may be represented using different values: the same angle is represented by the values of 100
+      43             :      * degrees and 460 degrees. \endparblock
+      44             :      *
+      45             :      * \tparam flt floating data type to be used by this class.
+      46             :      */
+      47             :     template <typename flt, class spec>
+      48             :     struct cyclic
+      49             :     {
+      50             :       /*!
+      51             :        * \brief Default constructor.
+      52             :        *
+      53             :        * Sets the value to the minimum.
+      54             :        */
+      55           0 :       cyclic() : val(minimum){};
+      56             :       /*!
+      57             :        * \brief Constructor overload.
+      58             :        *
+      59             :        * \param val initialization value (will be wrapped).
+      60             :        */
+      61     6128423 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67     1306088 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      452545 :       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     6659160 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117     6659160 :         if (val >= minimum)
+     118             :         {
+     119     6138377 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120     5910160 :             return val;
+     121      226404 :           else if (val < supremum + range)
+     122       63750 :             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      520782 :           if (val >= minimum - range)
+     126      356848 :             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      326603 :         const flt rem = std::fmod(val - minimum, range);
+     131      326603 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326386 :         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     2006350 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     2006350 :         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     2345810 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     2345810 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     2999300 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     2999300 :         const flt d = minuend.val - subtrahend.val;
+     201     2999102 :         if (d < -half_range)
+     202       22860 :           return d + range;
+     203     2976440 :         if (d >= half_range)
+     204       21209 :           return d - range;
+     205     2954391 :         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       20428 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20428 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      246927 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      246927 :         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      396558 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244      396558 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247      396556 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249      396556 :         const flt dang = diff(to, from);
+     250      396557 :         const flt intp = from.val + coeff * dang;
+     251      396359 :         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      396558 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266      396558 :         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&)66791
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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&)66791
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       66797 :     double headingFromRot(const T& rot)
+      58             :     {
+      59       66797 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60      133593 :       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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Date:2024-01-14 11:12:21Functions:44100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)1123
mrs_lib::UTM(double, double, double*, double*)7154
mrs_lib::LLtoUTM(double, double, double&, double&, char*)115180
mrs_lib::UTMLetterDesignator(double)115268
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMLetterDesignator(double)115268
mrs_lib::UTM(double, double, double*, double*)7154
mrs_lib::LLtoUTM(double, double, double&, double&, char*)115180
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)1123
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Date:2024-01-14 11:12:21Functions:44100.0 %
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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        7154 :   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        7154 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        7154 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        7154 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        7154 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        7154 :     double slat = sin(rlat);
+      71        7154 :     double clat = cos(rlat);
+      72        7154 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        7154 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        7154 :     double T = tlat * tlat;
+      78        7154 :     double C = UTM_EP2 * clat * clat;
+      79        7154 :     double A = (rlon - rlon0) * clat;
+      80        7154 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        7154 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        7154 :     *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        7117 :     *y = fn +
+      86        7117 :          UTM_K0 *
+      87        7131 :              (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        7117 :     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      115268 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104      115268 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106      115268 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108      115268 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110      115268 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112      115268 :     else if ((48 > Lat) && (Lat >= 40))
+     113      114669 :       LetterDesignator = 'T';
+     114         599 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116         599 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118         599 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120         599 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122         599 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124         597 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126         597 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128         597 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130         597 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132         597 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134         597 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136         597 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138         597 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140         597 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142         597 :     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         597 :       LetterDesignator = 'Z';
+     147      115268 :     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      115180 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160      115180 :     double a          = WGS84_A;
+     161      115180 :     double eccSquared = UTM_E2;
+     162      115180 :     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      115180 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171      115180 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172      115180 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176      115180 :     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      115180 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181      115180 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184      115180 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188      115180 :     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      115180 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200      115180 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203      115180 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205      114809 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207      114809 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208      114809 :     T = tan(LatRad) * tan(LatRad);
+     209      114809 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210      114809 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212      114809 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213      114809 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214      114809 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215      114809 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217      114809 :     UTMEasting =
+     218      114809 :         (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      114809 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221      114809 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222      114809 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223      114809 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225      114809 :   }
+     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        1123 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246        1123 :     double                  k0         = UTM_K0;
+     247        1123 :     double                  a          = WGS84_A;
+     248        1123 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250        1123 :     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        1123 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261        1123 :     y = UTMNorthing;
+     262             : 
+     263        1123 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264        1123 :     if ((*ZoneLetter - 'N') >= 0)
+     265        1123 :       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        1123 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273        1123 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275        1123 :     M  = y / k0;
+     276        1123 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278        1123 :     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        1123 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280        1123 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282        1123 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283        1123 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284        1123 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285        1123 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286        1123 :     D  = x / (N1 * k0);
+     287             : 
+     288        1123 :     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        1123 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290        1123 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292        1123 :     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        1123 :            cos(phi1Rad);
+     294        1123 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295        1123 :   }
+     296             : 
+     297             :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, std::string UTMZone, double& Lat, double& Long) {
+     298             :     UTMtoLL(UTMNorthing, UTMEasting, UTMZone.c_str(), Lat, Long);
+     299             :   }
+     300             : 
+     301             : }  // namespace mrs_lib
+     302             : 
+     303             : #endif  // _UTM_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/gps_conversions.h.gcov.overview.html b/mrs_lib/include/mrs_lib/gps_conversions.h.gcov.overview.html new file mode 100644 index 0000000000..68d9ba32f7 --- /dev/null +++ b/mrs_lib/include/mrs_lib/gps_conversions.h.gcov.overview.html @@ -0,0 +1,96 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/gps_conversions.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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/gps_conversions.h.gcov.png b/mrs_lib/include/mrs_lib/gps_conversions.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3b04ca2bf9dcbddc89b129fb7f6bb4873f2132a0 GIT binary patch literal 1579 zcmV+`2Gse9P)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp>!TNJ4nq%^v^ler$H% z-fGj283TL_eNc!daET)KWeBvhBxf5jz7ROi+L~EQtw8IXG#cq#z{Pf1QwoNjE3Q;L_XG4ZzCaS$Wkr3rWB)BwWg1J;Ip z#I%f?mEo1fv8}9i04CydK#LT4AfE#3iIIV}qG;NaaYj8;+R3c#R*oW`njN6}!IZP9 z>`W;WIhb_O=(Rlq5^KX#Eq*ubjKq)6fja|m_Ad$fCGrewUdE@p9+YICmBLTakAINEX-m5I3bdg$}B-DI)NSFHk}aY2MW|O z0>v3%gaQ-dLfpBb6pOY#7cl}SKmhzgTZ^vZNM#LT>I8s7+=S0wU6a}(xRVS>(+zQJmQfThl2P}%NphW{7P8f){}lgI{0WK?_jo;?@qqvF z@Pa$Ij%RvyORKoa$h9zCXQJjeGO72<4^RN1OxJJ$fhetHDLKiKWu)AetW5#bx3&Np zAY=1>L9>5#LN_#tS69Q~w4#w&JLcamY80MgK*mIVdY~;+i zAH2XmNI{i2=!j(Ptl3&doU6RtBHI`$T}ZW-vl8OUCz>!;o-hbhlX`waFdBMpCcY-NRE zjkQo@ADT$pP>lm)cOV>fH`b!IGz-MBP%{|2$6-jz*W_Kgoo4 z-Vi>K?h7we%(k^voXy!5ycx8!pH}ZS{9&uO3*P$rfmIw`$qj8b@<+8KJProU zng?MTV^FcEI}xS)n^ zXQyICM$GTZC6Z+EC9wFd|E_{aH+n)ToH1<~#Dv2_^J=fLp6Jy;E8iS|Q + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-14 11:12:21Functions:731131555.6 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.7 %437 / 1000
<unnamed>75.8 %91 / 12043.7 %437 / 1000
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
<unnamed>85.9 %55 / 6483.3 %40 / 48
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
<unnamed>64.3 %9 / 1487.5 %14 / 16
publisher_handler.hpp +
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+ 		84.6 %44 / 5296.5 %192 / 199
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timer.hpp +
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+ 		87.5 %14 / 16100.0 %3 / 3
<unnamed>87.5 %14 / 16100.0 %3 / 3
service_client_handler.hpp +
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+ 		92.9 %52 / 56100.0 %37 / 37
<unnamed>92.9 %52 / 56100.0 %37 / 37
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-14 11:12:21Functions:731131555.6 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
<unnamed>64.3 %9 / 1487.5 %14 / 16
ukf.hpp +
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<unnamed>74.0 %77 / 10466.7 %8 / 12
subscribe_handler.hpp +
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publisher_handler.hpp +
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<unnamed>84.6 %44 / 5296.5 %192 / 199
transformer.hpp +
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timer.hpp +
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service_client_handler.hpp +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-14 11:12:21Functions:731131555.6 %
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 +
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timer.hpp +
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transformer.hpp +
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ukf.hpp +
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+ 		74.0 %77 / 10466.7 %8 / 12
<unnamed>74.0 %77 / 10466.7 %8 / 12
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index-sort-f.html b/mrs_lib/include/mrs_lib/impl/index-sort-f.html new file mode 100644 index 0000000000..d779104055 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index-sort-f.html @@ -0,0 +1,162 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-14 11:12:21Functions:731131555.6 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.7 %437 / 1000
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
publisher_handler.hpp +
84.6%84.6%
+ 		84.6 %44 / 5296.5 %192 / 199
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
service_client_handler.hpp +
92.9%92.9%
+ 		92.9 %52 / 56100.0 %37 / 37
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index-sort-l.html b/mrs_lib/include/mrs_lib/impl/index-sort-l.html new file mode 100644 index 0000000000..52c8a28306 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index-sort-l.html @@ -0,0 +1,162 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-14 11:12:21Functions:731131555.6 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.7 %437 / 1000
publisher_handler.hpp +
84.6%84.6%
+ 		84.6 %44 / 5296.5 %192 / 199
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
timer.hpp +
87.5%87.5%
+ 		87.5 %14 / 16100.0 %3 / 3
service_client_handler.hpp +
92.9%92.9%
+ 		92.9 %52 / 56100.0 %37 / 37
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index.html b/mrs_lib/include/mrs_lib/impl/index.html new file mode 100644 index 0000000000..a9c49d196f --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index.html @@ -0,0 +1,162 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:34242680.3 %
Date:2024-01-14 11:12:21Functions:731131555.6 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 1487.5 %14 / 16
publisher_handler.hpp +
84.6%84.6%
+ 		84.6 %44 / 5296.5 %192 / 199
service_client_handler.hpp +
92.9%92.9%
+ 		92.9 %52 / 56100.0 %37 / 37
subscribe_handler.hpp +
75.8%75.8%
+ 		75.8 %91 / 12043.7 %437 / 1000
timer.hpp +
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+ 		87.5 %14 / 16100.0 %3 / 3
transformer.hpp +
85.9%85.9%
+ 		85.9 %55 / 6483.3 %40 / 48
ukf.hpp +
74.0%74.0%
+ 		74.0 %77 / 10466.7 %8 / 12
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html new file mode 100644 index 0000000000..44a8e79f6e --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html @@ -0,0 +1,144 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-01-14 11:12:21Functions:141687.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const0
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const1
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const1
bool mrs_lib::ParamProvider::getParamImpl<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const1112
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> >&) const1112
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> > > >&) const2187
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> > > >&) const2187
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3473
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3473
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> >&) const10313
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> >&) const10313
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const12366
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const12366
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const25437
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const25437
+
+
+ + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-01-14 11:12:21Functions: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> >&) const10313
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> > > >&) const2187
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> >&) const1112
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&) const12366
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const25437
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3473
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> >&) const10313
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> > > >&) const2187
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> >&) const1112
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&) const12366
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const25437
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const3473
+
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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..c6ffed69aa --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-01-14 11:12:21Functions: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       54889 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       54889 :       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       54889 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       54889 :       const auto found_node = findYamlNode(param_name);
+      27       54889 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       47276 :           value_out = found_node.value().as<T>();
+      33       47277 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41        7612 :     if (m_use_rosparam)
+      42        7612 :       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:445284.6 %
Date:2024-01-14 11:12:21Functions:19219996.5 %
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&)1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<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&)16
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)16
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&)16
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&)62
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)62
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&)62
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&)62
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&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)62
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&)62
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&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)62
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&)62
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&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)62
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&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)62
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&)62
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&)62
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)62
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&)63
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&)63
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&)65
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)65
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&)65
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::publish(std_msgs::Int64_<std::allocator<void> > const&)110
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)125
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&)128
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)128
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&)128
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&)182
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)182
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&)182
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&)186
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)186
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&)186
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&)247
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)247
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&)247
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&)248
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)248
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&)248
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)253
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&)311
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&)311
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&)362
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)362
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&)362
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&)372
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)372
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&)372
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
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&)494
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)494
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&)494
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)963
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)963
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)965
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)965
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1008
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1008
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1205
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1205
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1227
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1227
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1276
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1276
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)3522
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)3522
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6230
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6230
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)6986
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)6986
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)7629
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)7629
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)8532
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)8532
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)9842
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)9842
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)10245
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)10245
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)13647
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)13647
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)13647
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)13647
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)20927
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)20927
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)54111
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)54111
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)54602
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)54602
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)65407
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)65407
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)79962
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)79962
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)98806
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)98806
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)102433
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)123345
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)123388
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)146100
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)146100
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)214908
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)214914
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)220998
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)221122
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)289465
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)289986
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)413214
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)413478
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)484144
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)484150
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)837945
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)838212
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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..85d786b3e1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,876 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445284.6 %
Date:2024-01-14 11:12:21Functions:19219996.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)98806
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&)248
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)248
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1008
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&)62
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)123388
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&)65
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)65
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)20927
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&)372
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)372
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&)62
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)6986
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)54111
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&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)214914
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&)362
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)362
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)65407
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&)62
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)413478
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&)247
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)247
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6230
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1227
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&)62
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)8532
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&)62
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)838212
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&)494
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)494
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)289986
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&)182
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)182
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1276
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&)63
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)125
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&)54602
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)79962
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)9842
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&)62
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)13647
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&)62
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1205
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&)62
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)965
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&)62
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)10245
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
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&)62
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)124
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)963
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&)62
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)62
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&)62
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)220998
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&)128
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)128
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)484150
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)102433
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&)311
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)253
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)3522
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&)16
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)16
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)7629
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&)62
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)62
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&)13647
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&)62
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)62
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)146100
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&)186
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)186
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)98806
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&)248
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1008
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&)62
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)123345
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&)65
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)20927
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&)372
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)6986
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)54111
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)214908
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&)362
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)65407
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)413214
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&)247
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6230
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1227
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)8532
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)837945
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&)494
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)289465
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&)182
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1276
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&)63
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&)54602
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)79962
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)9842
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)13647
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1205
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)965
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)10245
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)963
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)2
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&)62
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)221122
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&)128
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)484144
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&)311
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)3522
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&)16
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)7629
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&)62
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&)13647
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&)62
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)146100
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&)186
+
+
+ + + +
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..0c1305ca5f --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.html @@ -0,0 +1,332 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445284.6 %
Date:2024-01-14 11:12:21Functions:19219996.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PUBLISHER_HANDLER_HPP
+       2             : #define PUBLISHER_HANDLER_HPP
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : // --------------------------------------------------------------
+       8             : // |                    PublisherHandler_impl                   |
+       9             : // --------------------------------------------------------------
+      10             : 
+      11             : /* PublisherHandler_impl(void) //{ */
+      12             : 
+      13             : template <class TopicType>
+      14             : PublisherHandler_impl<TopicType>::PublisherHandler_impl(void) : publisher_initialized_(false) {
+      15             : }
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int &buffer_size, const bool &latch) //{ */
+      20             : 
+      21             : template <class TopicType>
+      22        4228 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        4228 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        4228 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        4228 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        4228 :     if (rate > 0.0) {
+      31             : 
+      32         435 :       throttle_ = true;
+      33             : 
+      34         435 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        3793 :       throttle_ = false;
+      39             : 
+      40        3793 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        4228 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        4228 :   publisher_initialized_ = true;
+      47        4228 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     3209299 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     3209299 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     3209126 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     3209115 :     if (throttle_) {
+      64             : 
+      65      175202 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66       77519 :         return;
+      67             :       }
+      68             : 
+      69       97685 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     3131598 :       publisher_.publish(msg);
+      74             :     }
+      75           0 :     catch (...) {
+      76           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+      77             :     }
+      78             :   }
+      79             : }
+      80             : 
+      81             : //}
+      82             : 
+      83             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+      84             : 
+      85             : template <class TopicType>
+      86             : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+      87             : 
+      88             :   if (!publisher_initialized_) {
+      89             :     return;
+      90             :   }
+      91             : 
+      92             :   {
+      93             :     std::scoped_lock lock(mutex_publisher_);
+      94             : 
+      95             :     if (throttle_) {
+      96             : 
+      97             :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      98             :         return;
+      99             :       }
+     100             : 
+     101             :       last_time_published_ = ros::Time::now();
+     102             :     }
+     103             : 
+     104             :     try {
+     105             :       publisher_.publish(msg);
+     106             :     }
+     107             :     catch (...) {
+     108             :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     109             :     }
+     110             :   }
+     111             : }
+     112             : 
+     113             : //}
+     114             : 
+     115             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     116             : 
+     117             : template <class TopicType>
+     118           1 : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     119             : 
+     120           1 :   if (!publisher_initialized_) {
+     121             :     return;
+     122             :   }
+     123             : 
+     124             :   {
+     125           1 :     std::scoped_lock lock(mutex_publisher_);
+     126             : 
+     127           1 :     if (throttle_) {
+     128             : 
+     129           0 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+     130           1 :         return;
+     131             :       }
+     132             : 
+     133           0 :       last_time_published_ = ros::Time::now();
+     134             :     }
+     135             : 
+     136             :     try {
+     137           1 :       publisher_.publish(msg);
+     138             :     }
+     139           0 :     catch (...) {
+     140           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     141             :     }
+     142             :   }
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* getNumSubscribers(void) //{ */
+     148             : 
+     149             : template <class TopicType>
+     150             : unsigned int PublisherHandler_impl<TopicType>::getNumSubscribers(void) {
+     151             : 
+     152             :   {
+     153             :     std::scoped_lock lock(mutex_publisher_);
+     154             : 
+     155             :     return publisher_.getNumSubscribers();
+     156             :   }
+     157             : }
+     158             : 
+     159             : //}
+     160             : 
+     161             : // --------------------------------------------------------------
+     162             : // |                      PublisherHandler                      |
+     163             : // --------------------------------------------------------------
+     164             : 
+     165             : /* operator= //{ */
+     166             : 
+     167             : template <class TopicType>
+     168        4726 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        4664 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        4726 :   if (other.impl_) {
+     175        4788 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        4664 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186      102433 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188      102433 :   if (other.impl_) {
+     189      102433 :     this->impl_ = other.impl_;
+     190             :   }
+     191      102433 : }
+     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        4228 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        4228 :                                               const double& rate) {
+     200             : 
+     201        4228 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        4228 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     3210282 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     3210282 :   impl_->publish(msg);
+     212     3210945 : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+     217             : 
+     218             : template <class TopicType>
+     219             : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+     220             : 
+     221             :   impl_->publish(msg);
+     222             : }
+     223             : 
+     224             : //}
+     225             : 
+     226             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     227             : 
+     228             : template <class TopicType>
+     229           1 : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     230             : 
+     231           1 :   impl_->publish(msg);
+     232             : }
+     233             : 
+     234             : //}
+     235             : 
+     236             : /* getNumSubscribers(void) //{ */
+     237             : 
+     238             : template <class TopicType>
+     239             : unsigned int PublisherHandler<TopicType>::getNumSubscribers(void) {
+     240             : 
+     241             :   return impl_->getNumSubscribers();
+     242             : }
+     243             : 
+     244             : //}
+     245             : 
+     246             : }  // namespace mrs_lib
+     247             : 
+     248             : #endif  // PUBLISHER_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..4ab1195056 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html @@ -0,0 +1,82 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6040f866266270d282ed333f47d67fce552a18f5 GIT binary patch literal 799 zcmV+)1K|9LP)WdBtP7%&hFFN5RKR&B3IPI(DQh)13{=Zt${)1knM zuy6}m#p+=!F+KC5uw60sH(fm=BcAnf=5uQtHW-`6nqpxoz7DR)On1m!W|$5FbAdH4 z33lN)u7C*jGc5&KSGk%$DVL&RDEOw)2An6mWDsG~7Ey>~rE)hzM-&E7g`lDcBN`{A z4r^CLyK=qwRz#IU9`>Jh308gJUDK)ykyMK1)CH?17w%qbdDEC>is>~reTWEJCItM- z{>ZwVGNk^P_K2t#sWKJB@GLQ+I8=N*Ua!~lQI+WdC>cduZf(t?92h!c5OOJ#j_=<~ zgSb|@twV&i4Ib|$*D5lByr4;GLIb5c^0CmJaUXSsKh>_`D09wytg?fg%TuO{`q4;M(U5YEq?NTZ7uSG zP>Ig1-0YnXH~BbR^<*Ubq{7EO_~`N{6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:525692.9 %
Date:2024-01-14 11:12:21Functions:3737100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&, int const&, double const&)2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::asyncRun()2
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::callAsync(std_srvs::Trigger&, int const&)2
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)11
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)11
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)62
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)62
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)63
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)63
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)63
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)86
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)86
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)126
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)126
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)126
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)242
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)242
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)243
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)243
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)374
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)374
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)374
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)516
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)516
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)674
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)674
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)736
+
+
+ + + +
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..8d7356d2de --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func.html @@ -0,0 +1,228 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:525692.9 %
Date:2024-01-14 11:12:21Functions:3737100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)86
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)63
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)63
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)62
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)11
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)242
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)126
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)126
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)243
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)374
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)374
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)516
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&)674
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)674
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)86
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)63
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)11
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)242
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)126
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)243
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)374
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)516
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&)736
+
+
+ + + +
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..fcfed2f8c8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.gcov.html @@ -0,0 +1,403 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/service_client_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - service_client_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:525692.9 %
Date:2024-01-14 11:12:21Functions:3737100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef SERVICE_CLIENT_HANDLER_HPP
+       2             : #define SERVICE_CLIENT_HANDLER_HPP
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : // --------------------------------------------------------------
+       8             : // |                  ServiceClientHandler_impl                 |
+       9             : // --------------------------------------------------------------
+      10             : 
+      11             : /* ServiceClientHandler_impl(void) //{ */
+      12             : 
+      13             : template <class ServiceType>
+      14             : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(void) : service_initialized_(false) {
+      15             : }
+      16             : 
+      17             : //}
+      18             : 
+      19             : /* ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) //{ */
+      20             : 
+      21             : template <class ServiceType>
+      22        1423 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        1423 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        1423 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        1423 :   _address_       = address;
+      31        1423 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        1423 :   service_initialized_ = true;
+      36        1423 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43        1161 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45        1161 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49        1161 :   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        1361 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        1361 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        1361 :   if (other.impl_) {
+     211        1361 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        1361 :   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        1361 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        1361 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        1361 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244          62 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246          62 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247          62 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254        1161 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256        1161 :   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 +
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9112075.8 %
Date:2024-01-14 11:12:21Functions:437100043.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().22
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().22
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const2
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()3
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().23
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const3
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const9
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()16
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().216
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()18
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&)18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().218
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&)18
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()19
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().219
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const19
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().221
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const21
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const59
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&)62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const63
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const63
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const63
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const63
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const63
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()65
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const65
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()66
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const70
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const85
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()111
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&)111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()111
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&)111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const111
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const121
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const121
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()124
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&)124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()124
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&)124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()124
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&)124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2124
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()124
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()124
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const124
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()127
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&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()127
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&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2127
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()127
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const127
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const137
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const137
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()140
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&)140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2140
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&)140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()179
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const179
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()182
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const182
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()186
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()186
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const186
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()192
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&)192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()192
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&)192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const193
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()199
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&)199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()199
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&)199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const199
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()204
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2204
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()207
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2207
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)236
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)236
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()244
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&)244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()244
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&)244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()244
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()244
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const244
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()248
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&)248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2248
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&)248
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const249
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()254
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2254
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const254
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()266
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2266
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()269
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2269
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const269
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const277
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const291
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const291
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)370
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)375
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()378
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&)378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()378
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&)378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const500
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const542
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()610
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()610
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const610
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const610
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)963
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)963
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)964
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)964
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1075
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1076
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()1356
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()1356
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1356
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const1356
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const1836
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const1836
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)2677
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)2700
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()3104
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()3104
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3104
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const3106
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const4694
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4697
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const7692
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()8087
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const8087
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const9528
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)10232
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)10245
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const12568
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const12569
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)13510
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)13510
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)16249
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)16249
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const23878
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()30135
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const30137
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()30138
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const30138
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const31886
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const31886
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)33132
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)33146
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()37081
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const37099
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()37101
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const37101
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const38921
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const38924
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)40988
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)41233
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const42474
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const44316
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)65391
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)65391
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)79939
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)79939
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)105000
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)105016
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()106575
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()106575
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const106575
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const106575
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const106576
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const106576
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const116153
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()116157
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const116167
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()116185
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const116186
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const118007
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const119320
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()119349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()119365
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const119382
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)121584
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)121584
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const134901
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const134901
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const155264
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const165192
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)184925
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)184994
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const187877
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const187878
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)201537
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)201560
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)201891
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)201927
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)221714
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)221867
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const221965
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const222148
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)227091
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)227094
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)227206
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)227349
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const245046
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const245129
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const257607
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()257901
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()257928
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const257971
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()281082
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const281096
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()281097
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const281097
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)323842
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)323955
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const336102
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const336319
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)344956
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)345016
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const457373
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()457386
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()457417
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const457422
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)529047
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)529136
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const584213
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const584345
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)686055
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)686189
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Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9112075.8 %
Date:2024-01-14 11:12:21Functions:437100043.7 %
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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&)227091
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()244
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&)244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2244
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&)227349
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()244
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&)244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2244
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()124
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&)124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2124
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()124
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&)124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2124
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)184994
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()3104
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&)111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2111
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&)184925
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()111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()3104
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&)111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2111
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&)105016
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()1356
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&)62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)105000
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()66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()1356
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&)62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)345016
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()119365
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&)199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2199
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&)344956
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()199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()119349
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&)199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2199
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)686055
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()457386
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&)378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2378
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&)686189
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()457417
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&)378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2378
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)529136
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()179
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&)140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2140
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&)529047
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()143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()182
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&)140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)227094
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()106575
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&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2127
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&)227206
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()127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()106575
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&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2127
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)221867
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()257901
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2244
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&)221714
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()244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()257928
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2244
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)201927
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()30135
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&)248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2248
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&)201891
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()254
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()30138
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&)248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2254
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)65391
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::getMsg()610
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)65391
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()65
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::getMsg()610
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)121584
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().265
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&)121584
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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)16249
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()542
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)16249
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()62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()542
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)2677
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()186
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2186
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&)2700
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()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()186
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2186
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()3
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().23
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)79939
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)79939
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()62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)41233
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()37081
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2266
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&)40988
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()269
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()37101
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2269
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&)236
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()16
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().216
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&)236
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()19
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().219
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)964
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)964
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()65
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)1075
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().218
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&)1076
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()21
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().221
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().262
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)33146
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()116157
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2204
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&)33132
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()207
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()116185
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2207
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)963
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().262
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&)963
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()65
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().265
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)10245
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().29
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)10232
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl().29
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)201537
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)> const&)124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2124
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&)201560
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()127
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()8087
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&)124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2127
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)323842
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()281082
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&)192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2192
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&)323955
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()192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()281097
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&)192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2192
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)375
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().22
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const> const&)370
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::~Impl().22
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)13510
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()23878
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2124
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&)13510
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()124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()23878
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2124
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]() const244
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]() const124
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4697
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3104
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() const4694
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const3106
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]() const111
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() const12569
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1356
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() const12568
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const1356
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]() const63
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const245129
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const119320
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() const245046
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const119382
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]() const199
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const584345
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const457373
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]() const63
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const584213
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const457422
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]() const500
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const121
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const137
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const179
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() const121
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const137
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const182
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]() const143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const106576
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const106575
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() const106576
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const106575
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]() const127
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const221965
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const336319
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const257607
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() const222148
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const336102
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const257971
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]() const244
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const38924
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const30137
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() const38921
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const30138
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]() const254
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const610
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() const4
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::peekMsg() const610
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]() const65
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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const542
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() const542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const542
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]() const62
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]() const62
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]() const62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const291
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const186
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]() const63
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const291
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const186
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]() const249
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const3
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]() const62
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]() const62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const63
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const63
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const62
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const42474
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const37099
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() const44316
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const37101
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]() const269
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() const7692
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() const9528
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]() const19
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const1836
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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const21
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]() const62
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const116167
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const116153
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]() const70
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const118007
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const116186
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]() const277
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const1836
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]() const65
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const9
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const134901
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const155264
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const134901
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const165192
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const8087
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]() const127
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const187877
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const281096
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const187878
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const281097
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]() const193
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const2
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const31886
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const23878
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() const23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const31886
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const23878
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]() const124
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9112075.8 %
Date:2024-01-14 11:12:21Functions:437100043.7 %
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        3703 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        3703 :         : m_nh(options.nh),
+      30        3703 :           m_topic_name(options.topic_name),
+      31        3703 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        3703 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        3703 :           m_queue_size(options.queue_size),
+      40        3703 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42        3703 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      43             :       {
+      44             :         // initialize a new TimeoutManager if not provided by the user
+      45          60 :         if (!m_timeout_manager)
+      46          60 :           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         120 :         std::function<void(const ros::Time&)> timeout_mgr_callback;
+      50          60 :         if (options.timeout_callback)
+      51           1 :           timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      52             :         else
+      53          59 :           timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      54             : 
+      55             :         // register the timeout callback with the TimeoutManager
+      56          60 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, timeout_mgr_callback);
+      57             :       }
+      58             : 
+      59       11109 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      60        3703 :       if (m_node_name.empty())
+      61           1 :         ROS_INFO_STREAM(msg);
+      62             :       else
+      63        3702 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      64        3703 :     }
+      65             :     //}
+      66             : 
+      67        3844 :     virtual ~Impl() = default;
+      68             : 
+      69             :   public:
+      70             :     /* getMsg() method //{ */
+      71     1443824 :     virtual typename MessageType::ConstPtr getMsg()
+      72             :     {
+      73     1443824 :       m_new_data = false;
+      74     1443824 :       m_used_data = true;
+      75     1443824 :       return peekMsg();
+      76             :     }
+      77             :     //}
+      78             : 
+      79             :     /* peekMsg() method //{ */
+      80     1443908 :     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     1443908 :       return m_latest_message;
+      87             :     }
+      88             :     //}
+      89             : 
+      90             :     /* hasMsg() method //{ */
+      91     1553635 :     virtual bool hasMsg() const
+      92             :     {
+      93     1553635 :       return m_got_data;
+      94             :     }
+      95             :     //}
+      96             : 
+      97             :     /* newMsg() method //{ */
+      98      336102 :     virtual bool newMsg() const
+      99             :     {
+     100      336102 :       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      381171 :     virtual ros::Time lastMsgTime() const
+     130             :     {
+     131      381171 :       return m_latest_message_time;
+     132             :     };
+     133             :     //}
+     134             : 
+     135             :     /* topicName() method //{ */
+     136        3996 :     virtual std::string topicName() const
+     137             :     {
+     138        3996 :       std::string ret = m_sub.getTopic();
+     139        3996 :       if (ret.empty())
+     140        3799 :         ret = m_nh.resolveName(m_topic_name);
+     141        3996 :       return ret;
+     142             :     }
+     143             :     //}
+     144             : 
+     145             :     /* start() method //{ */
+     146        3743 :     virtual void start()
+     147             :     {
+     148        3743 :       if (m_timeout_manager)
+     149          64 :         m_timeout_manager->start(m_timeout_id);
+     150        3743 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     151        3743 :     }
+     152             :     //}
+     153             : 
+     154             :     /* stop() method //{ */
+     155           5 :     virtual void stop()
+     156             :     {
+     157           5 :       if (m_timeout_manager)
+     158           5 :         m_timeout_manager->pause(m_timeout_id);
+     159           5 :       m_sub.shutdown();
+     160           5 :     }
+     161             :     //}
+     162             : 
+     163             :   protected:
+     164             :     ros::NodeHandle m_nh;
+     165             :     ros::Subscriber m_sub;
+     166             : 
+     167             :   protected:
+     168             :     std::string m_topic_name;
+     169             :     std::string m_node_name;
+     170             : 
+     171             :   protected:
+     172             :     bool m_got_data;   // whether any data was received
+     173             : 
+     174             :     mutable std::mutex m_new_data_mtx;
+     175             :     mutable std::condition_variable m_new_data_cv;
+     176             :     bool m_new_data;   // whether new data was received since last call to get_data
+     177             : 
+     178             :     bool m_used_data;  // whether get_data was successfully called at least once
+     179             : 
+     180             :   protected:
+     181             :     std::shared_ptr<mrs_lib::TimeoutManager> m_timeout_manager;
+     182             :     mrs_lib::TimeoutManager::timeout_id_t m_timeout_id;
+     183             : 
+     184             :   protected:
+     185             :     ros::Time m_latest_message_time;
+     186             :     typename MessageType::ConstPtr m_latest_message;
+     187             :     message_callback_t m_message_callback;
+     188             : 
+     189             :   private:
+     190             :     uint32_t m_queue_size;
+     191             :     ros::TransportHints m_transport_hints;
+     192             : 
+     193             :   protected:
+     194             :     /* default_timeout_callback() method //{ */
+     195           0 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     196             :     {
+     197           0 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     198           0 :       const auto n_pubs = m_sub.getNumPublishers();
+     199           0 :       const std::string txt = "Did not receive any message from topic '" + topic_name + "' for " + std::to_string(since_msg.toSec()) + "s ("
+     200             :                               + std::to_string(n_pubs) + " publishers on this topic)";
+     201           0 :       if (m_node_name.empty())
+     202           0 :         ROS_WARN_STREAM(txt);
+     203             :       else
+     204           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     205           0 :     }
+     206             :     //}
+     207             : 
+     208             :     /* process_new_message() method //{ */
+     209     3641126 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     210             :     {
+     211     3641126 :       m_latest_message_time = ros::Time::now();
+     212     3642098 :       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     3640843 :       m_new_data = !m_message_callback;
+     216     3637531 :       m_got_data = true;
+     217     3637531 :       m_new_data_cv.notify_one();
+     218     3641745 :     }
+     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        3703 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     254        3703 :         : impl_class_t::Impl(options, message_callback)
+     255             :     {
+     256        3703 :     }
+     257             : 
+     258             :   public:
+     259     1534738 :     virtual bool hasMsg() const override
+     260             :     {
+     261     3069130 :       std::lock_guard lck(m_mtx);
+     262     3069221 :       return impl_class_t::hasMsg();
+     263             :     }
+     264      336319 :     virtual bool newMsg() const override
+     265             :     {
+     266      671957 :       std::lock_guard lck(m_mtx);
+     267      671915 :       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     1435626 :     virtual typename MessageType::ConstPtr getMsg() override
+     275             :     {
+     276     2871039 :       std::lock_guard lck(m_mtx);
+     277     2870650 :       return impl_class_t::getMsg();
+     278             :     }
+     279     1435304 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     280             :     {
+     281     2870482 :       std::lock_guard lck(m_mtx);
+     282     2870309 :       return impl_class_t::peekMsg();
+     283             :     }
+     284      380988 :     virtual ros::Time lastMsgTime() const override
+     285             :     {
+     286      762104 :       std::lock_guard lck(m_mtx);
+     287      762043 :       return impl_class_t::lastMsgTime();
+     288             :     };
+     289         197 :     virtual std::string topicName() const override
+     290             :     {
+     291         394 :       std::lock_guard lck(m_mtx);
+     292         394 :       return impl_class_t::topicName();
+     293             :     };
+     294        3707 :     virtual void start() override
+     295             :     {
+     296        7414 :       std::lock_guard lck(m_mtx);
+     297        7414 :       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        7406 :     virtual ~ImplThreadsafe() override = default;
+     306             : 
+     307             :   protected:
+     308     3641162 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     309             :     {
+     310             :       {
+     311     7279119 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     312     3628760 :         if (this->m_timeout_manager)
+     313      102438 :           this->m_timeout_manager->reset(this->m_timeout_id);
+     314     3619023 :         impl_class_t::process_new_message(msg);
+     315             :       }
+     316             : 
+     317             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     318     3629525 :       if (this->m_message_callback)
+     319     2046782 :         impl_class_t::m_message_callback(msg);
+     320     3625120 :     }
+     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..c6682e9dff97067abef33079f6788709fa7e9ee7 GIT binary patch literal 1386 zcmV-w1(o`VP)~QyZhEahLIV1j%{))D8;>z# zP6X|k1^_jztv+xFfD(#I)}xe}B(&trpm8SqXQJ$5JS6zX1W`;R5P}A%Z8~}*UvpLx zYa=%^wvC>{m9@gn_fW1!39MW zI#;M{EvgnMBI%VjVY0^AX~Lub&RPTBBz3IywmsWp^AWCLszV3S^qkoAh>bt@yB zw`0$J5h!s?L2(OGtWMmum|WuN%4Kc&t$; zh;acA>fcJ>>kRZx?iD%3@0q6?KhZo{-7~3-`@W*BJ+5TasxQFF;_ufukNtM_^c7Ze0zX7LZ49%-60d+El z+SPzPJ5bI}R7J_?q6=I!Qm;L+KuIVKlM%Xx1;UL2@`W1mVW7(?0Iq!?io_8z3Js19 z&BztU752@#evhAfsO&YJ<^f0@sc#5R1#pLuM%Mx<9uDezsrczStbGsN2N;m(zVESD zIberGG+Ti6ixjMqQD~k_F}6;-(+f5F8iRNGya?398J>bvb!ZC!bn>vK(mnot(^dfR z5P+`PA#ml2Y+v_mevjRu)2W58ui{_5+To%=T5n8a9azBbHCO*2pj>OFoVves?M1|+ z*t|-q1Wm@cMIzswk*!c*ashtLIfF6)H@RLg1CXiUQQ|1oEO7XA&6`(q3f>UL29!Zq zX+E1FWfQ{J%J>CcRDt<&6@}87h8E~Z0u+onxLvHR1 z&pw(55Vt8qH5E!_)+dUp7VzuJ(5F)R)XZL#`Uzz|W-T5d9^=E>a;0uz7Zs2&di-eg z_D@&N$hDT$VHORUBCe&@c*+p07f7-iTS1XS0O0WcTG+)^O4F08sZ0y_jrvi(nF@-2 sL)M-5^@V;*U-sWqWWyQ<_9ztY4_tc183Gfly#N3J07*qoM6N<$f-2dM6aWAK literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html new file mode 100644 index 0000000000..552dd31657 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html new file mode 100644 index 0000000000..eb443d2d16 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
+
+
+ + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - timer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:141687.5 %
Date:2024-01-14 11:12:21Functions: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
+
+
+
+ + + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-01-14 11:12:21Functions:404883.3 %
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Function Name Sort by function nameHit count Sort by hit count
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::doTransform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
geometry_msgs::Quaternion_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3Stamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Point_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
cv::Point3_<double> mrs_lib::Transformer::copyChangeFrame<cv::Point3_<double> >(cv::Point3_<double> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
Eigen::Quaternion<double, 0> mrs_lib::Transformer::copyChangeFrame<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)0
std::optional<cv::Point3_<double> > mrs_lib::Transformer::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transformImpl<cv::Point3_<double> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, cv::Point3_<double> const&)1
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transformImpl<Eigen::Quaternion<double, 0> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Quaternion<double, 0> const&)2
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)5
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)6
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Point_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)18
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3_<std::allocator<void> > const&)18
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)468
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&)8253
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&)8253
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)8253
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&)15056
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)15056
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&)49548
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&)58538
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&)100602
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)100602
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&)167579
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&)182611
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&)182629
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&)182634
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)197658
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&)479492
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&)479501
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)479603
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&)480105
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&)480105
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&)499283
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&)499557
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&)508530
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)599872
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&)609134
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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..6f645c6767 --- /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
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-01-14 11:12:21Functions:404883.3 %
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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&)508530
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&)167579
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&)480105
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&)609134
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&)182634
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&)480105
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&)100602
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&)15056
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&)499557
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&)499283
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&)182611
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&)182629
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&)479501
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&)479492
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&)8253
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&)8253
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)599872
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)197658
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)479603
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)8253
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)100602
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)15056
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&)49548
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&)468
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&)58538
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Current view:top level - mrs_lib/include/mrs_lib/impl - transformer.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:556485.9 %
Date:2024-01-14 11:12:21Functions:404883.3 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef TRANSFORMER_HPP
+       2             : #define TRANSFORMER_HPP
+       3             : 
+       4             : // clang: MatousFormat
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             : 
+       9             :   // | --------------------- helper methods --------------------- |
+      10             : 
+      11             :   /* getHeader() overloads for different message types (pointers, pointclouds etc) //{ */
+      12             : 
+      13             :   template <typename msg_t>
+      14     1285386 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16     1285386 :     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      115658 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34      115658 :     msg.header = header;
+      35      115658 :   }
+      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      115658 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50      115658 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      231316 :       std_msgs::Header new_header = getHeader(what);
+      54      115658 :       new_header.frame_id = frame_id;
+      55      115658 :       setHeader(ret, new_header);
+      56             :     }
+      57      115658 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65     1271916 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     2543818 :     const std::string from_frame = frame_from(tf);
+      68     2543796 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70     1271910 :     if (from_frame == to_frame)
+      71      115658 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     2312500 :     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      676126 :       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      676124 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        2244 :         const std::optional<T> tmp = doTransform(what, tf);
+      91        1123 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93        1123 :         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      480132 :       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     1155139 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115     1156255 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     2312393 :       T result;
+     120     1156242 :       tf2::doTransform(what, result, tf);
+     121     1156255 :       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     1169657 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     2340248 :     const std_msgs::Header orig_header = getHeader(what);
+     141     2339593 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145     1169923 :   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     2340521 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149     1170611 :     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     2341196 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     2341169 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     2341152 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     2341187 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161     1170610 :     if (!tf_opt.has_value())
+     162        7286 :       return std::nullopt;
+     163     1163306 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     2326610 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167     1163321 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175      108572 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      217144 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179      108572 :     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      217144 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      217144 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      217144 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189      108572 :     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
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2024-01-14 11:12:21Functions:81266.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::setConstants(double, double, double)0
mrs_lib::UKF<4, 1, 2>::setTransitionModel(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&)0
mrs_lib::UKF<4, 1, 2>::setObservationModel(std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&)0
mrs_lib::UKF<4, 1, 2>::UKF()0
mrs_lib::UKF<4, 1, 2>::computeWeights()1
mrs_lib::UKF<4, 1, 2>::UKF(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&, double, double, double)1
mrs_lib::UKF<4, 1, 2>::computeInverse(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::computeKalmanGain(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 4, 2, 0, 4, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const100
mrs_lib::UKF<4, 1, 2>::computePaSqrt(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeSigmas(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2024-01-14 11:12:21Functions:81266.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UKF<4, 1, 2>::setConstants(double, double, double)0
mrs_lib::UKF<4, 1, 2>::computeWeights()1
mrs_lib::UKF<4, 1, 2>::setTransitionModel(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&)0
mrs_lib::UKF<4, 1, 2>::setObservationModel(std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&)0
mrs_lib::UKF<4, 1, 2>::UKF(std::function<Eigen::Matrix<double, 4, 1, 0, 4, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (Eigen::Matrix<double, 4, 1, 0, 4, 1> const&)> const&, double, double, double)1
mrs_lib::UKF<4, 1, 2>::UKF()0
mrs_lib::UKF<4, 1, 2>::computePaSqrt(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeSigmas(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&) const200
mrs_lib::UKF<4, 1, 2>::computeInverse(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::computeKalmanGain(Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 4, 2, 0, 4, 2> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const100
mrs_lib::UKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const100
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Current view:top level - mrs_lib/include/mrs_lib/impl - ukf.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7710474.0 %
Date:2024-01-14 11:12:21Functions: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..c9dcde1094 --- /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:74896377.7 %
Date:2024-01-14 11:12:21Functions:759127959.3 %
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
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.2 %356 / 709
<unnamed>79.6 %39 / 4950.2 %356 / 709
lkf.h +
81.5%81.5%
+ 		81.5 %44 / 5461.0 %25 / 41
<unnamed>81.5 %44 / 5461.0 %25 / 41
attitude_converter.h +
79.3%79.3%
+ 		79.3 %23 / 2975.0 %9 / 12
<unnamed>79.3 %23 / 2975.0 %9 / 12
transformer.h +
85.0%85.0%
+ 		85.0 %51 / 6077.8 %14 / 18
<unnamed>85.0 %51 / 6077.8 %14 / 18
mutex.h +
100.0%
+ 		100.0 %11 / 1182.7 %67 / 81
<unnamed>100.0 %11 / 1182.7 %67 / 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 %116 / 117
<unnamed>100.0 %4 / 499.1 %116 / 117
timeout_manager.h +
100.0%
+ 		100.0 %4 / 4-0 / 0
<unnamed>100.0 %4 / 4-0 / 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 %20 / 20
<unnamed>100.0 %3 / 3100.0 %20 / 20
+
+
+ + + + +
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..ab8e6ba3b0 --- /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:74896377.7 %
Date:2024-01-14 11:12:21Functions:759127959.3 %
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
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
<unnamed>65.5 %57 / 8732.9 %28 / 85
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 / 4950.2 %356 / 709
<unnamed>79.6 %39 / 4950.2 %356 / 709
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 %20 / 20
<unnamed>100.0 %3 / 3100.0 %20 / 20
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 %116 / 117
<unnamed>100.0 %4 / 499.1 %116 / 117
timeout_manager.h +
100.0%
+ 		100.0 %4 / 4-0 / 0
<unnamed>100.0 %4 / 4-0 / 0
mutex.h +
100.0%
+ 		100.0 %11 / 1182.7 %67 / 81
<unnamed>100.0 %11 / 1182.7 %67 / 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..8ba26bc2c2 --- /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:74896377.7 %
Date:2024-01-14 11:12:21Functions:759127959.3 %
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 +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
<unnamed>33.3 %33 / 9934.1 %15 / 44
mutex.h +
100.0%
+ 		100.0 %11 / 1182.7 %67 / 81
<unnamed>100.0 %11 / 1182.7 %67 / 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 %116 / 117
<unnamed>100.0 %4 / 499.1 %116 / 117
quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
<unnamed>100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
+ 		90.1 %100 / 11135.7 %20 / 56
<unnamed>90.1 %100 / 11135.7 %20 / 56
scope_timer.h +
33.3%33.3%
+ 		33.3 %2 / 633.3 %1 / 3
<unnamed>33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
100.0%
+ 		100.0 %3 / 3100.0 %20 / 20
<unnamed>100.0 %3 / 3100.0 %20 / 20
subscribe_handler.h +
79.6%79.6%
+ 		79.6 %39 / 4950.2 %356 / 709
<unnamed>79.6 %39 / 4950.2 %356 / 709
timeout_manager.h +
100.0%
+ 		100.0 %4 / 4-0 / 0
<unnamed>100.0 %4 / 4-0 / 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
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..eba3d2a5e1 --- /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:74896377.7 %
Date:2024-01-14 11:12:21Functions:759127959.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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dynamic_reconfigure_mgr.h +
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mutex.h +
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Test:MRS UAV System - Test coverage reportLines:74896377.7 %
Date:2024-01-14 11:12:21Functions:759127959.3 %
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_libHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:74896377.7 %
Date:2024-01-14 11:12:21Functions:759127959.3 %
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-01-14 11:12:21Functions: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&)65
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&)117
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5842
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&) const5842
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&) const5842
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&) const5842
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&)15117
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)15117
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) const15117
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) const107827
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&)107834
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)107836
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)118298
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&) const118365
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&) const118393
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&) const118441
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&)181698
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) const182093
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)182152
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)292062
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&) const293059
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&) const293189
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&) const293211
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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:2024-01-14 11:12:21Functions: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&)15117
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)15117
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5842
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&)181698
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)182152
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)292062
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&)117
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&)107834
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)107836
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)118298
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&)65
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) const15117
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&) const5842
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&) const5842
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&) const5842
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&) const293211
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&) const293189
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&) const293059
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) const182093
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&) const118393
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&) const118441
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&) const118365
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) const107827
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file LKF
+       3             :      \brief Defines LKF - a class, implementing the Linear Kalman Filter \cite LKF, as well as a few specialized variants.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef LKFSYSTEMMODELS_H
+       7             : #define LKFSYSTEMMODELS_H
+       8             : 
+       9             : #include <mrs_lib/kalman_filter.h>
+      10             : #include <iostream>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             :   /* class LKF //{ */
+      16             :   /**
+      17             :   * \brief Implementation of the Linear Kalman filter \cite LKF.
+      18             :   *
+      19             :   * The Linear Kalman filter (abbreviated LKF, \cite LKF) may be used for state filtration or estimation of linear
+      20             :   * stochastic discrete systems. It assumes that noise variables are sampled from multivariate gaussian distributions
+      21             :   * and takes into account apriori known parameters of these distributions (namely zero means and covariance matrices,
+      22             :   * which have to be specified by the user and are tunable parameters).
+      23             :   *
+      24             :   * The LKF C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it
+      25             :   * may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy,
+      26             :   * espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get
+      27             :   * much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has
+      28             :   * a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case
+      29             :   * of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of
+      30             :   * having Eigen::MatrixXd and Eigen::VectorXd everywhere.
+      31             :   *
+      32             :   * \tparam n_states         number of states of the system (length of the \f$ \mathbf{x} \f$ vector).
+      33             :   * \tparam n_inputs         number of inputs of the system (length of the \f$ \mathbf{u} \f$ vector).
+      34             :   * \tparam n_measurements   number of measurements of the system (length of the \f$ \mathbf{z} \f$ vector).
+      35             :   *
+      36             :   */
+      37             :   template <int n_states, int n_inputs, int n_measurements>
+      38             :   class LKF : public KalmanFilter<n_states, n_inputs, n_measurements>
+      39             :   {
+      40             :   public:
+      41             :     /* LKF definitions (typedefs, constants etc) //{ */
+      42             :     static constexpr int n = n_states;            /*!< \brief Length of the state vector of the system. */
+      43             :     static constexpr int m = n_inputs;            /*!< \brief Length of the input vector of the system. */
+      44             :     static constexpr int p = n_measurements;      /*!< \brief Length of the measurement vector of the system. */
+      45             :     using Base_class = KalmanFilter<n, m, p>; /*!< \brief Base class of this class. */
+      46             : 
+      47             :     using x_t = typename Base_class::x_t;                /*!< \brief State vector type \f$n \times 1\f$ */
+      48             :     using u_t = typename Base_class::u_t;                /*!< \brief Input vector type \f$m \times 1\f$ */
+      49             :     using z_t = typename Base_class::z_t;                /*!< \brief Measurement vector type \f$p \times 1\f$ */
+      50             :     using P_t = typename Base_class::P_t;                /*!< \brief State uncertainty covariance matrix type \f$n \times n\f$ */
+      51             :     using R_t = typename Base_class::R_t;                /*!< \brief Measurement noise covariance matrix type \f$p \times p\f$ */
+      52             :     using Q_t = typename Base_class::Q_t;                /*!< \brief Process noise covariance matrix type \f$n \times n\f$ */
+      53             :     using statecov_t = typename Base_class::statecov_t;  /*!< \brief Helper struct for passing around the state and its covariance in one variable */
+      54             : 
+      55             :     typedef Eigen::Matrix<double, n, n> A_t;  /*!< \brief System transition matrix type \f$n \times n\f$ */
+      56             :     typedef Eigen::Matrix<double, n, m> B_t;  /*!< \brief Input to state mapping matrix type \f$n \times m\f$ */
+      57             :     typedef Eigen::Matrix<double, p, n> H_t;  /*!< \brief State to measurement mapping matrix type \f$p \times n\f$ */
+      58             :     typedef Eigen::Matrix<double, n, p> K_t;  /*!< \brief Kalman gain matrix type \f$n \times p\f$ */
+      59             : 
+      60             :   /*!
+      61             :     * \brief This exception is thrown when taking the inverse of a matrix fails.
+      62             :     *
+      63             :     * You should catch this exception in your code and act accordingly if it appears
+      64             :     * (e.g. reset the state and covariance or modify the measurement/process noise parameters).
+      65             :     */
+      66             :     struct inverse_exception : public std::exception
+      67             :     {
+      68             :     /*!
+      69             :       * \brief Returns the error message, describing what caused the exception.
+      70             :       *
+      71             :       * \return  The error message, describing what caused the exception.
+      72             :       */
+      73           0 :       const char* what() const throw()
+      74             :       {
+      75           0 :         return "LKF: could not compute matrix inversion!!! Fix your covariances (the measurement's is probably too low...)";
+      76             :       }
+      77             :     };
+      78             :     //}
+      79             : 
+      80             :   public:
+      81             :   /*!
+      82             :     * \brief Convenience default constructor.
+      83             :     *
+      84             :     * This constructor should not be used if applicable. If used, the main constructor has to be called afterwards,
+      85             :     * before using this class, otherwise the LKF object is invalid (not initialized).
+      86             :     */
+      87           3 :     LKF(){};
+      88             : 
+      89             :   /*!
+      90             :     * \brief The main constructor.
+      91             :     *
+      92             :     * \param A             The state transition matrix.
+      93             :     * \param B             The input to state mapping matrix.
+      94             :     * \param H             The state to measurement mapping matrix.
+      95             :     */
+      96         182 :     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      417266 :     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      417266 :       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      289920 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      289920 :       statecov_t ret;
+     141      289487 :       ret.x = state_predict(A, sc.x, B, u);
+     142      289531 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      289219 :       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      305105 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      305105 :       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      304649 :     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      304649 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      416202 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      416202 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      416893 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       21993 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       22032 :         W += 1e-9 * ident;
+     185       22039 :         qr.compute(W);
+     186       22040 :         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      414549 :       const R_t W_inv = qr.inverse();
+     193      834178 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      417472 :     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      417472 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      416955 :       const R_t W_inv = invert_W(W);
+     203      417156 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204      833542 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      417446 :     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      417446 :       statecov_t ret;
+     214      417128 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      416174 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      416713 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217      832942 :       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       15117 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       15117 :       statecov_t ret;
+     319       15117 :       A_t A = m_generateA(dt);
+     320       15117 :       B_t B = m_generateB(dt);
+     321       15117 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       15117 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       30234 :       return ret;
+     324             :     };
+     325             :     //}
+     326             :     
+     327             :   private:
+     328             :     generateA_t m_generateA;
+     329             :     generateB_t m_generateB;
+     330             :   };
+     331             :   //}
+     332             : 
+     333             :   /* class LKF_MRS_odom //{ */
+     334             :   class LKF_MRS_odom : public LKF<3, 1, 1>
+     335             :   {
+     336             :   public:
+     337             :     /* LKF definitions (typedefs, constants etc) //{ */
+     338             :     static const int n = 3;
+     339             :     static const int m = 1;
+     340             :     static const int p = 1;
+     341             :     using Base_class = LKF<n, m, p>;
+     342             : 
+     343             :     using x_t = typename Base_class::x_t;
+     344             :     using u_t = typename Base_class::u_t;
+     345             :     using z_t = typename Base_class::z_t;
+     346             :     using P_t = typename Base_class::P_t;
+     347             :     using R_t = typename Base_class::R_t;
+     348             :     using statecov_t = typename Base_class::statecov_t;
+     349             :     using A_t = typename Base_class::A_t;  // measurement mapping p*n
+     350             :     using B_t = typename Base_class::B_t;  // process covariance n*n
+     351             :     using H_t = typename Base_class::H_t;  // measurement mapping p*n
+     352             :     using Q_t = typename Base_class::Q_t;  // process covariance n*n
+     353             : 
+     354             :     using coeff_A_t = A_t;                            // matrix of constant coefficients in matrix A
+     355             :     typedef Eigen::Matrix<unsigned, n, n> dtexp_A_t;  // matrix of dt exponents in matrix A
+     356             :     using coeff_B_t = B_t;                            // matrix of constant coefficients in matrix B
+     357             :     typedef Eigen::Matrix<unsigned, n, m> dtexp_B_t;  // matrix of dt exponents in matrix B
+     358             :     //}
+     359             : 
+     360             :   public:
+     361             :     LKF_MRS_odom(const std::vector<H_t>& Hs, const double default_dt = 1);
+     362             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     363             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R, int param = 0) const;
+     364             : 
+     365             :   public:
+     366             :     x_t state_predict_optimized(const x_t& x_prev, const u_t& u, double dt) const;
+     367             :     P_t covariance_predict_optimized(const P_t& P, const Q_t& Q, double dt) const;
+     368             : 
+     369             :   private:
+     370             :     std::vector<H_t> m_Hs;
+     371             :   };
+     372             :   //}
+     373             : 
+     374             : }  // namespace mrs_lib
+     375             : 
+     376             : #endif // LKFSYSTEMMODELS_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html b/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html new file mode 100644 index 0000000000..1e9597d534 --- /dev/null +++ b/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html @@ -0,0 +1,114 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/lkf.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/lkf.h.gcov.png b/mrs_lib/include/mrs_lib/lkf.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..05cf672e576224906233fe48ec21708336bc253d GIT binary patch literal 1750 zcmV;{1}XW8P)=6legnx+l_P+MYm!lPS#C}Nxki0KGD^nk)CSbq7WG>_kok@cd06$*#L+i(P!undeF?0}4}V4Hzz zJ18#dU<`x^)|f2w8ts?S9mr(jg5_EX9Z{SlgrGC5OBg5+90x}FcnhS}ATGu}PHqq0 z9H`2W#l_^TZjekUtj_|*&rwA46m~SJJrxlejK}O~=|G+dGlAqyJ)i_=7cgR#(qj#A z&?)?>Um0-Rk%*Z-AQ7e`$lN9OwM zTGJTxEY2F*Hs#m~I6zSda%m~6O3Ec=ZNh8dDk12SpWFt&TyD#_bjQ?(5OCOzf!Fg6 zaEKz_$_m4n*8>6ozou&4L(U}oE&9`_ra*gT@5P^rtTT^ za5S4Hav>kMm71um62Iq!CF?`;j5Hv@(%H=RnARB`3aTZC$vTCR3#iDm%|#WcT@>|@ z1cYhJIvOoA%@H?C&a}AJ&0MbOdR_iPmjyU`-E87XqX9T;Tht6V`XiD)up9L zlUN&uisw$!vkHf`hDf4>qHY$dB4f}JJ@E1h%s+5q$LZu|3K$ELk*po}=Z?n5LJCHT z{FDPY&k|8`P^mn#22x7h(w89Blk}rOYLm&@NRY1s`fNQ@q*{$g%KSclB zEhEPszc#6*cbwCle+1z)4_7m@34Gbru0m4{Y23qOa3$`68(+$rHZPJG-HdF#6S21_XQZI(&$ z;z*Fzhrm{Y{EZ8B~yZ~tVV^X0VsN{DI9_ks3Bh1L@r;A&0c5MZFi z9b+?hSzsH*z`iOY=JD>3_+alU0C@XkS1XFk;woBKuY!#Dm~O~}iKYj(njK+Gwb8vG zVcUEgXZ4CrgZCj|8(Z3E?7f>d#rg{@zZA&ku?IREe1&3h{s}!Ghr%~fbPtKbs|w^V zfS=p&byNKGVZ8X6ZZ((ZG#wzYXUIWLBE5eUKX@3g?Ud~3t$xiLLz~{Z(!?Ivyqb6R z!Y(5R5H8f^=Uy22fB3mF&$k|a23>_ebNE>bG5wYkNVA)960qDBzEw{)>%hv%=C3)^ zbk4Q}_udm;;8(N&y@;zjBC?jNz%QxnyE{#%1OHd{9Uz@jm~LC&HiEihOx@MQ$}24z-zRls#8bC&;+v)$A(vKiojj3b#V sYQfaRxmlm>Jiz7HX$@zTer%uSA5hR)7d&;<(*OVf07*qoM6N<$f>Mk-2LJ#7 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html new file mode 100644 index 0000000000..492d5ca210 --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.func-sort-c.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:339933.3 %
Date:2024-01-14 11:12:21Functions:154434.1 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::TwistWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<geometry_msgs::Twist_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::Reference_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getPosition(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(geometry_msgs::TwistWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getVelocity(geometry_msgs::Twist_<std::allocator<void> > const&)0
mrs_lib::getVelocity(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getVelocity(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getVelocity(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getXYZ(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Point_<std::allocator<void> > const> const&)0
mrs_lib::getXYZ(boost::shared_ptr<geometry_msgs::Vector3_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)0
mrs_lib::getYaw(geometry_msgs::Pose_<std::allocator<void> > const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::PoseWithCovariance_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<geometry_msgs::Pose_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getYaw(nav_msgs::Odometry_<std::allocator<void> > const&)0
mrs_lib::getPose(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)271
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)271
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)271
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)271
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)271
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)951
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)143708
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)143708
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)143709
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)143711
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)143711
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)143711
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)143712
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)143712
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)144254
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html new file mode 100644 index 0000000000..7b72523b10 --- /dev/null +++ b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/msg_extractor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:339933.3 %
Date:2024-01-14 11:12:21Functions:154434.1 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)143711
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)143709
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&)143708
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)271
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)271
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)143708
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)143712
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)143711
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&)143711
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)271
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)271
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)271
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)143712
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&)144254
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&)951
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - msg_extractor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:339933.3 %
Date:2024-01-14 11:12:21Functions:154434.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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      144254 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31      144254 :   double x = data.x;
+      32      144254 :   double y = data.y;
+      33      144254 :   double z = data.z;
+      34             : 
+      35      288507 :   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      143711 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97      143711 :   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      143709 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125      143709 :   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      143712 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185      143712 :   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      143711 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213      143711 :   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      143712 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337      143712 :   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      143711 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349      143711 :   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      143708 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393      143708 :   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      143708 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405      143708 :   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         951 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449         951 :   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         271 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481         271 :   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         271 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580         271 :   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         271 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608         271 :   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         271 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640         271 :   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         271 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668         271 :   return getHeading(data.reference);
+     669             : }
+     670             : 
+     671             : /**
+     672             :  * @brief get heading from mrs_msgs::ReferenceStampedConstPtr
+     673             :  *
+     674             :  * @param data referencestamped (ContrPtr)
+     675             :  *
+     676             :  * @return heading
+     677             :  */
+     678           0 : double getHeading(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     679             : 
+     680           0 :   return getHeading(*data);
+     681             : }
+     682             : 
+     683             : //}
+     684             : 
+     685             : //}
+     686             : 
+     687             : }  // namespace mrs_lib
+     688             : 
+     689             : //}
+     690             : 
+     691             : #endif  // MRS_LIB_MSG_EXTRACTOR_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8043ecf807c268d9ebf3ec73e92b93e3796c8069 GIT binary patch literal 1287 zcmV+i1^D`jP)o6G8|QE17xcIDPQ~O}I%wnMSorb!w5W z0Y!DQCakha+q@xH*lxd^|F-j=&QM(1pFiEYu!)Tr=-RiB`&d+9L}*2{sBI|FFr12D z9}Ps**N^XGBATa9-HYGtB}|XjE7fZGp0&-MU3~y zLwt28Vw=vzJ;CfTj(Z+oiqUxIVNwc_du-_?agUWt8H(7Zb8!!+tu>-BvZwjuL8lZF z_W=BI9qwUdp480VsfcYl8}}d-qy2I8d18`3+Vb&2kyV_fh;2F>_aGEgZ0)l5U8}gP z>t;OloV>cwE*D6123-0OUKcJx&&|AwB62gAtu<36*qS4=uXUkU?ob!nLAyBj|LCDIBo5(3y(=!tqZvj(|3Ff^Oxrygkox~V3rHN<&Ti95B4t4JqSex zTOaIQ>q0I>{^!l))rGbqw&^Q8!G@|8270X^`{@VM)(o-mdQXQL}`1POm8-^ zau49yAH}3S&Fy7RBgD~S;nnsu8QvOV<(}-ecG#O}Yrvk@$$RANX*%yM&pimmgnh2{ zElNAYkz(P+_B5^g%X1GxF>z1RviDv0G+W+^E7~8`?vdSkILz*ox?h&(p74<3*8qAr z`Ju%^P_cO49&vWC!xZr7{R2%1_Tc+-T~z=8002ovPDHLkV1gERfj9sF literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html new file mode 100644 index 0000000000..0b7830fbe6 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html @@ -0,0 +1,404 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-01-14 11:12:21Functions:678182.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<double, double, double, double> mrs_lib::get_mutexed<double, double, double, double>(std::mutex&, double&, double&, double&, double&)0
mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&)0
Eigen::Matrix<double, 2, 2, 0, 2, 2> mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::SpeedTrackerCommand_<std::allocator<void> >&)0
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(std::mutex&, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 1, 0, 6, 1> >(std::mutex&, Eigen::Matrix<double, 6, 1, 0, 6, 1>, Eigen::Matrix<double, 6, 1, 0, 6, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)0
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
mrs_msgs::TrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >&)3
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)18
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)62
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> >&)79
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)124
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)124
mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)175
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)494
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)780
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> >&)1386
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&)2622
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&)5006
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&)8111
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)10184
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> >&)10236
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&)10313
int mrs_lib::get_mutexed<int>(std::mutex&, int&)10878
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)12615
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&)15378
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> >&)19732
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)19978
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&)21570
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)40283
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&)42569
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)42569
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&)43746
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> >&)47426
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)49153
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)49153
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> >&)65378
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)65543
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)80057
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> >&)86502
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)88498
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>&)107753
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&)119172
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&)120275
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&)123406
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>&)134776
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>&)140809
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> >&)144960
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>&)155877
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)167987
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&)177736
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>&)181166
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&)185005
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&)201718
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&)221177
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&)226003
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&)226223
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> >&)240532
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> >&)326888
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&)361852
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> > >&)395351
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)434485
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)441216
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&)474418
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&)475237
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> >&)580644
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)581711
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)588512
double mrs_lib::get_mutexed<double>(std::mutex&, double&)593049
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)610458
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)700879
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&)1508937
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&)1511041
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&)1635435
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-01-14 11:12:21Functions:678182.7 %
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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&)42569
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>&)140809
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&)185005
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>&)134776
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&)5006
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)49153
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)12615
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)19978
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&)15378
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&)1511041
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&)119172
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&)361852
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&)123406
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&)177736
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&)120275
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&)221177
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&)1508937
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&)1635435
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&)10313
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&)201718
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)434485
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)441216
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)49153
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&)43746
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&)21570
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)80057
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)40283
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)18
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)588512
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>&)181166
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>&)107753
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>&)155877
mrs_msgs::TrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::TrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::TrackerCommand_<std::allocator<void> >&)3
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)780
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)494
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)167987
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> >&)42569
mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >(std::mutex&, mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> >&)175
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> >&)88498
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)581711
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&)475237
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&)226223
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> >&)47426
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> >&)144960
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> > >&)395351
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)10184
double mrs_lib::get_mutexed<double>(std::mutex&, double&)593049
int mrs_lib::get_mutexed<int>(std::mutex&, int&)10878
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)700879
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)65543
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&)8111
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&)2622
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)124
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)124
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)62
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> >&)86502
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> >&)65378
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> >&)1386
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> >&)326888
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> >&)10236
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> >&)79
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> >&)580644
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> >&)240532
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&)474418
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&)226003
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> >&)19732
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)610458
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Current view:top level - mrs_lib/include/mrs_lib - mutex.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1111100.0 %
Date:2024-01-14 11:12:21Functions:678182.7 %
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      605289 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50     1210578 :   std::scoped_lock lock(mut);
+      51             : 
+      52      605289 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54     1210578 :   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    11624452 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    19072976 :   std::scoped_lock lock(mut);
+      71             : 
+      72    23244924 :   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     2727365 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     4821179 :   std::scoped_lock lock(mut);
+     119             : 
+     120     2722572 :   where = what;
+     121             : 
+     122     5443476 :   return where;
+     123             : }
+     124             : 
+     125             : /**
+     126             :  * @brief thread-safe setter for multiple variables
+     127             :  *
+     128             :  * example:
+     129             :  *   set_mutexed(my_mutex_, a, a_, b, b_, c, c_);
+     130             :  *   where a, b, c are the values to be set
+     131             :  *         a_, b_, c_ are the variables to be updated
+     132             :  *
+     133             :  * @tparam Args types of the variables
+     134             :  * @param mut mutex to be locked
+     135             :  * @param args
+     136             :  *
+     137             :  * @return alternating list of values that were just set
+     138             :  */
+     139             : template <class... Args>
+     140             : auto set_mutexed(std::mutex& mut, Args&... args) {
+     141             : 
+     142             :   std::scoped_lock lock(mut);
+     143             : 
+     144             :   set_mutexed_impl(args...);
+     145             : 
+     146             :   return std::tuple(args...);
+     147             : }
+     148             : 
+     149             : /**
+     150             :  * @brief thread-safe setter for multiple variables
+     151             :  *
+     152             :  * example:
+     153             :  *   set_mutexed(mu_mutex, std::tuple(a, b, c), std::forward_as_tuple(a_, b_, c_));
+     154             :  *   where a, b, c are the values to be set
+     155             :  *         a_, b_, c_ are the updated variables
+     156             :  *
+     157             :  * @tparam Args types of the variables
+     158             :  * @param mut mutex to be locked
+     159             :  * @param from std::tuple of the values
+     160             :  * @param to std::tuple of reference to the variablaes
+     161             :  *
+     162             :  * @return
+     163             :  */
+     164             : template <class... Args>
+     165             : auto set_mutexed(std::mutex& mut, const std::tuple<Args...> from, std::tuple<Args&...> to) {
+     166             : 
+     167             :   std::scoped_lock lock(mut);
+     168             : 
+     169             :   to = from;
+     170             : 
+     171             :   return to;
+     172             : }
+     173             : 
+     174             : }  // namespace mrs_lib
+     175             : 
+     176             : #endif
+
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24828188.3 %
Date:2024-01-14 11:12:21Functions:707297.2 %
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Function Name Sort by function nameHit count Sort by hit count
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)0
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
void mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)1
void mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)1
void mrs_lib::ParamLoader::loadMatrixStatic<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixStatic<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
void mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)1
void mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixStatic_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)5
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
std::pair<XmlRpc::XmlRpcValue, bool> mrs_lib::ParamLoader::load<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)8
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)16
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)72
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)82
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)182
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)184
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)248
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)248
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)248
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&)310
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&)369
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)434
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&)682
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)682
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> >&)682
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1053
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1280
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1596
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&)2186
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)2187
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> > > >&)2187
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)2432
mrs_lib::ParamLoader::loadedSuccessfully()2802
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)3158
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)3468
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)3468
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)3670
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)6789
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6791
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> >&)9986
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&)10313
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)10313
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)10893
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)10893
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)24507
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)25437
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)25437
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)53433
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
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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&)310
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)82
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&)2186
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&)10313
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)10893
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&)369
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&)682
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)25437
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&)3468
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6791
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)434
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)248
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)248
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)182
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()2802
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1596
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&)53433
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)248
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)184
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)10313
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)2187
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)682
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)10893
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)25437
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)3468
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)72
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> >&)9986
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)16
bool mrs_lib::ParamLoader::loadParam<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&)2187
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> >&)682
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)6789
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)3670
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)24507
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)3158
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1280
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1053
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)2432
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24828188.3 %
Date:2024-01-14 11:12:21Functions: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          82 :   void printError(const std::string& str)
+      77             :   {
+      78          82 :     if (m_node_name.empty())
+      79          20 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81          62 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82          82 :   }
+      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       50111 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       50111 :     if (m_node_name.empty())
+      98       27673 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       22470 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       50111 :   }
+     102             : 
+     103             :   template <typename T>
+     104        2868 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        5736 :     std::stringstream strstr;
+     107        2868 :     if (m_node_name.empty())
+     108        1381 :       strstr << "\t";
+     109        2868 :     strstr << name << ":\t";
+     110        2868 :     size_t it = 0;
+     111       10035 :     for (const auto& elem : value)
+     112             :     {
+     113        7167 :       strstr << elem;
+     114        7167 :       if (it < value.size() - 1)
+     115        4613 :         strstr << ", ";
+     116        7167 :       it++;
+     117             :     }
+     118        2868 :     if (m_node_name.empty())
+     119        1381 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        1487 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        2868 :   }
+     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         369 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148         738 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151        1107 :     const Eigen::IOFormat fmt;
+     152         369 :     strstr << value.format(fmt);
+     153         369 :     if (m_node_name.empty())
+     154          59 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         310 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         369 :   }
+     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          72 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210          72 :     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       53433 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       53433 :     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       53419 :       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         442 :   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         884 :     const std::string name_prefixed = m_prefix + name;
+     247         442 :     MatrixX<T> loaded = default_value;
+     248             :     // first, check if the user already tried to load this parameter
+     249         442 :     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         430 :     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         430 :     bool expect_zero_matrix = rows == 0;
+     261         430 :     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         430 :     bool cur_load_successful = true;
+     273         430 :     bool check_size_exact = true;
+     274         430 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     275         119 :       check_size_exact = false;
+     276             : 
+     277         860 :     std::vector<T> tmp_vec;
+     278             :     // try to load the parameter
+     279         430 :     bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     280             :     // check if the loaded vector has correct length
+     281         430 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     282         430 :     if (!check_size_exact && !expect_zero_matrix)
+     283         118 :       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         430 :     if (success && correct_size)
+     286             :     {
+     287             :       // if successfully loaded, everything is in order
+     288             :       // transform the vector to the matrix
+     289         368 :       if (cols <= 0 && rows > 0)
+     290         118 :         cols = tmp_vec.size() / rows;
+     291         368 :       if (swap)
+     292             :       {
+     293          56 :         int tmp = cols;
+     294          56 :         cols = rows;
+     295          56 :         rows = tmp;
+     296             :       }
+     297         368 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     298             :     } else
+     299             :     {
+     300          62 :       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          62 :       loaded = default_value;
+     315          62 :       if (!optional)
+     316             :       {
+     317             :         // if the parameter was compulsory, alert the user and set the flag
+     318          62 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     319          62 :         cur_load_successful = false;
+     320             :       }
+     321             :     }
+     322             : 
+     323             :     // check if load was a success
+     324         430 :     if (cur_load_successful)
+     325             :     {
+     326         368 :       if (m_print_values && printValues)
+     327         367 :         printValue(name_prefixed, loaded);
+     328         368 :       m_loaded_params.insert(name_prefixed);
+     329             :     } else
+     330             :     {
+     331          62 :       m_load_successful = false;
+     332             :     }
+     333             :     // finally, return the resulting value
+     334         430 :     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         252 :   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         504 :     MatrixX<T> loaded = default_value;
+     409             :     // first, check that at least one dimension is set
+     410         252 :     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         252 :     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         184 :   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         368 :     MatrixX<T> loaded = default_value;
+     426             : 
+     427             :     // next, check that at least one dimension is set
+     428         184 :     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         184 :     swap_t swap = NO_SWAP;
+     436         184 :     if (rows <= 0)
+     437             :     {
+     438          56 :       int tmp = rows;
+     439          56 :       rows = cols;
+     440          56 :       cols = tmp;
+     441          56 :       swap = SWAP;
+     442             :     }
+     443         184 :     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       52986 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     462             :   {
+     463      105972 :     const std::string name_prefixed = m_prefix + name;
+     464       66174 :     T loaded = default_value;
+     465       52986 :     if (unique && check_duplicit_loading(name_prefixed))
+     466           2 :       return {loaded, false};
+     467             : 
+     468       52984 :     bool cur_load_successful = true;
+     469             :     // try to load the parameter
+     470       52984 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     471       52984 :     if (!success)
+     472             :     {
+     473             :       // if it was not loaded, set the default value
+     474         953 :       loaded = default_value;
+     475         953 :       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       52926 :     if (cur_load_successful)
+     484             :     {
+     485             :       // everything is fine and just print the name_prefixed and value if required
+     486       52980 :       if (m_print_values)
+     487       52981 :         printValue(name_prefixed, loaded);
+     488             :       // mark the param name_prefixed as successfully loaded
+     489       53037 :       m_loaded_params.insert(name_prefixed);
+     490             :     } else
+     491             :     {
+     492           2 :       m_load_successful = false;
+     493             :     }
+     494             :     // finally, return the resulting value
+     495       52984 :     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        2432 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     508        2432 :       : m_load_successful(true),
+     509             :         m_print_values(printValues),
+     510             :         m_node_name(node_name),
+     511             :         m_nh(nh),
+     512        2556 :         m_pp(nh, m_node_name)
+     513             :   {
+     514             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     515        2432 :   }
+     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        1053 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     525        1053 :       : ParamLoader(nh, true, node_name)
+     526             :   {
+     527             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     528        1053 :   }
+     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        1280 :   void setPrefix(const std::string& prefix)
+     551             :   {
+     552        1280 :     m_prefix = prefix;
+     553        1280 :   }
+     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        6915 :   bool addYamlFile(const std::string& filepath)
+     580             :   {
+     581        6915 :     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        1596 :   bool addYamlFileFromParam(const std::string& param_name)
+     594             :   {
+     595        3192 :     std::string filepath;
+     596        1596 :     if (!loadParam(param_name, filepath))
+     597           0 :       return false;
+     598        1596 :     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        2864 :   bool loadedSuccessfully()
+     609             :   {
+     610        2864 :     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        3688 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     629             :   {
+     630        3688 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     631        3688 :     out_value = ret;
+     632        3706 :     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         311 :   T loadParam2(const std::string& name, const T& default_value)
+     647             :   {
+     648         560 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     649         560 :     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       47312 :   bool loadParam(const std::string& name, T& out_value)
+     703             :   {
+     704       61844 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     705       48986 :     out_value = ret;
+     706       60170 :     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         249 :   void loadMatrixStatic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1047             :   {
+    1048         249 :     mat = loadMatrixStatic2<T>(name, rows, cols);
+    1049         249 :   }
+    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         250 :   MatrixX<T> loadMatrixStatic2(const std::string& name, int rows, int cols)
+    1086             :   {
+    1087         250 :     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         182 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1167             :   {
+    1168         182 :     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..f0ef24436c --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:11611799.1 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()16
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()16
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()32
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()63
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()108
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()125
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()128
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()128
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()128
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()182
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()186
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()188
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()193
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()247
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()247
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()248
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()248
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()256
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()311
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()362
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()365
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()365
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()372
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()372
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()372
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()381
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()431
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()494
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()494
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()494
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()496
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()613
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()671
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()744
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()988
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1033
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()103125
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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..41601704d4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:11611799.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()248
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()496
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()128
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()193
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()372
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()744
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()671
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1033
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()247
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()494
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()494
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()988
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()431
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()613
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()125
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()188
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()365
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()365
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()186
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()108
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()128
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()256
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()381
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()103125
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()16
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()32
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()62
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()124
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()186
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()372
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()248
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()65
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()372
mrs_lib::PublisherHandler_impl<mrs_msgs::BumperStatus_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()362
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()247
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()494
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()182
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()63
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()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()62
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()128
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()311
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()16
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()62
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()62
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()186
+
+
+ + + +
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..c44baef57f --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:11611799.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines PublisherHandler and related convenience classes for upgrading the ROS publisher
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef PUBLISHER_HANDLER_H
+       6             : #define PUBLISHER_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <atomic>
+      12             : #include <string>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class PublisherHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the publisher handler
+      22             :  */
+      23             : template <class TopicType>
+      24             : class PublisherHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   PublisherHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        4228 :   ~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        5778 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106      112609 :   ~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         158 :   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)51912
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)80467
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)51912
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)80467
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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       80467 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21       80467 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       51912 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       51912 :   return sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
+      27             : }
+      28             : 
+      29             : }  // namespace quadratic_throttle_model
+      30             : 
+      31             : }  // namespace mrs_lib
+      32             : 
+      33             : #endif  // QUADRATIC_THRUST_MODEL_H
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)1
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t::info_t(ros::Time const&)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChange<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)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&)201
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&)296
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&)296
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&)592
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&)592
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)629
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)2048
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&)5154
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&)14020
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Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-01-14 11:12:21Functions: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&)14020
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&)5154
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)629
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t> > > > const&)300
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)2048
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&)296
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&)592
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&)102
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&)296
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&)201
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&)592
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<2, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::LKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::LKF<6, 2, 2> > const&, unsigned int)0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-01-14 11:12:21Functions: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       13918 :       do
+      81             :       {
+      82       14020 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       14020 :         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       14020 :         ros::Time next_stamp = to_stamp;
+      90       14020 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       13918 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       14020 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       14020 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       14020 :         hist_it++;
+      99       14020 :       } 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         592 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         592 :       assert(!m_history.empty());
+     120         592 :       const auto& info = m_history.front();
+     121         592 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         592 :       sc.stamp = to_stamp;
+     123         592 :       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        5254 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        5054 :           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         201 :     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         201 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         201 :       m_history.front().u = u;
+     172         201 :       m_history.front().Q = Q;
+     173         201 :       m_history.front().stamp = stamp;
+     174         201 :       m_history.front().predict_model = model;
+     175         201 :     }
+     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         102 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222         102 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224         102 :       m_history.front().u = u;
+     225         102 :       m_history.front().stamp = stamp;
+     226         102 :       m_history.front().predict_model = model;
+     227         102 :     }
+     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         296 :     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         296 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         296 :       auto& info = m_history.front();
+     327         296 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         296 :       const auto sc = predictTo(to_stamp);
+     329         296 :       info.z = z;
+     330         296 :       info.R = R;
+     331         296 :       info.stamp = to_stamp;
+     332         296 :       info.is_measurement = true;
+     333         296 :       info.meas_id = meas_id;
+     334         296 :       info.correct_model = model;
+     335         296 :       m_sc = correctFrom(sc, info);
+     336         296 :     }
+     337             :     //}
+     338             : 
+     339             :   public:
+     340             :     /* constructor //{ */
+     341             : 
+     342             :     /*!
+     343             :      * \brief The main constructor.
+     344             :      *
+     345             :      * Initializes the Repredictor with the necessary initial and default values.
+     346             :      *
+     347             :      * \param x0             Initial state.
+     348             :      * \param P0             Covariance matrix of the initial state uncertainty.
+     349             :      * \param u0             Initial system input.
+     350             :      * \param Q0             Default covariance matrix of the process noise.
+     351             :      * \param t0             Time stamp of the initial state.
+     352             :      * \param model          Default prediction and correction model.
+     353             :      * \param hist_len       Length of the history buffer for system inputs and measurements.
+     354             :      */
+     355           3 :     Repredictor(const x_t& x0, const P_t& P0, const u_t& u0, const Q_t& Q0, const ros::Time& t0, const ModelPtr& model, const unsigned hist_len)
+     356           3 :         : m_sc{x0, P0}, m_default_model(model), m_history(history_t(hist_len))
+     357             :     {
+     358           3 :       assert(hist_len > 0);
+     359           3 :       addInputChangeWithNoise(u0, Q0, t0, model);
+     360           3 :     };
+     361             : 
+     362             :     /*!
+     363             :      * \brief Empty constructor.
+     364             :      *
+     365             :      */
+     366             :     Repredictor(){};
+     367             : 
+     368             :     /*!
+     369             :      * \brief Variation of the constructor for cases without a system input.
+     370             :      *
+     371             :      * Initializes the Repredictor with the necessary initial and default values.
+     372             :      * Assumes the system input is zero at t0.
+     373             :      *
+     374             :      * \param x0             Initial state.
+     375             :      * \param P0             Covariance matrix of the initial state uncertainty.
+     376             :      * \param Q0             Default covariance matrix of the process noise.
+     377             :      * \param t0             Time stamp of the initial state.
+     378             :      * \param model          Default prediction and correction model.
+     379             :      * \param hist_len       Length of the history buffer for system inputs and measurements.
+     380             :      */
+     381             :     Repredictor(const x_t& x0, const P_t& P0, const Q_t& Q0, const ros::Time& t0, const ModelPtr& model, const unsigned hist_len)
+     382             :         : m_sc{x0, P0}, m_default_model(model), m_history(history_t(hist_len))
+     383             :     {
+     384             :       assert(hist_len > 0);
+     385             :       const u_t u0{0};
+     386             :       addInputChangeWithNoise(u0, Q0, t0, model);
+     387             :     };
+     388             :     //}
+     389             : 
+     390             :   protected:
+     391             :     // state and covariance corresponding to the oldest element in the history buffer
+     392             :     statecov_t m_sc;
+     393             :     // default model to use for updates
+     394             :     ModelPtr m_default_model;
+     395             : 
+     396             :   private:
+     397             :     /* helper structs and usings //{ */
+     398             : 
+     399             :     struct info_t
+     400             :     {
+     401             :       ros::Time stamp;
+     402             : 
+     403             :       // system input-related information
+     404             :       u_t u;
+     405             :       Q_t Q;
+     406             :       ModelPtr predict_model;
+     407             : 
+     408             :       // measurement-related information (unused in case is_measurement=false)
+     409             :       z_t z;
+     410             :       R_t R;
+     411             :       ModelPtr correct_model;
+     412             :       bool is_measurement;
+     413             :       int meas_id;
+     414             : 
+     415             :       // constructor for a dummy info (for searching in the history)
+     416         631 :       info_t(const ros::Time& stamp) : stamp(stamp), is_measurement(false){};
+     417             : 
+     418             :       // constructor for a system input
+     419         200 :       info_t(const ros::Time& stamp, const u_t& u, const Q_t& Q, const ModelPtr& model)
+     420         200 :           : stamp(stamp), u(u), Q(Q), predict_model(model), is_measurement(false){};
+     421             : 
+     422             :       // constructor for a measurement
+     423         100 :       info_t(const ros::Time& stamp, const z_t& z, const R_t& R, const ModelPtr& model, const info_t& prev_info, const int& meas_id)
+     424         100 :           : stamp(stamp), z(z), R(R), correct_model(model), is_measurement(true), meas_id(meas_id)
+     425             :       {
+     426         100 :         updateUsing(prev_info);
+     427         100 :       };
+     428             : 
+     429             :       // copy system input-related information from a previous info
+     430        5154 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        5154 :         u = info.u;
+     433        5154 :         Q = info.Q;
+     434        5154 :         predict_model = info.predict_model;
+     435        5154 :       };
+     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        2048 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2048 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       14612 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       29224 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       14612 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       29224 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5446 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5446 :       assert(meas.is_measurement);
+     544       10892 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5446 :       auto sc_tmp = sc;
+     546       10892 :       return model->correct(sc_tmp, meas.z, meas.R);
+     547             :     }
+     548             :     //}
+     549             :   };
+     550             : }  // namespace mrs_lib
+     551             : 
+     552             : 
+     553             : #endif  // REPREDICTOR_H
+
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html new file mode 100644 index 0000000000..779adb9a19 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2024-01-14 11:12:21Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
+
+
+ + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html new file mode 100644 index 0000000000..267fe723c3 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - polygon.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:060.0 %
Date:2024-01-14 11:12:21Functions:030.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

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mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html new file mode 100644 index 0000000000..8b592d08da --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.html new file mode 100644 index 0000000000..7d9203de31 --- /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:2024-01-14 11:12:21Functions:030.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_POLYGON_H
+       3             : #define MRS_LIB_POLYGON_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : #include <eigen3/Eigen/Eigen>
+       7             : #include <vector>
+       8             : #include <geometry_msgs/Point.h>
+       9             : #include <mrs_lib/safety_zone/line_operations.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             : class Polygon {
+      14             : public:
+      15             :   Polygon(const Eigen::MatrixXd vertices);
+      16             : 
+      17             :   bool isPointInside(const double px, const double py);
+      18             :   bool doesSectionIntersect(const double startX, const double startY, const double endX, const double endY);
+      19             :   bool isClockwise();
+      20             :   void inflateSelf(double amount);
+      21             : 
+      22             :   std::vector<geometry_msgs::Point> getPointMessageVector(const double z);
+      23             : 
+      24             : private:
+      25             :   Eigen::MatrixXd vertices;
+      26             : 
+      27             : public:
+      28             :   // exceptions
+      29             :   struct WrongNumberOfVertices : public std::exception
+      30             :   {
+      31           0 :     const char* what() const throw() {
+      32           0 :       return "Polygon: wrong number of vertices was supplied!";
+      33             :     }
+      34             :   };
+      35             : 
+      36             :   struct WrongNumberOfColumns : public std::exception
+      37             :   {
+      38           0 :     const char* what() const throw() {
+      39           0 :       return "Polygon: wrong number of colums, it should be =2!";
+      40             :     }
+      41             :   };
+      42             : 
+      43             :   struct ExtraVertices : public std::exception
+      44             :   {
+      45           0 :     const char* what() const throw() {
+      46           0 :       return "Polygon: useless vertices detected, polygon methods may break!";
+      47             :     }
+      48             :   };
+      49             : };
+      50             : }  // namespace mrs_lib
+      51             : 
+      52             : #endif  // MRS_LIB_POLYGON_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html new file mode 100644 index 0000000000..3a568cf9a5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html @@ -0,0 +1,33 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.png b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..69c6e8249f4419ea60e73f57611e818597436175 GIT binary patch literal 337 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfR!VDzeM=iPpq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUrhg7-aL978-h&xUsL9#P=QHuETJ;yv_l zwT!=jKeuP;+m|{aEh%#nda48j6jdK=WDT9?W-5Hv!)wCVGcHRjR9F4&?V8P&wrH0l zYv;tQ{4dKZToN)kHmM>qTYD`~>&gdj!ff zE*HJCIw^nk`X48Z_Xu(sh{@jPaWKwMisF9|!!gJGLnX`mbpoC13bZDEZu)%9qTFR) zh=ryc|B=)~3H(aB&40A3ZBDmKf0Tc7Q$_t@YPE{xr-x#T&EFW_?r3;s-?6d8WIJoo b+20JO`5O;uuKc40^eTg=tDnm{r-UW|8XSfQ literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html new file mode 100644 index 0000000000..209a37fe41 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2024-01-14 11:12:21Functions:010.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
+
+
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.func.html new file mode 100644 index 0000000000..c21343ea12 --- /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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Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2024-01-14 11:12:21Functions:010.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html new file mode 100644 index 0000000000..b372dc445a --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html new file mode 100644 index 0000000000..3f1a04fa45 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.html @@ -0,0 +1,121 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/safety_zone - safety_zone.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:020.0 %
Date:2024-01-14 11:12:21Functions: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
+
+
+
+ + + + +
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+
+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html new file mode 100644 index 0000000000..20ffd7de34 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/safety_zone.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.png b/mrs_lib/include/mrs_lib/safety_zone/safety_zone.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1b39b2911483785bd7a8e252290372648cd02641 GIT binary patch literal 280 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$E!VDzUFBHE4QW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!DXH$Xhoi1$?<^|$XXd{aqZ z@a?+Nrut{KJqP__-W)l)eS=`_BawZ+ioN1V8Co_XvbSaKZg6;E-mvA~rPO(wMHgk6 VNwG-e^8j7U;OXk;vd$@?2>?zzaFhT5 literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html b/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html new file mode 100644 index 0000000000..dd735ef23c --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2024-01-14 11:12:21Functions:1333.3 %
Legend: Lines: + hit + not hit +
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mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3286669
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.func.html b/mrs_lib/include/mrs_lib/scope_timer.h.func.html new file mode 100644 index 0000000000..bb9ac00c70 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - scope_timer.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2024-01-14 11:12:21Functions:1333.3 %
Legend: Lines: + hit + not hit +
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mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3286669
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html new file mode 100644 index 0000000000..bb60579787 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html new file mode 100644 index 0000000000..34b6640029 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.html @@ -0,0 +1,248 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:2633.3 %
Date:2024-01-14 11:12:21Functions:1333.3 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /**  \file
+       2             :  *   \brief Simple timer which times a duration of its scope, with additional optional checkpoints.
+       3             :  *   \author Daniel Hert - hertdani@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SCOPE_TIMER_H
+       6             : #define SCOPE_TIMER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <chrono>
+      10             : #include <iostream>
+      11             : #include <fstream>
+      12             : #include <iomanip>
+      13             : #include <mutex>
+      14             : /* #include <ctime> */
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             : 
+      19             : /*//{ ScopeTimerLogger class */
+      20             : 
+      21             : /**
+      22             :  * @brief Simple file logger of scope timer and its checkpoints
+      23             :  */
+      24             : class ScopeTimerLogger {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief The basic constructor with a user-defined path to the logger file, enable flag and float-logging precision
+      29             :    */
+      30             :   ScopeTimerLogger(const std::string& logfile, const bool enable_logging = true, const int log_precision = 10);
+      31             : 
+      32             :   /**
+      33             :    * @brief The basic destructor which closes the logging file
+      34             :    */
+      35             :   ~ScopeTimerLogger();
+      36             : 
+      37             :   /**
+      38             :    * @brief Returns true if a non-empty path to a logger file was given by the user
+      39             :    */
+      40           0 :   bool shouldLog() {
+      41           0 :     return _should_log_;
+      42             :   }
+      43             : 
+      44             :   /**
+      45             :    * @brief Returns true if the enable flag was set to true, a non-empty path to a logger file was given by the user and the logger file stream was successfully
+      46             :    * opened.
+      47             :    */
+      48           0 :   bool loggingEnabled() {
+      49           0 :     return _logging_enabled_;
+      50             :   }
+      51             : 
+      52             :   /**
+      53             :    * @brief Returns the path to the log.
+      54             :    */
+      55             :   std::string getLogFilepath() {
+      56             :     return _log_filepath_;
+      57             :   }
+      58             : 
+      59             :   using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      60             : 
+      61             :   /**
+      62             :    * @brief Writes the time data of the given scope and empty checkpoints into the logger stream.
+      63             :    */
+      64             :   void log(const std::string& scope, const chrono_tp& time_start, const chrono_tp& time_end);
+      65             : 
+      66             :   /**
+      67             :    * @brief Writes the time data of the given scope and checkpoint labels into the logger stream.
+      68             :    */
+      69             :   void log(const std::string& scope, const std::string& label_from, const std::string& label_to, const chrono_tp& time_start, const chrono_tp& time_end);
+      70             : 
+      71             : private:
+      72             :   bool          _logging_enabled_ = false;
+      73             :   bool          _should_log_      = false;
+      74             :   std::string   _log_filepath_;
+      75             :   std::ofstream _logstream_;
+      76             :   std::mutex    _mutex_logstream_;
+      77             : };
+      78             : 
+      79             : /*//}*/
+      80             : 
+      81             : /**
+      82             :  * @brief Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.
+      83             :  */
+      84             : class ScopeTimer {
+      85             : public:
+      86             :   /* time_point() helper struct //{ */
+      87             :   struct time_point
+      88             :   {
+      89             :     using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      90             : 
+      91             :   public:
+      92     3286669 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     3286538 :     }
+      94             : 
+      95             :     time_point(const std::string& label, const ros::Time& ros_time) : ros_time(ros_time), label(label) {
+      96             :       // helper types to make the code slightly more readable
+      97             :       using float_seconds   = std::chrono::duration<float>;
+      98             :       using chrono_duration = std::chrono::steady_clock::duration;
+      99             :       // prepare ros and chrono current times to minimize their difference
+     100             :       const auto ros_now    = ros::Time::now();
+     101             :       const auto chrono_now = std::chrono::steady_clock::now();
+     102             :       // calculate how old is ros_time
+     103             :       const auto ros_dt = ros_now - ros_time;
+     104             :       // cast ros_dt to chrono type
+     105             :       const auto chrono_dt = std::chrono::duration_cast<chrono_duration>(float_seconds(ros_dt.toSec()));
+     106             :       // calculate ros_time in chrono time and set it to chrono_time
+     107             :       chrono_time = chrono_now - chrono_dt;
+     108             :     }
+     109             : 
+     110             :     ros::Time   ros_time;
+     111             :     chrono_tp   chrono_time;
+     112             :     std::string label;
+     113             :   };
+     114             :   //}
+     115             : 
+     116             : public:
+     117             :   /**
+     118             :    * @brief The basic constructor with a user-defined label of the timer, throttled period and file logger.
+     119             :    */
+     120             :   ScopeTimer(const std::string& label, const ros::Duration& throttle_period = ros::Duration(0), const bool enable = true,
+     121             :              const std::shared_ptr<ScopeTimerLogger> scope_timer_logger = nullptr);
+     122             : 
+     123             :   /**
+     124             :    * @brief The basic constructor with a user-defined label of the timer and a pre-start time, which will also be measured.
+     125             :    */
+     126             :   ScopeTimer(const std::string& label, const time_point& tp0, const ros::Duration& throttle_period = ros::Duration(0), const bool enable = true,
+     127             :              const std::shared_ptr<ScopeTimerLogger> scope_timer_logger = nullptr);
+     128             : 
+     129             :   /**
+     130             :    * @brief The basic constructor with a user-defined label of the timer and file logger.
+     131             :    */
+     132             :   ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable = true);
+     133             : 
+     134             :   /**
+     135             :    * @brief Checkpoint, prints the time passed until the point this function is called.
+     136             :    */
+     137             :   void checkpoint(const std::string& label);
+     138             : 
+     139             :   /**
+     140             :    * @brief Getter for scope timer lifetime
+     141             :    *
+     142             :    * @return lifetime as floating point milliseconds
+     143             :    */
+     144             :   float getLifetime();
+     145             : 
+     146             :   /**
+     147             :    * @brief The basic destructor which prints out or logs the scope times, if enabled.
+     148             :    */
+     149             :   ~ScopeTimer();
+     150             : 
+     151             : private:
+     152             :   std::string             _timer_label_;
+     153             :   bool                    _enable_print_or_log;
+     154             :   ros::Duration           _throttle_period_;
+     155             :   std::vector<time_point> checkpoints;
+     156             : 
+     157             :   std::shared_ptr<ScopeTimerLogger> _logger_ = nullptr;
+     158             : 
+     159             :   static std::unordered_map<std::string, ros::Time> last_print_times;
+     160             : };
+     161             : 
+     162             : }  // namespace mrs_lib
+     163             : 
+     164             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html new file mode 100644 index 0000000000..82f8580772 --- /dev/null +++ b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.overview.html @@ -0,0 +1,61 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/scope_timer.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/scope_timer.h.gcov.png b/mrs_lib/include/mrs_lib/scope_timer.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d57ab8c0703ba94fdd794b60b6475e555513d985 GIT binary patch literal 777 zcmV+k1NQuhP)<}7j3 zxrRs>_JFGeLNsPr?+Qn&IfG`S=o<3?vJ)hU zjAZ~dhqBB;Jj)NpJoctB;8UAh9a`dqF$4OxIgSP-PXv;_1F;fDX6CW)&;6w5qe17B@U0r+Y6Q1l9h?T!Z=(6(!i`f=Z1Ee9liJg|S=kHM1_;Lw^erM{3NIurD< zjRu378I8)E*k~ZS9J4GuCF1Z?RNL{#nRt26U&cbf5JiYA(~Lam@z zr^t`RCZ%smU>U`(w)(it^w$NeAqx5rR{-KsMk + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2024-01-14 11:12:21Functions:2020100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()62
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()63
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()63
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::~ServiceClientHandler()108
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()124
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()124
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()126
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()126
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()126
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()374
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()374
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()468
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()736
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()736
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()856
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1762
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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..bcf822f5ed --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,160 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2024-01-14 11:12:21Functions:2020100.0 %
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()63
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()126
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()62
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()124
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()62
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()124
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::~ServiceClientHandler()216
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()126
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()468
mrs_lib::ServiceClientHandler<mrs_msgs::PathSrv>::~ServiceClientHandler()108
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()374
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()856
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()736
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1762
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()63
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()62
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()126
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()374
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()736
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+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html new file mode 100644 index 0000000000..6bee985b3e --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html new file mode 100644 index 0000000000..a7d0a1a47b --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html @@ -0,0 +1,327 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2024-01-14 11:12:21Functions:2020100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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        1423 :   ~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        1423 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        3784 :   ~ServiceClientHandler(void){};
+     140             : 
+     141             :   /**
+     142             :    * @brief operator=
+     143             :    *
+     144             :    * @param other
+     145             :    *
+     146             :    * @return
+     147             :    */
+     148             :   ServiceClientHandler& operator=(const ServiceClientHandler& other);
+     149             : 
+     150             :   /**
+     151             :    * @brief copy constructor
+     152             :    *
+     153             :    * @param other
+     154             :    */
+     155             :   ServiceClientHandler(const ServiceClientHandler& other);
+     156             : 
+     157             :   /**
+     158             :    * @brief constructor
+     159             :    *
+     160             :    * @param nh ROS node handler
+     161             :    * @param address service address
+     162             :    */
+     163             :   ServiceClientHandler(ros::NodeHandle& nh, const std::string& address);
+     164             : 
+     165             :   /**
+     166             :    * @brief initializer
+     167             :    *
+     168             :    * @param nh ROS node handler
+     169             :    * @param address service address
+     170             :    */
+     171             :   void initialize(ros::NodeHandle& nh, const std::string& address);
+     172             : 
+     173             :   /**
+     174             :    * @brief "standard" synchronous call
+     175             :    *
+     176             :    * @param srv data
+     177             :    *
+     178             :    * @return true when success
+     179             :    */
+     180             :   bool call(ServiceType& srv);
+     181             : 
+     182             :   /**
+     183             :    * @brief "standard" synchronous call with repeats after failure
+     184             :    *
+     185             :    * @param srv data
+     186             :    * @param attempts how many attempts for the call
+     187             :    *
+     188             :    * @return true when success
+     189             :    */
+     190             :   bool call(ServiceType& srv, const int& attempts);
+     191             : 
+     192             :   /**
+     193             :    * @brief "standard" synchronous call with repeats after failure
+     194             :    *
+     195             :    * @param srv data
+     196             :    * @param attempts how many attempts for the call
+     197             :    * @param repeat_delay how long to wait before repeating the call
+     198             :    *
+     199             :    * @return true when success
+     200             :    */
+     201             :   bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     202             : 
+     203             :   /**
+     204             :    * @brief asynchronous call
+     205             :    *
+     206             :    * @param srv data
+     207             :    *
+     208             :    * @return future result
+     209             :    */
+     210             :   std::future<ServiceType> callAsync(ServiceType& srv);
+     211             : 
+     212             :   /**
+     213             :    * @brief asynchronous call with repeats after failure
+     214             :    *
+     215             :    * @param srv data
+     216             :    * @param attempts how many attemps for the call
+     217             :    *
+     218             :    * @return future result
+     219             :    */
+     220             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
+     221             : 
+     222             :   /**
+     223             :    * @brief asynchronous call with repeats after failure
+     224             :    *
+     225             :    * @param srv data
+     226             :    * @param attempts how many attemps for the call
+     227             :    * @param repeat_delay how long to wait before repeating the call
+     228             :    *
+     229             :    * @return future result
+     230             :    */
+     231             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     232             : 
+     233             : private:
+     234             :   std::shared_ptr<ServiceClientHandler_impl<ServiceType>> impl_;
+     235             : };
+     236             : 
+     237             : //}
+     238             : 
+     239             : }  // namespace mrs_lib
+     240             : 
+     241             : #include <mrs_lib/impl/service_client_handler.hpp>
+     242             : 
+     243             : #endif  // SERVICE_CLIENT_HANDLER_H
+
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+ + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.png b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1f77d70b09707c50b06bd68bf8ff5cf1bfc35fd8 GIT binary patch literal 689 zcmV;i0#5yjP)N=w&DXGh)NcNV9X*KZ$UKn;|9Ec z%=R(v35*q7{{(}P>|P0=Oz*;#7R(h3iU)aC#R`HW)W(Qamehh{>?1^!sFsFWp&A0= zl#G2^>Rz}35b_MrFN!_2nhZAqv?$0D9Q%2dM9)cT`LU)JW~ulYys+DxDG3S@U%%=2 zc^!@A@V`fbEty-H0YX5BxEB6O9f)}>iZ&+&RRO9CDDX2uRP%^l6CNgqlE-6^c0?PN zO3hag4uR$&yGSSDKo95*nm{t8^JIjJC+edVe#P(IwLAX1?$LnPil&ZeEnw=CG zpcSXwex4PXIo0g+5DGZqfJ)V*H)pd?qu9U_B1VF8%d?0Lc`QOKLs}OFZrE=H9@}rr zTcObK#eCxZ}&H!66aVyy(-h{|HNEpFbXNKO-z`xN3jR8f8VKE+FNub+IipVp_i z!kOv>x?VI^sDL(dU>HM!e zviA>ttw)Qf=aF8%WoBM~V}DrxF%a%gQp~*%y0OoS%tigjJ4a^Ljs1iWp51>eO}f6C zJ+S|nSuR#ks=9s6U}oMeBXe&5@vf2i_8+CHlfnG^gyt23f3-IVI|)b_J%|f~%vkyd XJM*UY61ZA500000NkvXXu0mjf!D=)% literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html b/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html new file mode 100644 index 0000000000..733e324624 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html @@ -0,0 +1,2916 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2024-01-14 11:12:21Functions:35670950.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::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::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::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> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const3
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()4
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::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*)16
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*)16
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()16
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)16
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*)16
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*)16
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()() const16
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()() const16
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()() const16
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&)18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const31
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()57
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*)59
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*)59
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const59
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()() const59
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>*)61
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>*)61
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>*)61
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>*)61
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()() const61
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()() const61
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*)62
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*)62
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*)62
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*)62
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&)62
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*)62
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*)62
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&)62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)62
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*)62
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*)62
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&)62
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*)62
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*)62
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*)62
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*)62
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*)62
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*)62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)62
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*)62
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*)62
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*)62
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*)62
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*)62
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*)62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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()() const62
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&)63
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const63
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const63
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const63
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()() const63
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&)65
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>*)65
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*)65
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>*)65
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*)65
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)65
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*)65
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfSource>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)65
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*)65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)65
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()() const65
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()() const65
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()() const65
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfSource::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfSource*)::{lambda()#1}::operator()() const65
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()() const65
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()() const65
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()() const65
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()66
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*)66
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*)66
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()() const66
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const70
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()73
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()75
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const85
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()108
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()111
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&)111
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>*)111
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>*)111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)111
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()() const111
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()119
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()119
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()119
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const121
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()124
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&)124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)124
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)124
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()124
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&)124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()124
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()124
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)124
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()() const124
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()127
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&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()128
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()130
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&)140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)140
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()140
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()144
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()181
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&)186
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()186
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&)186
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&)186
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()() const186
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()() const186
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()() const186
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()192
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&)192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)192
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const194
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()197
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()199
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&)199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)199
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()204
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)204
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()() const204
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()244
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&)244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()244
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()244
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)244
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()() const244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()247
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()247
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()247
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()248
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()248
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&)248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)248
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()248
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()255
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()261
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()266
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)266
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()() const266
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const291
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()305
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()309
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()310
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()310
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()318
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()323
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()356
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()358
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()362
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()377
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()378
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&)378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)378
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()388
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()488
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()491
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()501
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()516
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()542
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const542
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()576
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()610
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()640
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()693
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()712
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()873
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()1251
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()1356
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1565
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()3105
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const4698
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const12569
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const23878
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()30140
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()30917
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const31886
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()37134
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const38954
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()106575
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const106576
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()119371
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const134901
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const187880
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const221933
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const245214
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()257897
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()281095
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const336438
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()457390
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const584371
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28257724
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28257724
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28265416
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const28300212
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const28443783
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()76384360
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const76415654
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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..6f9e241429 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func.html @@ -0,0 +1,2916 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2024-01-14 11:12:21Functions:35670950.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()244
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&)244
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()247
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*)62
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*)62
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)59
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>*)61
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*)62
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*)62
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)59
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>*)61
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()491
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)244
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()124
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&)124
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()124
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&)62
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*)62
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*)62
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()248
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)124
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()111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()3105
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&)111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()247
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>*)111
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>*)111
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()358
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)111
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()247
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()247
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()66
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()1356
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&)62
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()248
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)61
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)61
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()310
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)62
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()199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()119371
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&)199
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()377
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&)65
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>*)65
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)65
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>*)65
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::HdgPassthrough>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)65
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()576
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)199
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()378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()457390
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&)378
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()873
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&)186
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*)62
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*)65
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*)65
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*)62
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*)65
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*)65
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()1251
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)378
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()247
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()247
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()197
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()305
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&)140
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()140
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&)62
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*)62
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*)16
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*)62
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*)16
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()388
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)140
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()127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()106575
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&)127
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()128
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()255
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)127
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()244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()257897
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()244
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&)244
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()488
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)244
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()362
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()30140
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&)248
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()248
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&)186
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()712
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)248
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()119
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()610
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)62
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()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()65
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&)65
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()130
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)65
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()62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()542
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)62
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)62
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)62
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()186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()186
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()124
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&)186
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()310
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)124
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()57
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()1
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()108
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)62
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)62
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()62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const>)> const&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)62
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()323
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()37134
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()266
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&)266
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()640
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)266
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()73
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()16
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&)16
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()140
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)16
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()119
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)62
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()75
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()18
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)16
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*)16
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()144
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)18
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()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()124
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)62
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()261
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()76384360
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()204
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&)204
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()516
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)204
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()119
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()62
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&)62
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()232
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)62
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()84
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()309
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::transform_manager::TransformManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()318
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()181
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()30917
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&)124
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()124
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*)62
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*)62
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*)62
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*)62
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()356
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)124
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()192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()281095
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&)192
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()501
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)63
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)62
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*)66
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*)62
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*)66
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()693
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)192
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::start()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<std_msgs::Bool_<std::allocator<void> > const>)> const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler()2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::~SubscribeHandler()4
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >&&)2
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()23878
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()124
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&)124
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()248
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)124
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()1565
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() const4698
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() const12569
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() const245214
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() const584371
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]() const63
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() const121
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const194
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() const106576
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() const221933
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() const336438
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() const38954
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() const4
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() const542
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() const291
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]() const63
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const1
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const63
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() const28300212
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() const28265416
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() const59
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28257724
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() const31
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() const76415654
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]() const70
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const59
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const28257724
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() const85
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() const134901
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const28443783
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() const187880
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const23878
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const31886
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()() const62
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()() const62
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()() const59
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()() const61
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()() const62
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()() const62
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()() const111
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const61
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()() const65
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()() const65
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::HdgPassthrough::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::HdgPassthrough*)::{lambda()#1}::operator()() const65
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()() const186
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()() const62
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()() const65
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()() const65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const62
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()() const62
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()() const16
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()() const65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const62
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()() const244
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()() const186
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()() const62
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()() const62
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()() const65
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const62
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()() const62
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()() const62
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()() const186
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()() const62
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()() const62
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()() const62
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()() const266
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()() const16
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()() const62
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_autostart::automatic_start::AutomaticStart::*)(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>), mrs_uav_autostart::automatic_start::AutomaticStart*)::{lambda()#1}::operator()() const16
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()() const62
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()() const204
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()() const62
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::transform_manager::TransformManager::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_managers::transform_manager::TransformManager*)::{lambda()#1}::operator()() const3
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const62
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()() const62
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()() const63
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::uav_manager::UavManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::uav_manager::UavManager*)::{lambda()#1}::operator()() const62
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()() const66
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<std_msgs::Bool_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const124
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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..50f23f2bd7 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - subscribe_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:394979.6 %
Date:2024-01-14 11:12:21Functions:35670950.2 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines SubscribeHandler and related convenience classes for subscribing to ROS topics.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef SUBRSCRIBE_HANDLER_H
+       8             : #define SUBRSCRIBE_HANDLER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <mrs_lib/timeout_manager.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   static const ros::Duration no_timeout = ros::Duration(0);
+      17             : 
+      18             :   /* struct SubscribeHandlerOptions //{ */
+      19             :   
+      20             :   /**
+      21             :   * \brief A helper class to simplify setup of SubscribeHandler construction.
+      22             :   * This class is passed to the SubscribeHandler constructor and specifies its common options.
+      23             :   *
+      24             :   * \note Any option, passed directly to the SubscribeHandler constructor outside this structure, *OVERRIDES* values in this structure.
+      25             :   * The values in this structure can be thought of as default common values for all SubscribeHandler objects you want to create,
+      26             :   * and values passed directly to the constructor as specific options for the concrete handler.
+      27             :   *
+      28             :   */
+      29             :   struct SubscribeHandlerOptions
+      30             :   {
+      31             :     SubscribeHandlerOptions(const ros::NodeHandle& nh) : nh(nh) {}
+      32        1565 :     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    77734952 :       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   219153872 :       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      336438 :       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      380956 :       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         197 :       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        4391 :       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        5743 :       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        3703 :       SubscribeHandler(
+     199             :             const SubscribeHandlerOptions& options,
+     200             :             const std::string& topic_name,
+     201             :             Types ... args
+     202             :           )
+     203             :       :
+     204             :         SubscribeHandler(
+     205        3703 :             [options, topic_name]()
+     206             :             {
+     207        7406 :               SubscribeHandlerOptions opts = options;
+     208        3703 :               opts.topic_name = topic_name;
+     209        7406 :               return opts;
+     210             :             }(),
+     211             :             args...
+     212        3703 :             )
+     213             :       {
+     214        3703 :       }
+     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        3703 :       SubscribeHandler(
+     224             :             const SubscribeHandlerOptions& options,
+     225             :             const message_callback_t& message_callback = {}
+     226             :           )
+     227        3703 :       {
+     228        3703 :         if (options.threadsafe)
+     229             :         {
+     230        3703 :           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        3703 :         if (options.autostart)
+     245        3702 :           start();
+     246        3703 :       };
+     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        1594 :       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        3188 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     324             :             args...
+     325        1594 :             )
+     326             :       {
+     327        1594 :       }
+     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       10742 :       ~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        3641 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     424             :       {
+     425        3641 :         this->m_pimpl = std::move(other.m_pimpl);
+     426        3641 :         other.m_pimpl = nullptr;
+     427        3641 :         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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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief TODO
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef TIMEOUT_MANAGER_H
+       8             : #define TIMEOUT_MANAGER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             :   /* TimeoutManager class //{ */
+      15             :   /**
+      16             :   * \brief TODO
+      17             :   *
+      18             :   */
+      19             :   class TimeoutManager
+      20             :   {
+      21             :     public:
+      22             :       // | ---------------------- public types ---------------------- |
+      23             :       using timeout_id_t = size_t;
+      24             :       using callback_t = std::function<void(const ros::Time&)>;
+      25             : 
+      26             :     public:
+      27             :       // | --------------------- public methods --------------------- |
+      28             : 
+      29             :     /*!
+      30             :       * \brief TODO
+      31             :       *
+      32             :       */
+      33             :       TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate);
+      34             : 
+      35          60 :       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      102438 :       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          64 :       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             :         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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Current view:top level - mrs_lib/include/mrs_lib - timer.h (source / functions)HitTotalCoverage
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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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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::~ThreadTimer()8
mrs_lib::ThreadTimer::~ThreadTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer()0
mrs_lib::MRSTimer::~MRSTimer().216
mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
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Date:2024-01-14 11:12:21Functions: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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std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::inverse(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)198
mrs_lib::Transformer::retryLookupNewest(bool)249
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1006
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)246222
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)1380515
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)1380519
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1387080
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&)1387083
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1388711
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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:2024-01-14 11:12:21Functions: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&)1380515
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1387080
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1006
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)246222
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&)1387083
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)198
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)249
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&)1380519
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1388711
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..c3dc2d9230 --- /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:2024-01-14 11:12:21Functions: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      246222 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      427026 :       std::scoped_lock lck(mutex_);
+     133      246219 :       default_frame_id_ = frame_id;
+     134      246210 :     }
+     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         198 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         334 :       std::scoped_lock lck(mutex_);
+     156         198 :       if (prefix.empty())
+     157          63 :         prefix_ = "";
+     158             :       else
+     159         197 :         prefix_ = prefix + "/";
+     160         198 :     }
+     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         311 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         373 :       std::scoped_lock lck(mutex_);
+     214         311 :       retry_lookup_newest_ = retry;
+     215         249 :     }
+     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        1006 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250        2006 :       std::scoped_lock lck(mutex_);
+     251        2012 :       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     1380515 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552     1380515 :       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     1387080 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565     1387080 :       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     1380519 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576     1380519 :       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     1388711 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589     1388711 :       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     1387083 :     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     1387083 :       geometry_msgs::TransformStamped ret;
+     621     1386934 :       frame_from(ret) = from_frame;
+     622     1387128 :       frame_to(ret) = to_frame;
+     623     1387077 :       ret.header.stamp = time_stamp;
+     624     1387077 :       ret.transform = tf;
+     625     1387077 :       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
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
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int mrs_lib::signum<double>(double)35273
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Test:MRS UAV System - Test coverage reportLines:1515100.0 %
Date:2024-01-14 11:12:21Functions: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)35273
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Current view:top level - mrs_lib/include/mrs_lib - utils.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1515100.0 %
Date:2024-01-14 11:12:21Functions:55100.0 %
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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       35273 :   int signum(T val)
+     139             :   {
+     140       35273 :     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&) const392
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const392
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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         392 :   bool operator<(const VisualObject& other) const {
+      69         392 :     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&)16407
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)66559
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()80028
mrs_lib::AttitudeConverter::getYaw()115473
mrs_lib::AttitudeConverter::calculateRPY()115478
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)161952
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)178362
mrs_lib::AttitudeConverter::setHeading(double const&)189260
mrs_lib::AttitudeConverter::getVectorZ()191260
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const242208
mrs_lib::AttitudeConverter::operator tf2::Transform() const250248
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)283166
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const369630
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const552666
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)588049
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)766090
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const938484
mrs_lib::AttitudeConverter::getHeading()991333
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)2212766
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)4581366
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const5331519
mrs_lib::AttitudeConverter::validateOrientation()8430887
+
+
+ + + +
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..217cc90cde --- /dev/null +++ b/mrs_lib/src/attitude_converter/attitude_converter.cpp.func.html @@ -0,0 +1,244 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/attitude_converter/attitude_converter.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/attitude_converter - attitude_converter.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-01-14 11:12:21Functions: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&)161952
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)16407
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()991333
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()191260
mrs_lib::AttitudeConverter::setHeading(double const&)189260
mrs_lib::AttitudeConverter::calculateRPY()115478
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)178362
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)66559
mrs_lib::AttitudeConverter::validateOrientation()8430887
mrs_lib::AttitudeConverter::getYaw()115473
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> >)2212766
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)588049
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)283166
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)766090
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&)4581366
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()80028
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>() const369630
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const5331519
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const552666
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const242208
mrs_lib::AttitudeConverter::operator tf2::Transform() const250248
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const938484
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..5a88d82c21 --- /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:2024-01-14 11:12:21Functions: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       16407 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34       16407 :   vector3_[0] = vector3[0];
+      35       16407 :   vector3_[1] = vector3[1];
+      36       16407 :   vector3_[2] = vector3[2];
+      37       16407 : }
+      38             : 
+      39      161952 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      161944 :   vector3_[0] = vector3.x;
+      42      161949 :   vector3_[1] = vector3.y;
+      43      161920 :   vector3_[2] = vector3.z;
+      44      161927 : }
+      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      369630 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      369630 :   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     4581366 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     4579561 :   switch (format) {
+      81             : 
+      82     4579571 :     case RPY_EXTRINSIC: {
+      83     4579571 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     4580134 :       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     4580134 :   validateOrientation();
+     104     4580616 : }
+     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     2212766 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     2212394 :   tf2_quaternion_.setX(quaternion.x);
+     118     2211948 :   tf2_quaternion_.setY(quaternion.y);
+     119     2212503 :   tf2_quaternion_.setZ(quaternion.z);
+     120     2212762 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     2212814 :   validateOrientation();
+     123     2212287 : }
+     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      283166 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      283166 :   tf2_quaternion_.setX(quaternion.x());
+     133      283166 :   tf2_quaternion_.setY(quaternion.y());
+     134      283166 :   tf2_quaternion_.setZ(quaternion.z());
+     135      283166 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      283166 :   validateOrientation();
+     138      283166 : }
+     139             : 
+     140      766090 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141      764554 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143      765304 :   tf2_quaternion_.setX(quaternion.x());
+     144      764574 :   tf2_quaternion_.setY(quaternion.y());
+     145      765221 :   tf2_quaternion_.setZ(quaternion.z());
+     146      764978 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148      765112 :   validateOrientation();
+     149      763836 : }
+     150             : 
+     151      588049 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153      587547 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155      587547 :   validateOrientation();
+     156      587511 : }
+     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      552666 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      552666 :   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     5331519 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     5331519 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     5330453 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     5326822 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     5326770 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     5327747 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     5328200 :   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      938484 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207      938484 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     1876469 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212       80028 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214       80028 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216       80028 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      242208 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      242208 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      250248 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      250248 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233      115473 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235      115473 :   calculateRPY();
+     236             : 
+     237      115473 :   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      991333 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256      991333 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258      991026 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260      990744 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           3 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     1980350 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267       66559 : 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       66559 :   if (fabs(heading_rate) < 1e-3) {
+     272       42897 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       23662 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       23662 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       23662 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       23662 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       23662 :   b_orb.normalize();
+     285       23662 :   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       23662 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       23662 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       23662 :   double projected_norm        = projected.norm();
+     293             : 
+     294       23662 :   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       23662 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       23662 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       23662 :   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       23662 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      178362 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      178362 :   Eigen::Matrix3d R = *this;
+     316      178349 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      178293 :   Eigen::Matrix3d W;
+     320      178308 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      178311 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      178310 :   double rx = R(0, 0);  // x-component of body X
+     327      178256 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      178292 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      178292 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      178292 :   double atan2_d_x = -ry / denom;
+     337      178292 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      178292 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      178303 :   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      191260 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365      191260 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367      191262 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      382524 :   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      189260 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406      189260 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409      189258 :   if (fabs(b3[2]) < 1e-3) {
+     410           1 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414      189257 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416      189259 :   Eigen::Matrix3d new_R;
+     417             : 
+     418      189258 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421      189255 :   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      377836 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425      189134 :   A.col(0)          = projector_body_z_compl.col(0);
+     426      189064 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      377544 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430      189155 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431      189052 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      377126 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      377532 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436      188534 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438      188538 :   new_R.col(0) = oblique_projector * h;
+     439      188093 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443      188367 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444      187329 :   new_R.col(1).normalize();
+     445             : 
+     446      376777 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455      115478 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457      115478 :   if (!got_rpy_) {
+     458             : 
+     459      115478 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461      115478 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467     8430887 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    16856141 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470     8422667 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473     8424515 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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mrs_lib::BatchVisualizer::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int, ros::Duration const&)0
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mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)70
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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> >)124
mrs_lib::BatchVisualizer::BatchVisualizer()124
mrs_lib::BatchVisualizer::clearBuffers()130
mrs_lib::BatchVisualizer::clearVisuals()130
mrs_lib::BatchVisualizer::~BatchVisualizer()248
mrs_lib::BatchVisualizer::addNullPoint()254
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mrs_lib::BatchVisualizer::addNullTriangle()260
mrs_lib::BatchVisualizer::publish()260
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16221376.1 %
Date:2024-01-14 11:12:21Functions: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()124
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()260
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()254
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()130
mrs_lib::BatchVisualizer::clearVisuals()130
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> >)6
mrs_lib::BatchVisualizer::setPointsScale(double)6
mrs_lib::BatchVisualizer::addNullTriangle()260
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()260
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)70
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> >)124
mrs_lib::BatchVisualizer::BatchVisualizer()124
mrs_lib::BatchVisualizer::~BatchVisualizer()248
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Current view:top level - mrs_lib/src/batch_visualizer - batch_visualizer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16221376.1 %
Date:2024-01-14 11:12:21Functions: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         124 : BatchVisualizer::BatchVisualizer() {
+      10         124 : }
+      11             : 
+      12         248 : BatchVisualizer::~BatchVisualizer() {
+      13         248 : }
+      14             : 
+      15         124 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16         124 :   this->parent_frame      = parent_frame;
+      17         124 :   this->marker_topic_name = marker_topic_name;
+      18         124 :   initialize();
+      19             : 
+      20         124 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21         124 :   publish();
+      22         124 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27           6 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28           6 :   this->parent_frame               = parent_frame;
+      29           6 :   points_marker.header.frame_id    = parent_frame;
+      30           6 :   triangles_marker.header.frame_id = parent_frame;
+      31           6 :   lines_marker.header.frame_id     = parent_frame;
+      32           6 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37         124 : void BatchVisualizer::initialize() {
+      38         124 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43         124 :   std::stringstream ss;
+      44         124 :   ss << marker_topic_name << "_points";
+      45         124 :   points_marker.header.frame_id    = parent_frame;
+      46         124 :   points_marker.header.stamp       = ros::Time::now();
+      47         124 :   points_marker.ns                 = ss.str().c_str();
+      48         124 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49         124 :   points_marker.pose.orientation.w = 1.0;
+      50         124 :   points_marker.id                 = 8;
+      51         124 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53         124 :   points_marker.scale.x = points_scale;
+      54         124 :   points_marker.scale.y = points_scale;
+      55         124 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58         124 :   ss.str(std::string());
+      59         124 :   ss << marker_topic_name << "_lines";
+      60         124 :   lines_marker.header.frame_id    = parent_frame;
+      61         124 :   lines_marker.header.stamp       = ros::Time::now();
+      62         124 :   lines_marker.ns                 = ss.str().c_str();
+      63         124 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64         124 :   lines_marker.pose.orientation.w = 1.0;
+      65         124 :   lines_marker.id                 = 5;
+      66         124 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68         124 :   lines_marker.scale.x = lines_scale;
+      69         124 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72         124 :   ss.str(std::string());
+      73         124 :   ss << marker_topic_name << "_triangles";
+      74         124 :   triangles_marker.header.frame_id    = parent_frame;
+      75         124 :   triangles_marker.header.stamp       = ros::Time::now();
+      76         124 :   triangles_marker.ns                 = ss.str().c_str();
+      77         124 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78         124 :   triangles_marker.pose.orientation.w = 1.0;
+      79         124 :   triangles_marker.id                 = 11;
+      80         124 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82         124 :   triangles_marker.scale.x = 1;
+      83         124 :   triangles_marker.scale.y = 1;
+      84         124 :   triangles_marker.scale.z = 1;
+      85         124 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87         124 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88         124 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93          70 : 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         140 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96          70 :   visual_objects.insert(obj);
+      97          70 : }
+      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         254 : void BatchVisualizer::addNullPoint() {
+     170         254 :   geometry_msgs::Point p;
+     171         254 :   p.x = 10000.0;
+     172         254 :   p.y = 0.0;
+     173         254 :   p.z = 0.0;
+     174             : 
+     175         254 :   std_msgs::ColorRGBA c;
+     176         254 :   c.r = 1.0;
+     177         254 :   c.g = 1.0;
+     178         254 :   c.b = 1.0;
+     179         254 :   c.a = 1.0;
+     180             : 
+     181         254 :   points_marker.points.push_back(p);
+     182         254 :   points_marker.colors.push_back(c);
+     183         254 : }
+     184             : //}
+     185             : 
+     186             : /* addNullLine //{ */
+     187         260 : void BatchVisualizer::addNullLine() {
+     188         260 :   geometry_msgs::Point p1, p2;
+     189         260 :   p1.x = 10000.0;
+     190         260 :   p1.y = 0.0;
+     191         260 :   p1.z = 0.0;
+     192             : 
+     193         260 :   p2.x = 10001.0;
+     194         260 :   p2.y = 0.0;
+     195         260 :   p2.z = 0.0;
+     196             : 
+     197         260 :   std_msgs::ColorRGBA c;
+     198         260 :   c.r = 1.0;
+     199         260 :   c.g = 1.0;
+     200         260 :   c.b = 1.0;
+     201             : 
+     202         260 :   lines_marker.colors.push_back(c);
+     203         260 :   lines_marker.colors.push_back(c);
+     204             : 
+     205         260 :   lines_marker.points.push_back(p1);
+     206         260 :   lines_marker.points.push_back(p2);
+     207         260 : }
+     208             : //}
+     209             : 
+     210             : /* addNullTriangle //{ */
+     211         260 : void BatchVisualizer::addNullTriangle() {
+     212         260 :   geometry_msgs::Point p1, p2, p3;
+     213         260 :   p1.x = 10000.0;
+     214         260 :   p1.y = 0.0;
+     215         260 :   p1.z = 0.0;
+     216             : 
+     217         260 :   p2.x = 10001.0;
+     218         260 :   p2.y = 0.0;
+     219         260 :   p2.z = 0.0;
+     220             : 
+     221         260 :   std_msgs::ColorRGBA c;
+     222         260 :   c.r = 1.0;
+     223         260 :   c.g = 1.0;
+     224         260 :   c.b = 1.0;
+     225             : 
+     226         260 :   p3.x = 10001.0;
+     227         260 :   p3.y = 0.01;
+     228         260 :   p3.z = 0.0;
+     229         260 :   triangles_marker.colors.push_back(c);
+     230         260 :   triangles_marker.colors.push_back(c);
+     231         260 :   triangles_marker.colors.push_back(c);
+     232             : 
+     233         260 :   triangles_marker.points.push_back(p1);
+     234         260 :   triangles_marker.points.push_back(p2);
+     235         260 :   triangles_marker.points.push_back(p3);
+     236         260 : }
+     237             : //}
+     238             : 
+     239             : /* setPointsScale //{ */
+     240           6 : void BatchVisualizer::setPointsScale(const double scale) {
+     241           6 :   points_scale = scale;
+     242           6 : }
+     243             : //}
+     244             : 
+     245             : /* setLinesScale //{ */
+     246           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     247           0 :   lines_scale = scale;
+     248           0 : }
+     249             : //}
+     250             : 
+     251             : /* clearBuffers //{ */
+     252         130 : void BatchVisualizer::clearBuffers() {
+     253         130 :   visual_objects.clear();
+     254         130 : }
+     255             : //}
+     256             : 
+     257             : /* clearVisuals //{ */
+     258         130 : void BatchVisualizer::clearVisuals() {
+     259         260 :   std::set<VisualObject> visual_objects_tmp;
+     260         130 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     261             : 
+     262         130 :   visual_objects.clear();
+     263         130 :   publish();
+     264             : 
+     265         130 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     266         130 : }
+     267             : //}
+     268             : 
+     269             : /* publish //{ */
+     270         260 : void BatchVisualizer::publish() {
+     271             : 
+     272         260 :   msg.markers.clear();
+     273         260 :   points_marker.points.clear();
+     274         260 :   points_marker.colors.clear();
+     275             : 
+     276         260 :   lines_marker.points.clear();
+     277         260 :   lines_marker.colors.clear();
+     278             : 
+     279         260 :   triangles_marker.points.clear();
+     280         260 :   triangles_marker.colors.clear();
+     281             : 
+     282             :   // fill marker messages and remove objects that have timed out
+     283         330 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     284          70 :     if (it->isTimedOut()) {
+     285           0 :       it = visual_objects.erase(it);
+     286             :     } else {
+     287         140 :       auto points = it->getPoints();
+     288         140 :       auto colors = it->getColors();
+     289          70 :       switch (it->getType()) {
+     290          70 :         case MarkerType::POINT: {
+     291          70 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     292          70 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     293          70 :           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          70 :       it++;
+     307             :     }
+     308             :   }
+     309             : 
+     310         260 :   auto now = ros::Time::now();
+     311             : 
+     312         260 :   if (!points_marker.points.empty()) {
+     313           6 :     points_marker.scale.x = points_scale;
+     314           6 :     points_marker.scale.y = points_scale;
+     315             :   } else {
+     316         254 :     addNullPoint();
+     317             :   }
+     318         260 :   points_marker.header.stamp = now;
+     319         260 :   msg.markers.push_back(points_marker);
+     320             : 
+     321         260 :   if (!lines_marker.points.empty()) {
+     322           0 :     lines_marker.scale.x = lines_scale;
+     323             :   } else {
+     324         260 :     addNullLine();
+     325             :   }
+     326         260 :   lines_marker.header.stamp = now;
+     327         260 :   msg.markers.push_back(lines_marker);
+     328             : 
+     329         260 :   if (!triangles_marker.points.empty()) {
+     330           0 :     triangles_marker.header.stamp = now;
+     331             :   } else {
+     332         260 :     addNullTriangle();
+     333             :   }
+     334         260 :   triangles_marker.header.stamp = now;
+     335         260 :   msg.markers.push_back(triangles_marker);
+     336             : 
+     337         260 :   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         260 :   visual_pub.publish(msg);
+     345         260 : }
+     346             : //}
+     347             : 
+     348             : }  // namespace mrs_lib
+
+
+
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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:2024-01-14 11:12:21Functions: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&)70
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)70
mrs_lib::generateColor(double, double, double, double)70
mrs_lib::VisualObject::isTimedOut() const70
mrs_lib::VisualObject::getType() const70
mrs_lib::VisualObject::getColors() const70
mrs_lib::VisualObject::getPoints() const70
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2024-01-14 11:12:21Functions: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&)70
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&)70
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)70
mrs_lib::VisualObject::isTimedOut() const70
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const70
mrs_lib::VisualObject::getColors() const70
mrs_lib::VisualObject::getPoints() const70
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2024-01-14 11:12:21Functions: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          70 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10          70 :   geometry_msgs::Point p;
+      11          70 :   p.x = v.x();
+      12          70 :   p.y = v.y();
+      13          70 :   p.z = v.z();
+      14          70 :   return p;
+      15             : }
+      16             : 
+      17          70 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18          70 :   std_msgs::ColorRGBA c;
+      19          70 :   c.r = r;
+      20          70 :   c.g = g;
+      21          70 :   c.b = b;
+      22          70 :   c.a = a;
+      23          70 :   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          70 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116          70 :                            const unsigned long& id)
+     117          70 :     : id_(id) {
+     118          70 :   type_ = MarkerType::POINT;
+     119          70 :   points_.push_back(eigenToMsg(point));
+     120          70 :   colors_.push_back(generateColor(r, g, b, a));
+     121          70 :   if (timeout.toSec() <= 0) {
+     122          70 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126          70 : }
+     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          70 : int VisualObject::getType() const {
+     295          70 :   return type_;
+     296             : }
+     297             : //}
+     298             : 
+     299             : /* isTimedOut //{ */
+     300          70 : bool VisualObject::isTimedOut() const {
+     301          70 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     302             : }
+     303             : //}
+     304             : 
+     305             : /* getPoints //{ */
+     306          70 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     307          70 :   return points_;
+     308             : }
+     309             : //}
+     310             : 
+     311             : /* getColors //{ */
+     312          70 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     313          70 :   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:2024-01-14 11:12:21Functions: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&)66791
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)66791
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
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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&)66791
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&)66791
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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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       66791 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49       66791 :       geometry_msgs::Quaternion q;
+      50       66791 :       q.x = what.x();
+      51       66790 :       q.y = what.y();
+      52       66791 :       q.z = what.z();
+      53       66790 :       q.w = what.w();
+      54       66790 :       return q;
+      55             :     }
+      56             :     
+      57       66791 :     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       66791 :       Eigen::Quaterniond q;
+      61       66791 :       q.x() = what.x;
+      62       66790 :       q.y() = what.y;
+      63       66790 :       q.z() = what.z;
+      64       66791 :       q.w() = what.w;
+      65       66791 :       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::quaternionFromHeading(double)66797
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)103015
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)135055
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:336451.6 %
Date:2024-01-14 11:12:21Functions: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&)103015
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)66797
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&)135055
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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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:336451.6 %
Date:2024-01-14 11:12:21Functions: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      103015 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30      103015 :       const double sin_12 = vec1.cross(vec2).norm();
+      31      103004 :       const double cos_12 = vec1.dot(vec2);
+      32      103013 :       const double angle = std::atan2(sin_12, cos_12);
+      33      103013 :       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       66797 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94      133594 :       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      135055 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179      135055 :       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:2024-01-14 11:12:21Functions: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..40d9abcf93 --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.func.html @@ -0,0 +1,352 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-14 11:12:21Functions: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..9963f356bd --- /dev/null +++ b/mrs_lib/src/geometry/shapes.cpp.gcov.html @@ -0,0 +1,730 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/shapes.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-14 11:12:21Functions:0680.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/shapes.h>
+       3             : #include <mrs_lib/geometry/misc.h>
+       4             : 
+       5             : namespace mrs_lib
+       6             : {
+       7             :   namespace geometry
+       8             :   {
+       9             : 
+      10             :     /* Ray //{ */
+      11             : 
+      12             :     /* constructors //{ */
+      13           0 :     Ray::Ray()
+      14             :     {
+      15           0 :       point1 = Eigen::Vector3d::Zero();
+      16           0 :       point2 = Eigen::Vector3d::Zero();
+      17           0 :     }
+      18             : 
+      19           0 :     Ray::Ray(Eigen::Vector3d p1, Eigen::Vector3d p2)
+      20             :     {
+      21           0 :       point1 = p1;
+      22           0 :       point2 = p2;
+      23           0 :     }
+      24             : 
+      25           0 :     Ray::~Ray()
+      26             :     {
+      27           0 :     }
+      28             :     //}
+      29             : 
+      30             :     /* getters //{ */
+      31           0 :     const Eigen::Vector3d Ray::p1() const
+      32             :     {
+      33           0 :       return point1;
+      34             :     }
+      35             : 
+      36           0 :     const Eigen::Vector3d Ray::p2() const
+      37             :     {
+      38           0 :       return point2;
+      39             :     }
+      40             : 
+      41           0 :     const Eigen::Vector3d Ray::direction() const
+      42             :     {
+      43           0 :       return (point2 - point1);
+      44             :     }
+      45             :     //}
+      46             : 
+      47             :     /* raycasting //{ */
+      48           0 :     Ray Ray::twopointCast(Eigen::Vector3d pointFrom, Eigen::Vector3d pointTo)
+      49             :     {
+      50           0 :       return Ray(pointFrom, pointTo);
+      51             :     }
+      52             : 
+      53           0 :     Ray Ray::directionCast(Eigen::Vector3d origin, Eigen::Vector3d direction)
+      54             :     {
+      55           0 :       return Ray(origin, origin + direction);
+      56             :     }
+      57             :     //}
+      58             : 
+      59             :     //}
+      60             : 
+      61             :     /* Triangle //{ */
+      62             : 
+      63             :     /* constructors //{ */
+      64           0 :     Triangle::Triangle()
+      65             :     {
+      66           0 :       point1 = Eigen::Vector3d(0, 0, 0);
+      67           0 :       point2 = Eigen::Vector3d(1, 0, 0);
+      68           0 :       point3 = Eigen::Vector3d(0, 0, 1);
+      69           0 :     }
+      70             : 
+      71           0 :     Triangle::Triangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c)
+      72             :     {
+      73           0 :       point1 = a;
+      74           0 :       point2 = b;
+      75           0 :       point3 = c;
+      76           0 :     }
+      77             : 
+      78           0 :     Triangle::~Triangle()
+      79             :     {
+      80           0 :     }
+      81             :     //}
+      82             : 
+      83             :     /* getters //{ */
+      84           0 :     const Eigen::Vector3d Triangle::a() const
+      85             :     {
+      86           0 :       return point1;
+      87             :     }
+      88             : 
+      89           0 :     const Eigen::Vector3d Triangle::b() const
+      90             :     {
+      91           0 :       return point2;
+      92             :     }
+      93             : 
+      94           0 :     const Eigen::Vector3d Triangle::c() const
+      95             :     {
+      96           0 :       return point3;
+      97             :     }
+      98             : 
+      99           0 :     const Eigen::Vector3d Triangle::normal() const
+     100             :     {
+     101           0 :       Eigen::Vector3d n;
+     102           0 :       n = (point2 - point1).cross(point3 - point1);
+     103           0 :       return n.normalized();
+     104             :     }
+     105             : 
+     106           0 :     const Eigen::Vector3d Triangle::center() const
+     107             :     {
+     108           0 :       return (point1 + point2 + point3) / 3.0;
+     109             :     }
+     110             : 
+     111           0 :     const std::vector<Eigen::Vector3d> Triangle::vertices() const
+     112             :     {
+     113           0 :       std::vector<Eigen::Vector3d> vertices;
+     114           0 :       vertices.push_back(point1);
+     115           0 :       vertices.push_back(point2);
+     116           0 :       vertices.push_back(point3);
+     117           0 :       return vertices;
+     118             :     }
+     119             :     //}
+     120             : 
+     121             :     /* intersectionRay //{ */
+     122           0 :     const boost::optional<Eigen::Vector3d> Triangle::intersectionRay(Ray r, double epsilon) const
+     123             :     {
+     124             :       // The Möller–Trumbore algorithm
+     125             :       // https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
+     126           0 :       Eigen::Vector3d v1 = point2 - point1;
+     127           0 :       Eigen::Vector3d v2 = point3 - point1;
+     128           0 :       Eigen::Vector3d h = r.direction().cross(v2);
+     129           0 :       double res = v1.dot(h);
+     130           0 :       if (res > -epsilon && res < epsilon)
+     131             :       {
+     132           0 :         return boost::none;
+     133             :       }
+     134           0 :       double f = 1.0 / res;
+     135           0 :       Eigen::Vector3d s = r.p1() - point1;
+     136           0 :       double u = f * s.dot(h);
+     137           0 :       if (u < 0.0 || u > 1.0)
+     138             :       {
+     139           0 :         return boost::none;
+     140             :       }
+     141           0 :       Eigen::Vector3d q = s.cross(v1);
+     142           0 :       double v = f * r.direction().dot(q);
+     143           0 :       if (v < 0.0 || u + v > 1.0)
+     144             :       {
+     145           0 :         return boost::none;
+     146             :       }
+     147           0 :       double t = f * v2.dot(q);
+     148           0 :       if (t > epsilon)
+     149             :       {
+     150           0 :         Eigen::Vector3d ret = r.p1() + r.direction() * t;
+     151           0 :         return ret;
+     152             :       }
+     153           0 :       return boost::none;
+     154             :     }
+     155             :     //}
+     156             : 
+     157             :     //}
+     158             : 
+     159             :     /* Rectangle //{ */
+     160             : 
+     161             :     /* constructors //{ */
+     162           0 :     Rectangle::Rectangle()
+     163             :     {
+     164           0 :       point1 = Eigen::Vector3d(0, 0, 0);
+     165           0 :       point2 = Eigen::Vector3d(1, 0, 0);
+     166           0 :       point3 = Eigen::Vector3d(1, 1, 0);
+     167           0 :       point4 = Eigen::Vector3d(0, 1, 0);
+     168           0 :     }
+     169             : 
+     170           0 :     Rectangle::Rectangle(std::vector<Eigen::Vector3d> points)
+     171             :     {
+     172           0 :       point1 = points[0];
+     173           0 :       point2 = points[1];
+     174           0 :       point3 = points[2];
+     175           0 :       point4 = points[3];
+     176           0 :     }
+     177             : 
+     178           0 :     Rectangle::Rectangle(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c, Eigen::Vector3d d)
+     179             :     {
+     180           0 :       point1 = a;
+     181           0 :       point2 = b;
+     182           0 :       point3 = c;
+     183           0 :       point4 = d;
+     184           0 :     }
+     185             : 
+     186           0 :     Rectangle::~Rectangle()
+     187             :     {
+     188           0 :     }
+     189             :     //}
+     190             : 
+     191             :     /* getters //{ */
+     192           0 :     const Eigen::Vector3d Rectangle::a() const
+     193             :     {
+     194           0 :       return point1;
+     195             :     }
+     196             : 
+     197           0 :     const Eigen::Vector3d Rectangle::b() const
+     198             :     {
+     199           0 :       return point2;
+     200             :     }
+     201             : 
+     202           0 :     const Eigen::Vector3d Rectangle::c() const
+     203             :     {
+     204           0 :       return point3;
+     205             :     }
+     206             : 
+     207           0 :     const Eigen::Vector3d Rectangle::d() const
+     208             :     {
+     209           0 :       return point4;
+     210             :     }
+     211             : 
+     212           0 :     const Eigen::Vector3d Rectangle::center() const
+     213             :     {
+     214           0 :       return (point1 + point2 + point3 + point4) / 4.0;
+     215             :     }
+     216             : 
+     217           0 :     const Eigen::Vector3d Rectangle::normal() const
+     218             :     {
+     219           0 :       Eigen::Vector3d n;
+     220           0 :       n = (point2 - point1).cross(point4 - point1);
+     221           0 :       return n.normalized();
+     222             :     }
+     223             : 
+     224           0 :     const std::vector<Eigen::Vector3d> Rectangle::vertices() const
+     225             :     {
+     226           0 :       std::vector<Eigen::Vector3d> vertices;
+     227           0 :       vertices.push_back(point1);
+     228           0 :       vertices.push_back(point2);
+     229           0 :       vertices.push_back(point3);
+     230           0 :       vertices.push_back(point4);
+     231           0 :       return vertices;
+     232             :     }
+     233             : 
+     234           0 :     const std::vector<Triangle> Rectangle::triangles() const
+     235             :     {
+     236           0 :       Triangle t1(point1, point2, point3);
+     237           0 :       Triangle t2(point1, point3, point4);
+     238             : 
+     239           0 :       std::vector<Triangle> triangles;
+     240           0 :       triangles.push_back(t1);
+     241           0 :       triangles.push_back(t2);
+     242           0 :       return triangles;
+     243             :     }
+     244             :     //}
+     245             : 
+     246             :     /* intersectionRay //{ */
+     247           0 :     const boost::optional<Eigen::Vector3d> Rectangle::intersectionRay(Ray r, double epsilon) const
+     248             :     {
+     249           0 :       Triangle t1 = triangles()[0];
+     250           0 :       Triangle t2 = triangles()[1];
+     251           0 :       auto result = t1.intersectionRay(r, epsilon);
+     252           0 :       if (result != boost::none)
+     253             :       {
+     254           0 :         return result;
+     255             :       }
+     256           0 :       return t2.intersectionRay(r, epsilon);
+     257             :     }
+     258             :     //}
+     259             : 
+     260             :     /* isFacing //{ */
+     261           0 :     bool Rectangle::isFacing(Eigen::Vector3d point) const
+     262             :     {
+     263           0 :       Eigen::Vector3d towards_point = point - center();
+     264           0 :       double dot_product = towards_point.dot(normal());
+     265           0 :       return dot_product > 0;
+     266             :     }
+     267             : 
+     268             :     //}
+     269             : 
+     270             :     /* solidAngleRelativeTo //{ */
+     271           0 :     double Rectangle::solidAngleRelativeTo(Eigen::Vector3d point) const
+     272             :     {
+     273           0 :       Eigen::Vector3d a = point1 - point;
+     274           0 :       Eigen::Vector3d b = point2 - point;
+     275           0 :       Eigen::Vector3d c = point3 - point;
+     276           0 :       Eigen::Vector3d d = point4 - point;
+     277             : 
+     278           0 :       a.normalize();
+     279           0 :       b.normalize();
+     280           0 :       c.normalize();
+     281           0 :       d.normalize();
+     282             : 
+     283           0 :       double t1 = mrs_lib::geometry::sphericalTriangleArea(a, b, c);
+     284           0 :       double t2 = mrs_lib::geometry::sphericalTriangleArea(c, d, a);
+     285             : 
+     286           0 :       return t1 + t2;
+     287             :     }
+     288             :     //}
+     289             : 
+     290             :     //}
+     291             : 
+     292             :     /* Cuboid //{ */
+     293             : 
+     294             :     /* constructors //{ */
+     295           0 :     Cuboid::Cuboid()
+     296             :     {
+     297           0 :       for (int i = 0; i < 8; i++)
+     298             :       {
+     299           0 :         points.push_back(Eigen::Vector3d::Zero());
+     300             :       }
+     301           0 :     }
+     302             : 
+     303           0 :     Cuboid::Cuboid(Eigen::Vector3d p0, Eigen::Vector3d p1, Eigen::Vector3d p2, Eigen::Vector3d p3, Eigen::Vector3d p4, Eigen::Vector3d p5, Eigen::Vector3d p6,
+     304           0 :                    Eigen::Vector3d p7)
+     305             :     {
+     306           0 :       points.push_back(p0);
+     307           0 :       points.push_back(p1);
+     308           0 :       points.push_back(p2);
+     309           0 :       points.push_back(p3);
+     310           0 :       points.push_back(p4);
+     311           0 :       points.push_back(p5);
+     312           0 :       points.push_back(p6);
+     313           0 :       points.push_back(p7);
+     314           0 :     }
+     315             : 
+     316           0 :     Cuboid::Cuboid(std::vector<Eigen::Vector3d> points)
+     317             :     {
+     318           0 :       this->points = points;
+     319           0 :     }
+     320             : 
+     321           0 :     Cuboid::Cuboid(Eigen::Vector3d center, Eigen::Vector3d size, Eigen::Quaterniond orientation)
+     322             :     {
+     323           0 :       Eigen::Vector3d p0(size.x() / 2.0, -size.y() / 2.0, -size.z() / 2.0);
+     324           0 :       Eigen::Vector3d p1(size.x() / 2.0, size.y() / 2.0, -size.z() / 2.0);
+     325           0 :       Eigen::Vector3d p2(size.x() / 2.0, size.y() / 2.0, size.z() / 2.0);
+     326           0 :       Eigen::Vector3d p3(size.x() / 2.0, -size.y() / 2.0, size.z() / 2.0);
+     327             : 
+     328           0 :       Eigen::Vector3d p4(-size.x() / 2.0, size.y() / 2.0, -size.z() / 2.0);
+     329           0 :       Eigen::Vector3d p5(-size.x() / 2.0, -size.y() / 2.0, -size.z() / 2.0);
+     330           0 :       Eigen::Vector3d p6(-size.x() / 2.0, -size.y() / 2.0, size.z() / 2.0);
+     331           0 :       Eigen::Vector3d p7(-size.x() / 2.0, size.y() / 2.0, size.z() / 2.0);
+     332             : 
+     333           0 :       p0 = center + orientation * p0;
+     334           0 :       p1 = center + orientation * p1;
+     335           0 :       p2 = center + orientation * p2;
+     336           0 :       p3 = center + orientation * p3;
+     337             : 
+     338           0 :       p4 = center + orientation * p4;
+     339           0 :       p5 = center + orientation * p5;
+     340           0 :       p6 = center + orientation * p6;
+     341           0 :       p7 = center + orientation * p7;
+     342             : 
+     343           0 :       points.push_back(p0);
+     344           0 :       points.push_back(p1);
+     345           0 :       points.push_back(p2);
+     346           0 :       points.push_back(p3);
+     347           0 :       points.push_back(p4);
+     348           0 :       points.push_back(p5);
+     349           0 :       points.push_back(p6);
+     350           0 :       points.push_back(p7);
+     351           0 :     }
+     352             : 
+     353           0 :     Cuboid::~Cuboid()
+     354             :     {
+     355           0 :     }
+     356             :     //}
+     357             : 
+     358             :     /* lookupPoints //{ */
+     359           0 :     std::vector<Eigen::Vector3d> Cuboid::lookupPoints(int face_idx) const
+     360             :     {
+     361           0 :       std::vector<Eigen::Vector3d> lookup;
+     362           0 :       switch (face_idx)
+     363             :       {
+     364           0 :         case Cuboid::FRONT:
+     365           0 :           lookup.push_back(points[0]);
+     366           0 :           lookup.push_back(points[1]);
+     367           0 :           lookup.push_back(points[2]);
+     368           0 :           lookup.push_back(points[3]);
+     369           0 :           break;
+     370           0 :         case Cuboid::BACK:
+     371           0 :           lookup.push_back(points[4]);
+     372           0 :           lookup.push_back(points[5]);
+     373           0 :           lookup.push_back(points[6]);
+     374           0 :           lookup.push_back(points[7]);
+     375           0 :           break;
+     376           0 :         case Cuboid::LEFT:
+     377           0 :           lookup.push_back(points[1]);
+     378           0 :           lookup.push_back(points[4]);
+     379           0 :           lookup.push_back(points[7]);
+     380           0 :           lookup.push_back(points[2]);
+     381           0 :           break;
+     382           0 :         case Cuboid::RIGHT:
+     383           0 :           lookup.push_back(points[5]);
+     384           0 :           lookup.push_back(points[0]);
+     385           0 :           lookup.push_back(points[3]);
+     386           0 :           lookup.push_back(points[6]);
+     387           0 :           break;
+     388           0 :         case Cuboid::BOTTOM:
+     389           0 :           lookup.push_back(points[5]);
+     390           0 :           lookup.push_back(points[4]);
+     391           0 :           lookup.push_back(points[1]);
+     392           0 :           lookup.push_back(points[0]);
+     393           0 :           break;
+     394           0 :         case Cuboid::TOP:
+     395           0 :           lookup.push_back(points[3]);
+     396           0 :           lookup.push_back(points[2]);
+     397           0 :           lookup.push_back(points[7]);
+     398           0 :           lookup.push_back(points[6]);
+     399           0 :           break;
+     400             :       }
+     401           0 :       return lookup;
+     402             :     }
+     403             :     //}
+     404             : 
+     405             :     /* getters //{ */
+     406           0 :     const std::vector<Eigen::Vector3d> Cuboid::vertices() const
+     407             :     {
+     408           0 :       return points;
+     409             :     }
+     410             : 
+     411           0 :     const Rectangle Cuboid::getRectangle(int face_idx) const
+     412             :     {
+     413           0 :       return Rectangle(lookupPoints(face_idx));
+     414             :     }
+     415             : 
+     416           0 :     const Eigen::Vector3d Cuboid::center() const
+     417             :     {
+     418           0 :       Eigen::Vector3d point_sum = points[0];
+     419           0 :       for (int i = 1; i < 8; i++)
+     420             :       {
+     421           0 :         point_sum += points[i];
+     422             :       }
+     423           0 :       return point_sum / 8.0;
+     424             :     }
+     425             :     //}
+     426             : 
+     427             :     /* intersectionRay //{ */
+     428           0 :     const std::vector<Eigen::Vector3d> Cuboid::intersectionRay(Ray r, double epsilon) const
+     429             :     {
+     430           0 :       std::vector<Eigen::Vector3d> ret;
+     431           0 :       for (int i = 0; i < 6; i++)
+     432             :       {
+     433           0 :         Rectangle side = getRectangle(i);
+     434           0 :         auto side_intersect = side.intersectionRay(r, epsilon);
+     435           0 :         if (side_intersect != boost::none)
+     436             :         {
+     437           0 :           ret.push_back(side_intersect.get());
+     438             :         }
+     439             :       }
+     440           0 :       return ret;
+     441             :     }
+     442             :     //}
+     443             : 
+     444             :     //}
+     445             : 
+     446             :     /* Ellipse //{ */
+     447             : 
+     448             :     /* constructors //{ */
+     449           0 :     Ellipse::Ellipse()
+     450             :     {
+     451           0 :     }
+     452             : 
+     453           0 :     Ellipse::~Ellipse()
+     454             :     {
+     455           0 :     }
+     456             : 
+     457           0 :     Ellipse::Ellipse(Eigen::Vector3d center, Eigen::Quaterniond orientation, double a, double b)
+     458             :     {
+     459           0 :       center_point = center;
+     460           0 :       absolute_orientation = orientation;
+     461           0 :       major_semi = a;
+     462           0 :       minor_semi = b;
+     463           0 :     }
+     464             :     //}
+     465             : 
+     466             :     /* getters //{ */
+     467           0 :     double Ellipse::a() const
+     468             :     {
+     469           0 :       return major_semi;
+     470             :     }
+     471             : 
+     472           0 :     double Ellipse::b() const
+     473             :     {
+     474           0 :       return minor_semi;
+     475             :     }
+     476             : 
+     477           0 :     const Eigen::Vector3d Ellipse::center() const
+     478             :     {
+     479           0 :       return center_point;
+     480             :     }
+     481             : 
+     482           0 :     const Eigen::Quaterniond Ellipse::orientation() const
+     483             :     {
+     484           0 :       return absolute_orientation;
+     485             :     }
+     486             : 
+     487             :     //}
+     488             : 
+     489             :     //}
+     490             : 
+     491             :     /* Cylinder //{ */
+     492             : 
+     493             :     /* constructors //{ */
+     494           0 :     Cylinder::Cylinder()
+     495             :     {
+     496           0 :     }
+     497             : 
+     498           0 :     Cylinder::~Cylinder()
+     499             :     {
+     500           0 :     }
+     501             : 
+     502           0 :     Cylinder::Cylinder(Eigen::Vector3d center, double radius, double height, Eigen::Quaterniond orientation)
+     503             :     {
+     504           0 :       this->center_point = center;
+     505           0 :       this->radius = radius;
+     506           0 :       this->height = height;
+     507           0 :       this->absolute_orientation = orientation;
+     508           0 :     }
+     509             :     //}
+     510             : 
+     511             :     /* getters //{ */
+     512           0 :     const Eigen::Vector3d Cylinder::center() const
+     513             :     {
+     514           0 :       return center_point;
+     515             :     }
+     516             : 
+     517           0 :     const Eigen::Quaterniond Cylinder::orientation() const
+     518             :     {
+     519           0 :       return absolute_orientation;
+     520             :     }
+     521             : 
+     522           0 :     double Cylinder::r() const
+     523             :     {
+     524           0 :       return radius;
+     525             :     }
+     526             : 
+     527           0 :     double Cylinder::h() const
+     528             :     {
+     529           0 :       return height;
+     530             :     }
+     531             : 
+     532           0 :     const Ellipse Cylinder::getCap(int index) const
+     533             :     {
+     534           0 :       Ellipse e;
+     535           0 :       Eigen::Vector3d ellipse_center;
+     536           0 :       switch (index)
+     537             :       {
+     538           0 :         case Cylinder::BOTTOM:
+     539           0 :           ellipse_center = center() - orientation() * (Eigen::Vector3d::UnitZ() * (h() / 2.0));
+     540           0 :           e = Ellipse(ellipse_center, orientation(), r(), r());
+     541           0 :           break;
+     542           0 :         case Cylinder::TOP:
+     543           0 :           ellipse_center = center() + orientation() * (Eigen::Vector3d::UnitZ() * (h() / 2.0));
+     544           0 :           e = Ellipse(ellipse_center, orientation(), r(), r());
+     545           0 :           break;
+     546             :       }
+     547           0 :       return e;
+     548             :     }
+     549             : 
+     550             :     //}
+     551             : 
+     552             :     //}
+     553             : 
+     554             :     /* Cone //{ */
+     555             : 
+     556             :     /* constructors //{ */
+     557           0 :     Cone::Cone()
+     558             :     {
+     559           0 :     }
+     560             : 
+     561           0 :     Cone::~Cone()
+     562             :     {
+     563           0 :     }
+     564             : 
+     565           0 :     Cone::Cone(Eigen::Vector3d origin_point, double angle, double height, Eigen::Vector3d absolute_direction)
+     566             :     {
+     567           0 :       this->origin_point = origin_point;
+     568           0 :       this->angle = angle;
+     569           0 :       this->height = height;
+     570           0 :       this->absolute_direction = absolute_direction.normalized();
+     571           0 :     }
+     572             :     //}
+     573             : 
+     574             :     /* getters //{ */
+     575           0 :     const Eigen::Vector3d Cone::origin() const
+     576             :     {
+     577           0 :       return origin_point;
+     578             :     }
+     579             : 
+     580           0 :     const Eigen::Vector3d Cone::direction() const
+     581             :     {
+     582           0 :       return absolute_direction;
+     583             :     }
+     584             : 
+     585           0 :     const Eigen::Vector3d Cone::center() const
+     586             :     {
+     587           0 :       return origin() + (0.5 * h()) * direction();
+     588             :     }
+     589             : 
+     590           0 :     double Cone::theta() const
+     591             :     {
+     592           0 :       return angle;
+     593             :     }
+     594             : 
+     595           0 :     double Cone::h() const
+     596             :     {
+     597           0 :       return height;
+     598             :     }
+     599             : 
+     600           0 :     const Ellipse Cone::getCap() const
+     601             :     {
+     602           0 :       Eigen::Vector3d ellipse_center = origin() + direction() * h();
+     603           0 :       Eigen::Quaterniond ellipse_orientation = Eigen::Quaterniond::FromTwoVectors(Eigen::Vector3d::UnitZ(), direction());
+     604           0 :       double cap_radius = std::tan(theta()) * h();
+     605           0 :       Ellipse e(ellipse_center, ellipse_orientation, cap_radius, cap_radius);
+     606           0 :       return e;
+     607             :     }
+     608             : 
+     609           0 :     const std::optional<Eigen::Vector3d> Cone::projectPoint(const Eigen::Vector3d& point) const
+     610             :     {
+     611             : 
+     612           0 :       Eigen::Vector3d point_vec = point - origin();
+     613           0 :       double point_axis_angle = acos((point_vec.dot(direction())) / (point_vec.norm() * direction().norm()));
+     614             : 
+     615             :       /* Eigen::Vector3d axis_projection = this->cone_axis_projector * point_vec + origin(); */
+     616             : 
+     617           0 :       Eigen::Vector3d axis_rot = direction().cross(point_vec);
+     618           0 :       axis_rot.normalize();
+     619             : 
+     620           0 :       Eigen::AngleAxis<double> my_quat(this->angle - point_axis_angle, axis_rot);
+     621             : 
+     622           0 :       Eigen::Vector3d point_on_cone = my_quat * point_vec + origin();
+     623             : 
+     624           0 :       Eigen::Vector3d vec_point_on_cone = point_on_cone - origin();
+     625           0 :       vec_point_on_cone.normalize();
+     626             : 
+     627           0 :       double beta = this->angle - point_axis_angle;
+     628             : 
+     629           0 :       if (point_axis_angle < this->angle)
+     630             :       {
+     631           0 :         return origin() + vec_point_on_cone * cos(beta) * point_vec.norm();
+     632           0 :       } else if ((point_axis_angle >= this->angle) && (point_axis_angle - this->angle) <= M_PI / 2.0)
+     633             :       {  // TODO: is this condition correct?
+     634           0 :         return origin() + vec_point_on_cone * cos(point_axis_angle - this->angle) * point_vec.norm();
+     635             :       } else
+     636             :       {
+     637           0 :         return {};
+     638             :       }
+     639             :     }
+     640             : 
+     641             :     //}
+     642             : 
+     643             :     //}
+     644             : 
+     645             :   }  // namespace geometry
+     646             : }  // namespace mrs_lib
+
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/math.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   /* probit() function //{ */
+       6         202 :   double probit(const double quantile)
+       7             :   {
+       8             :     // polynomial coefficients of the numerator for rational polynomial approximation in the range (0.08; 0.92)
+       9             :     constexpr double a[4] =
+      10             :     {
+      11             :       2.50662823884,
+      12             :     -18.61500062529,
+      13             :      41.39119773534,
+      14             :     -25.44106049637
+      15             :     };
+      16             : 
+      17             :     // polynomial coefficients of the denominator for the rational polynomial approximation in the range (0.08; 0.92)
+      18             :     constexpr double b[4] =
+      19             :     {
+      20             :       -8.47351093090,
+      21             :       23.08336743743,
+      22             :      -21.06224101826,
+      23             :        3.13082909833
+      24             :     };
+      25             : 
+      26             :     // polynomial coefficients of the logarithmical approximation in the range (0; 0.08) U (0.92; 1)
+      27             :     constexpr double c[9] =
+      28             :     {
+      29             :       0.3374754822726147,
+      30             :       0.9761690190917186,
+      31             :       0.1607979714918209,
+      32             :       0.0276438810333863,
+      33             :       0.0038405729373609,
+      34             :       0.0003951896511919,
+      35             :       0.0000321767881768,
+      36             :       0.0000002888167364,
+      37             :       0.0000003960315187
+      38             :     };
+      39             : 
+      40             :     // correctly handle special values
+      41         202 :     if (quantile == 1.0)
+      42           1 :       return std::numeric_limits<double>::infinity();
+      43         201 :     if (quantile == 0.0)
+      44           1 :       return -std::numeric_limits<double>::infinity();
+      45         200 :     if (quantile < 0.0 || quantile > 1.0)
+      46           2 :       return std::numeric_limits<double>::quiet_NaN();
+      47             : 
+      48         198 :     const double y = quantile - 0.5;
+      49         198 :     if (std::abs(y) < 0.42)
+      50             :     {
+      51         168 :       const double r = y*y;
+      52         168 :       const double num = y*((( a[3]*r + a[2] )*r + a[1])*r + a[0]);
+      53         168 :       const double denom = (((( b[3]*r + b[2] )*r + b[1])*r + b[0])*r + 1);
+      54         168 :       return num/denom;
+      55             :     }
+      56             :     else
+      57             :     {
+      58          30 :       const double v = y > 0 ? 1.0 - quantile : quantile;
+      59          30 :       const double r = std::log(-std::log(v));
+      60          30 :       const double x = c[0] + r*( c[1] + r*( c[2] + r*( c[3] + r*( c[4] + r*( c[5] + r*( c[6] + r*( c[7] + r*c[8] )))))));
+      61          30 :       return y < 0 ? -x : x;
+      62             :     }
+      63             :   }
+      64             :   //}
+      65             : }
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
mrs_lib::MedianFilter::setBufferLength(unsigned long)2
mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)60
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)61
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)63
mrs_lib::MedianFilter::check(double)97164
mrs_lib::MedianFilter::median() const97187
mrs_lib::MedianFilter::full() const102998
mrs_lib::MedianFilter::add(double)103037
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mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
mrs_lib::MedianFilter::setBufferLength(unsigned long)2
mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)103037
mrs_lib::MedianFilter::check(double)97164
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)60
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)63
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)61
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const102998
mrs_lib::MedianFilter::median() const97187
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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          63 :   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          63 :       m_max_diff(max_diff)
+      12             :   {
+      13          63 :     m_buffer.set_capacity(buffer_length);
+      14          63 :     m_buffer_sorted.reserve(buffer_length);
+      15          63 :   }
+      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          60 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          60 :     *this = other;
+      34          60 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          61 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          61 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          61 :     m_buffer = other.m_buffer;
+      44          61 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          61 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          61 :     m_min_valid = other.m_min_valid;
+      49          61 :     m_max_valid = other.m_max_valid;
+      50          61 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52         122 :     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      103037 :   void MedianFilter::add(const double value)
+      74             :   {
+      75      206039 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77      103033 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79      103015 :     m_median = std::nullopt;
+      80      103019 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84       97164 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86       97164 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88       97185 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89      194361 :     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      102998 :   bool MedianFilter::full() const
+     113             :   {
+     114      206013 :     std::scoped_lock lck(m_mtx);
+     115      206034 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120       97187 :   double MedianFilter::median() const
+     121             :   {
+     122      194389 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124       97189 :     if (m_median.has_value())
+     125          20 :       return m_median.value();
+     126             :   
+     127             :     // check if there are even any numbers to calculate the median from
+     128       97179 :     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       97183 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137       97184 :     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       97172 :     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       97146 :     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       97158 :     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       97188 :     if (even_set)
+     148       97172 :       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       97171 :     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)2735
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8865
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const59585
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mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)2735
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const59585
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        2735 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        2735 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        2735 :   }
+      17             : 
+      18        8865 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       17730 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23        8865 :       YAML::Node root;
+      24        8865 :       root["root"] = loaded_yaml;
+      25        8865 :       m_yamls.emplace_back(root);
+      26        8865 :       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       59585 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      308663 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      298065 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      298065 :       if (!cur_node_it->second.IsMap())
+      72        9723 :         continue;
+      73             : 
+      74      288345 :       bool loaded = true;
+      75             :       {
+      76      288345 :         constexpr char delimiter = '/';
+      77      288345 :         auto substr_start = std::cbegin(param_name);
+      78      288345 :         auto substr_end = substr_start;
+      79      394274 :         do
+      80             :         {
+      81      682619 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83      682616 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84      682616 :           const auto count = std::distance(substr_start, substr_end);
+      85      682604 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86      682614 :           substr_start = substr_end+1;
+      87             : 
+      88      682608 :           bool found = false;
+      89     2791387 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     1426131 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      443261 :               cur_node_it = node_it;
+      94      443265 :               found = true;
+      95      443265 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99      682614 :           if (!found)
+     100             :           {
+     101      239356 :             loaded = false;
+     102      239356 :             break;
+     103             :           }
+     104             :         }
+     105      443253 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      288342 :       if (loaded)
+     109             :       {
+     110       97977 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114       10596 :     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:2024-01-14 11:12:21Functions:91090.0 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
profiler.cpp +
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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:2024-01-14 11:12:21Functions:91090.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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profiler.cpp +
37.6%37.6%
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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:2024-01-14 11:12:21Functions:91090.0 %
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profiler.cpp +
37.6%37.6%
+ 		37.6 %38 / 10190.0 %9 / 10
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+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-01-14 11:12:21Functions: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)869
mrs_lib::Profiler::Profiler()869
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)869
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)410452
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)410524
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)1137938
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)1137956
mrs_lib::Routine::end()1548425
mrs_lib::Routine::~Routine()1548538
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-01-14 11:12:21Functions: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()1548425
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)1137938
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)410524
mrs_lib::Routine::~Routine()1548538
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)1137956
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)410452
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)869
mrs_lib::Profiler::Profiler()869
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)869
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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..748fae212e --- /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 + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-01-14 11:12:21Functions: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         869 : Profiler::Profiler() {
+      11         869 : }
+      12             : 
+      13         869 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15         869 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16         869 :   this->_node_name_        = _node_name_;
+      17         869 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19         869 :   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         869 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26         869 :   this->is_initialized_ = true;
+      27         869 : }
+      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         869 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44         869 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48         869 :   this->is_initialized_    = other.is_initialized_;
+      49         869 :   this->nh_                = other.nh_;
+      50         869 :   this->_node_name_        = other._node_name_;
+      51         869 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53         869 :   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         869 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      410452 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      410452 :   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     1137956 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76     1137956 :   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      410524 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      410524 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      409869 :   if (!profiler_enabled) {
+      89      409902 :     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     1137938 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141     1137938 :                  bool profiler_enabled) {
+     142             : 
+     143     1137318 :   if (!profiler_enabled) {
+     144     1137336 :     return;
+     145             :   }
+     146             : 
+     147           2 :   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     1548425 : void Routine::end(void) {
+     186             : 
+     187     1548425 :   if (!_profiler_enabled_) {
+     188     1548258 :     return;
+     189             :   }
+     190             : 
+     191         167 :   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     1548352 : Routine::~Routine() {
+     213             : 
+     214     1548538 :   this->end();
+     215     1547534 : }
+     216             : 
+     217             : }  // 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_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-14 11:12:21Functions: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%
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-01-14 11:12:21Functions:8988.9 %
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line_operations.cpp +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
60.0%60.0%
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66.7%66.7%
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
60.0%60.0%
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line_operations.cpp +
66.7%66.7%
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+
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+ + + diff --git a/mrs_lib/src/safety_zone/index.html b/mrs_lib/src/safety_zone/index.html new file mode 100644 index 0000000000..6fb554d869 --- /dev/null +++ b/mrs_lib/src/safety_zone/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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line_operations.cpp +
66.7%66.7%
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safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
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+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
getScale(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)226
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)256
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>)256
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
getScale(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)226
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)256
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>)256
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Current view:top level - mrs_lib/src/safety_zone - line_operations.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:162466.7 %
Date:2024-01-14 11:12:21Functions: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         226 : 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         226 :   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         256 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         256 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         256 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         256 :   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         256 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         256 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         256 :   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         226 :   double             scale1 = difference_cross / cross;
+      48         226 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         226 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         226 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         226 :   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..b7142fa59f --- /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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LCOV - code coverage report
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-14 11:12:21Functions: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>)56
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)64
mrs_lib::Polygon::isPointInside(double, double)3697
mrs_lib::Polygon::getPointMessageVector(double)14526
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-14 11:12:21Functions: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)3697
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)64
mrs_lib::Polygon::getPointMessageVector(double)14526
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)56
mrs_lib::lineIntersectGivenVector(Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
mrs_lib::movePoint(Eigen::Matrix<double, 1, 2, 1, 1, 2>, double, Eigen::Matrix<double, 1, 2, 1, 1, 2>)0
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-01-14 11:12:21Functions: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          56 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          56 :   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          56 :   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          56 :   Eigen::RowVector2d edge1;
+      21          56 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         280 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         224 :     edge1 = edge2;
+      24         224 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         224 :     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         224 :     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          56 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41        3697 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43        3697 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       18485 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47       14788 :     double v1x = vertices(i, 0);
+      48       14788 :     double v1y = vertices(i, 1);
+      49       14788 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50       14788 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52       14788 :     if (v1y > py && v2y > py)
+      53        3620 :       continue;
+      54       11168 :     if (v1y <= py && v2y <= py)
+      55        3928 :       continue;
+      56        7240 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57        7240 :     bool   does_intersect = intersect_x > px;
+      58        7240 :     if (does_intersect)
+      59        3620 :       ++count;
+      60             :   }
+      61             : 
+      62        3697 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69          64 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71          64 :   Eigen::RowVector2d start{startX, startY};
+      72          64 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         320 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         256 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         256 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         256 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84          64 :   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       14526 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194       14526 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195       72630 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       58104 :     points[i].x = vertices(i, 0);
+     197       58104 :     points[i].y = vertices(i, 1);
+     198       58104 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201       14526 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html new file mode 100644 index 0000000000..9588a3df3c --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.overview.html @@ -0,0 +1,72 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon/polygon.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.png b/mrs_lib/src/safety_zone/polygon/polygon.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c5adcdf99ff4cbdb4f4d66b7c0b94eb7d1a120a0 GIT binary patch literal 1057 zcmV++1m63JP)$b|L8UA<<9=Mz;iKKL zc85A%)j`nM+>C0sP4({7g2YB=->8c@2R2p;@?r$K>&=yT$KdT}Al0K?NiI0!a}48<^f9CF$uEE6&Xh67|26T@sH z7?{ReS$eS%EQ?keA8+y23pTP@Y7kj9GEBiagRZv3^p8S}k;{~ln*bK@=b`v9j>8O7x3!hsfSt!0@1=dGtW8oJBV+H5d4pTv>`(hy&)*zj( zSqc|y+@OqrDq`;y@=DY6ai)T1whFiix`T|!T^oY}^bsykVh{1lIoYnb$6|g3+q6ka zf*0^Cb!{i`6ica*0WU1XBl+wQrpE`8=bAYR#+>13r*0wuh;W)wx`L2EJsdUqdoucs z>751lyhip9?uS{z_63)vC3)O8SRs2%HVsZky;{@1C6OjH!|f)7T9W|!bqF70M!(0mQFJONCbVxa9@L zEt4xx?zIhNaw$wKa~b+pJI7w~4+MWHxn3%U!8@&3TdVdCd`UBUtwQS~TOSiNmh!ro zhWj-I!~o{6fy$(QU~vh+tVn6(DpJg)18-I(*e?%98jJGqM(GOikoso`#x5IzI(Vpy za$DmyH0}s$eAkoe(FOy=H$Lqep^itkAk*Pwbrwp@aM;Wlm9T9LTBpIkM9swtu<$+6 z$R<*@dtRpp48Ije%?LqZv5O4oNNrewuL-@oAL{rSI2&^ b{<+`}Uto53>9?6+00000NkvXXu0mjfHe=(^ literal 0 HcmV?d00001 diff --git a/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html b/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html new file mode 100644 index 0000000000..aaf63e7c26 --- /dev/null +++ b/mrs_lib/src/safety_zone/safety_zone.cpp.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/safety_zone.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:152560.0 %
Date:2024-01-14 11:12:21Functions: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&)56
mrs_lib::SafetyZone::~SafetyZone()56
mrs_lib::SafetyZone::isPathValid(double, double, double, double)64
mrs_lib::SafetyZone::isPointValid(double, double)3697
mrs_lib::SafetyZone::getBorder()7263
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:152560.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::isPathValid(double, double, double, double)64
mrs_lib::SafetyZone::isPointValid(double, double)3697
mrs_lib::SafetyZone::getBorder()7263
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)56
mrs_lib::SafetyZone::~SafetyZone()56
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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         112 : SafetyZone::~SafetyZone() {
+      17          56 :   delete outerBorder;
+      18          56 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          56 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          56 :     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          56 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44        3697 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46        3697 :   if (!outerBorder->isPointInside(px, py)) {
+      47          77 :     return false;
+      48             :   }
+      49             : 
+      50        3620 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57          64 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59          64 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63          64 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70        7263 : Polygon SafetyZone::getBorder() {
+      71        7263 :   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)434
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()434
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2584461
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)3286767
mrs_lib::ScopeTimer::~ScopeTimer()3288158
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2584461
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)3286767
mrs_lib::ScopeTimer::~ScopeTimer()3288158
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)434
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()434
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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         434 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         434 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         434 :   if (!_logging_enabled_) {
+      13         434 :     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         434 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         434 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         434 : }
+      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     3286767 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     3286767 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     3279838 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     3277686 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     3277687 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     2584461 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     2584461 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     2584461 : }
+     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     9860766 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     3288158 :   if (!_enable_print_or_log) {
+     138     3288221 :     return;
+     139             :   }
+     140             : 
+     141           2 :   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     3286612 : }
+     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&)64
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)67
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)67
mrs_lib::TimeoutManager::started(unsigned long)1580
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)7501
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)110596
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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..94e97a82e2 --- /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:2024-01-14 11:12:21Functions: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)67
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)7501
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)110596
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)67
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)1580
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&)64
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Current view:top level - mrs_lib/src/timeout_manager - timeout_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:496279.0 %
Date:2024-01-14 11:12:21Functions: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          64 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7          64 :     : m_last_id(0)
+       8             :   {
+       9          64 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10          64 :   }
+      11             : 
+      12             : 
+      13          67 :   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         134 :     std::scoped_lock lck(m_mtx);
+      16          67 :     const auto new_id = m_timeouts.size();
+      17          67 :     const timeout_info_t new_info = {oneshot, autostart, callback, timeout, last_reset, last_reset};
+      18          67 :     m_timeouts.push_back(new_info);
+      19         134 :     return new_id;
+      20             :   }
+      21             : 
+      22      110596 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      23             :   {
+      24      110596 :     std::scoped_lock lck(m_mtx);
+      25      110596 :     m_timeouts.at(id).last_reset = time;
+      26      110596 :   }
+      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          67 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      35             :   {
+      36          67 :     std::scoped_lock lck(m_mtx);
+      37          67 :     m_timeouts.at(id).started = true;
+      38          67 :     m_timeouts.at(id).last_reset = time;
+      39          67 :   }
+      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        1580 :   bool TimeoutManager::started(const timeout_id_t id)
+      76             :   {
+      77        1580 :     std::scoped_lock lck(m_mtx);
+      78        3160 :     return m_timeouts.at(id).started;
+      79             :   }
+      80             : 
+      81        7501 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      82             :   {
+      83        7501 :     const auto now = ros::Time::now();
+      84             : 
+      85       15002 :     std::scoped_lock lck(m_mtx);
+      86       21287 :     for (auto& timeout_info : m_timeouts)
+      87             :     {
+      88             :       // don't worry, this'll get optimized out by the compiler
+      89       13786 :       const bool started = timeout_info.started;
+      90       13786 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      91       13786 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      92       13786 :       if (started && last_reset_timeout && last_callback_timeout)
+      93             :       {
+      94        1694 :         timeout_info.callback(timeout_info.last_reset);
+      95        1694 :         timeout_info.last_callback = now;
+      96             :         // if the timeout is oneshot, pause it
+      97        1694 :         if (timeout_info.oneshot)
+      98           0 :           timeout_info.started = false;
+      99             :       }
+     100             :     }
+     101        7501 :   }
+     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:10611493.0 %
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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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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         217 : void ThreadTimer::Impl::threadFcn()
+     185             : {
+     186         217 :   while (ros::ok() && !ending_)
+     187             :   {
+     188             :     {
+     189         217 :       std::unique_lock lck(mutex_wakeup_);
+     190             :       // if the timer is not yet started, wait for condition variable notification
+     191         217 :       if (!running_ && !ending_)
+     192          17 :         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         217 :       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         209 :       if (!running_)
+     199           1 :         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()121
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mrs_lib::TransformBroadcaster::TransformBroadcaster()121
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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         121 : TransformBroadcaster::TransformBroadcaster() {
+       8         121 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9         121 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13     1328342 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     2655629 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15     1326219 :   if (last_messages_.count(frames_from_to) > 0) {
+      16     1327055 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17     1088587 :       broadcaster_.sendTransform(transform);
+      18     1090460 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      236249 :       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        1370 :     std::pair<std::string, ros::Time> new_pair;
+      25         674 :     new_pair.first  = frames_from_to;
+      26         674 :     new_pair.second = transform.header.stamp;
+      27         674 :     broadcaster_.sendTransform(transform);
+      28         674 :     last_messages_.insert(new_pair);
+      29             :   }
+      30     1328491 : }
+      31             : //}
+      32             : 
+      33             : /* sendTransform(const std::vector<geometry_msgs::TransformStamped> &transforms) //{ */
+      34           0 : void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> &transforms) {
+      35           0 :   for (auto transform : transforms) {
+      36           0 :     std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      37           0 :     if (last_messages_.count(frames_from_to) > 0) {
+      38           0 :       if (transform.header.stamp > last_messages_[frames_from_to]) {
+      39           0 :         broadcaster_.sendTransform(transform);
+      40           0 :         last_messages_[frames_from_to] = transform.header.stamp;
+      41             :       } else {
+      42           0 :         ROS_WARN_ONCE("[%s]: TF_REPEATED_DATA ignoring data with redundant timestamp. Transform from frame '%s' to frame '%s'",
+      43             :                       ros::this_node::getName().c_str(), transform.header.frame_id.c_str(), transform.child_frame_id.c_str());
+      44             :       }
+      45             :     } else {
+      46           0 :       std::pair<std::string, ros::Time> new_pair;
+      47           0 :       new_pair.first  = frames_from_to;
+      48           0 :       new_pair.second = transform.header.stamp;
+      49           0 :       broadcaster_.sendTransform(transform);
+      50           0 :       last_messages_.insert(new_pair);
+      51             :     }
+      52             :   }
+      53           0 : }
+      54             : //}
+      55             : 
+      56             : }  // namespace mrs_lib
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PointStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_lib::Transformer::Transformer()0
mrs_lib::Transformer::operator=(mrs_lib::Transformer&&)0
void tf2::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, cv::Point3_<double>&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::getTransform(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::getTransformImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::LLtoUTM(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)6
mrs_lib::Transformer::transformAsPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsPoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::transformAsVector(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
mrs_lib::Transformer::transformAsVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)6
mrs_lib::Transformer::Transformer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)12
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)433
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1121
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1121
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1123
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2252
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&)17347
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)66791
mrs_lib::Transformer::setLatLon(double, double)115461
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&)1189112
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4938073
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2024-01-14 11:12:21Functions: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&)17347
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&)66791
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2252
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&)1189112
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4938073
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&)1121
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&)1121
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1123
mrs_lib::Transformer::setLatLon(double, double)115461
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)433
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..987783e592 --- /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:2024-01-14 11:12:21Functions: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         433 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         433 :     : 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         433 :   }
+      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       17347 :   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       34711 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82       17364 :     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       34728 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       34728 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       34728 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93       17364 :     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      115461 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119      115461 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122      115219 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123      115007 :     got_utm_zone_ = true;
+     124      114738 :   }
+     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       66791 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255      133582 :     geometry_msgs::PoseStamped pose;
+     256       66791 :     pose.header = what.header;
+     257             :   
+     258       66791 :     pose.pose.position.x = what.reference.position.x;
+     259       66791 :     pose.pose.position.y = what.reference.position.y;
+     260       66791 :     pose.pose.position.z = what.reference.position.z;
+     261       66791 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264      133580 :     const auto pose_opt = transformImpl(tf, pose);
+     265       66791 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268       66791 :     pose = pose_opt.value();
+     269             :   
+     270      133581 :     mrs_msgs::ReferenceStamped ret;
+     271       66791 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274       66791 :     ret.reference.position.x = pose.pose.position.x;
+     275       66791 :     ret.reference.position.y = pose.pose.position.y;
+     276       66791 :     ret.reference.position.z = pose.pose.position.z;
+     277       66791 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278       66791 :     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     1189112 :   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     1189112 :     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     1189112 :     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     1189104 :     if (from_frame == to_frame)
+     319      230467 :       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     1073875 :     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     1073867 :     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        2248 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        2248 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338        1124 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341        1124 :       frame_to(*tf_opt) = to_frame;
+     342        1124 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     3218111 :     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     1571272 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352     1148101 :     catch (tf2::TransformException& e)
+     353             :     {
+     354      574052 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358      574054 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362     1139284 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       17474 :       catch (tf2::TransformException& e)
+     365             :       {
+     366        8737 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371        8768 :     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        8768 :       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        8768 :     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     4938073 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     4938073 :     if (frame_id.empty())
+     467       46340 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     4891873 :     if (prefix_.empty())
+     471     3151514 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     1740237 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475     1149017 :       return prefix_ + frame_id;
+     476             : 
+     477      591415 :     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        1123 :   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        1123 :     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        1122 :     geometry_msgs::Point latlon;
+     532        1122 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533        1122 :     latlon.z = what.z;
+     534        1122 :     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        1121 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552        1121 :     const auto opt = UTMtoLL(what.position, prefix);
+     553        1121 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556        1121 :     geometry_msgs::Pose ret;
+     557        1121 :     ret.position = opt.value();
+     558        1121 :     ret.orientation = what.orientation;
+     559        1121 :     return ret;
+     560             :   }
+     561             : 
+     562        1121 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564        1121 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565        1121 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        2242 :     geometry_msgs::PoseStamped ret;
+     569        1121 :     ret.header.frame_id = prefix + "utm_origin";
+     570        1121 :     ret.header.stamp = what.header.stamp;
+     571        1121 :     ret.pose = opt.value();
+     572        1121 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        2252 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        2252 :     const auto firstof = frame_id.find_first_of('/');
+     580        2252 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        2252 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)315637
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()315652
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Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2024-01-14 11:12:21Functions:22100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)315637
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()315652
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.frameset.html b/mrs_lib/src/utils/utils.cpp.gcov.frameset.html new file mode 100644 index 0000000000..7f64122dba --- /dev/null +++ b/mrs_lib/src/utils/utils.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils/utils.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.html b/mrs_lib/src/utils/utils.cpp.gcov.html new file mode 100644 index 0000000000..5618cff9cf --- /dev/null +++ b/mrs_lib/src/utils/utils.cpp.gcov.html @@ -0,0 +1,101 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils/utils.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/utils - utils.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:77100.0 %
Date:2024-01-14 11:12:21Functions: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      315637 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      315637 :   : variable(in)
+       8             : {
+       9      315637 :   variable = true;
+      10      315645 : }
+      11             : 
+      12      631304 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      315652 :   variable = false;
+      15      315652 : }
+      16             : 
+      17             : }  // namespace mrs_lib
+
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+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.overview.html b/mrs_lib/src/utils/utils.cpp.gcov.overview.html new file mode 100644 index 0000000000..f3b2e0a717 --- /dev/null +++ b/mrs_lib/src/utils/utils.cpp.gcov.overview.html @@ -0,0 +1,25 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils/utils.cpp + + + + + + + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.png b/mrs_lib/src/utils/utils.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3b82aa0d55e194f12f9515f4d5ef4f00538985ef GIT binary patch literal 194 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIs!VDyLSeu0dDTx4|5ZC|z|E~gqdj0}#k_Vn~lnZVFINzf&xlOe%CX$e!F(g};y)F!t{2}&Ee3~RkNUNtx`aKVxJ gJcj|7z|;l?m3NMIqUuuIK(iS + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23826988.5 %
Date:2024-01-14 11:12:21Functions:1919100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()10
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)13
(anonymous namespace)::ProxyExec0::ProxyExec0()16
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()16
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)24
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)33
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()77
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)705
mrs_uav_autostart::automatic_start::AutomaticStart::speedCheck()3522
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()3522
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()3522
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()3522
mrs_uav_autostart::automatic_start::Topic::getTime()7121
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)7692
mrs_uav_autostart::automatic_start::Topic::updateTime()19244
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)19253
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&) const19254
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)50292
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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..44d8ac0a38 --- /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:23826988.5 %
Date:2024-01-14 11:12:21Functions: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()16
mrs_uav_autostart::automatic_start::AutomaticStart::speedCheck()3522
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()3522
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)24
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)19253
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()3522
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()3522
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)50292
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)13
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)705
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()16
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()10
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)7692
mrs_uav_autostart::automatic_start::Topic::updateTime()19244
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()77
mrs_uav_autostart::automatic_start::Topic::getTime()7121
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)33
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&) const19254
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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..5827f41b3b --- /dev/null +++ b/mrs_uav_autostart/src/automatic_start.cpp.gcov.html @@ -0,0 +1,889 @@ + + + + + + + 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:23826988.5 %
Date:2024-01-14 11:12:21Functions:1919100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/mutex.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : 
+      11             : #include <std_msgs/Bool.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      17             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      18             : #include <mrs_msgs/ValidateReference.h>
+      19             : #include <mrs_msgs/GazeboSpawnerDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiStatus.h>
+      21             : #include <mrs_msgs/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          33 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      42          33 :     last_time_ = ros::Time(0);
+      43          33 :   }
+      44             : 
+      45       19244 :   void updateTime(void) {
+      46       19244 :     last_time_ = ros::Time::now();
+      47       19250 :   }
+      48             : 
+      49        7121 :   ros::Time getTime(void) {
+      50        7121 :     return last_time_;
+      51             :   }
+      52             : 
+      53          77 :   std::string getTopicName(void) {
+      54          77 :     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      _pre_takeoff_sleep_;
+     149             :   bool        _handle_takeoff_ = false;
+     150             :   double      _safety_timeout_;
+     151             :   double      _control_output_timeout_;
+     152             : 
+     153             :   // | ---------------------- state machine --------------------- |
+     154             : 
+     155             :   uint current_state = STATE_IDLE;
+     156             :   void changeState(LandingStates_t new_state);
+     157             : 
+     158             :   // | --------------------- velocity check --------------------- |
+     159             : 
+     160             :   bool   _velocity_check_enabled_ = false;
+     161             :   double _velocity_check_max_speed_;
+     162             : 
+     163             :   // | ---------------- generic topic subscribers --------------- |
+     164             : 
+     165             :   bool                     _topic_check_enabled_ = false;
+     166             :   double                   _topic_check_timeout_;
+     167             :   std::vector<std::string> _topic_check_topic_names_;
+     168             : 
+     169             :   std::vector<Topic>           topic_check_topics_;
+     170             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     171             : 
+     172             :   // generic callback, for any topic, to monitor its rate
+     173             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     174             : };
+     175             : 
+     176             : //}
+     177             : 
+     178             : /* onInit() //{ */
+     179             : 
+     180          16 : void AutomaticStart::onInit() {
+     181             : 
+     182          32 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     183             : 
+     184          16 :   ros::Time::waitForValid();
+     185             : 
+     186          16 :   armed_      = false;
+     187          16 :   armed_time_ = ros::Time(0);
+     188             : 
+     189          16 :   offboard_      = false;
+     190          16 :   offboard_time_ = ros::Time(0);
+     191             : 
+     192          32 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     193             : 
+     194          32 :   std::string custom_config_path;
+     195             : 
+     196          16 :   param_loader.loadParam("custom_config", custom_config_path);
+     197             : 
+     198          16 :   if (custom_config_path != "") {
+     199           4 :     param_loader.addYamlFile(custom_config_path);
+     200             :   }
+     201             : 
+     202          16 :   param_loader.addYamlFileFromParam("config_private");
+     203          16 :   param_loader.addYamlFileFromParam("config_public");
+     204             : 
+     205          16 :   param_loader.loadParam("uav_name", _uav_name_);
+     206          16 :   param_loader.loadParam("simulation", _simulation_);
+     207             : 
+     208          16 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     209          16 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     210          16 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     211             : 
+     212          16 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     213          16 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     214             : 
+     215          16 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     216             : 
+     217          16 :   param_loader.loadParam("preflight_check/velocity_check/enabled", _velocity_check_enabled_);
+     218          16 :   param_loader.loadParam("preflight_check/velocity_check/max_speed", _velocity_check_max_speed_);
+     219             : 
+     220          16 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     221          16 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     222          16 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     223             : 
+     224          16 :   if (!param_loader.loadedSuccessfully()) {
+     225           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     226           0 :     ros::shutdown();
+     227             :   }
+     228             : 
+     229             :   // | ----------------------- subscribers ---------------------- |
+     230             : 
+     231          32 :   mrs_lib::SubscribeHandlerOptions shopts;
+     232          16 :   shopts.nh                 = nh_;
+     233          16 :   shopts.node_name          = "AutomaticStart";
+     234          16 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     235          16 :   shopts.threadsafe         = true;
+     236          16 :   shopts.autostart          = true;
+     237          16 :   shopts.queue_size         = 10;
+     238          16 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     239             : 
+     240          16 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     241          16 :   sh_hw_api_status_        = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     242          16 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     243          16 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     244          32 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     245          16 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     246             : 
+     247             :   // | ----------------------- publishers ----------------------- |
+     248             : 
+     249          16 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     250             : 
+     251             :   // | --------------------- service clients -------------------- |
+     252             : 
+     253          16 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     254          16 :   service_client_eland_                 = nh_.serviceClient<std_srvs::Trigger>("eland_out");
+     255          16 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     256          16 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     257             : 
+     258          16 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     259             : 
+     260             :   // | ------------------ setup generic topics ------------------ |
+     261             : 
+     262          16 :   if (_topic_check_enabled_) {
+     263             : 
+     264          32 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     265             : 
+     266          49 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     267             : 
+     268          66 :       std::string topic_name = _topic_check_topic_names_[i];
+     269             : 
+     270          33 :       if (topic_name.at(0) != '/') {
+     271          33 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     272             :       }
+     273             : 
+     274          66 :       Topic tmp_topic(topic_name);
+     275          33 :       topic_check_topics_.push_back(tmp_topic);
+     276             : 
+     277          33 :       int id = i;  // id to identify which topic called the generic callback
+     278             : 
+     279       19287 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     280          99 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     281             : 
+     282          33 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     283             :     }
+     284             :   }
+     285             : 
+     286             :   // | ------------------------- timers ------------------------- |
+     287             : 
+     288          16 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     289             : 
+     290          16 :   is_initialized_ = true;
+     291             : 
+     292          16 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     293          16 : }
+     294             : 
+     295             : //}
+     296             : 
+     297             : // --------------------------------------------------------------
+     298             : // |                          callbacks                         |
+     299             : // --------------------------------------------------------------
+     300             : 
+     301             : /* genericCallback() //{ */
+     302             : 
+     303       19253 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     304             :                                      const int id) {
+     305       19253 :   topic_check_topics_[id].updateTime();
+     306       19250 : }
+     307             : 
+     308             : //}
+     309             : 
+     310             : /* callbackHwApiDiag() //{ */
+     311             : 
+     312       50292 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     313             : 
+     314       50292 :   if (!is_initialized_) {
+     315           0 :     return;
+     316             :   }
+     317             : 
+     318       50292 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API diagnostics");
+     319             : 
+     320      100584 :   std::scoped_lock lock(mutex_hw_api_status_);
+     321             : 
+     322             :   // check armed_ state
+     323       50292 :   if (armed_ == false) {
+     324             : 
+     325             :     // if armed_ state changed to true, please "start the clock"
+     326       21449 :     if (msg->armed) {
+     327             : 
+     328          16 :       armed_      = true;
+     329          16 :       armed_time_ = ros::Time::now();
+     330             :     }
+     331             : 
+     332             :     // if we were armed_ previously
+     333       28843 :   } else if (armed_ == true) {
+     334             : 
+     335             :     // and we are not really now
+     336       28843 :     if (!msg->armed) {
+     337             : 
+     338           5 :       armed_ = false;
+     339             :     }
+     340             :   }
+     341             : 
+     342             :   // check offboard_ state
+     343       50292 :   if (offboard_ == false) {
+     344             : 
+     345             :     // if offboard_ state changed to true, please "start the clock"
+     346       27067 :     if (msg->offboard) {
+     347             : 
+     348          13 :       offboard_      = true;
+     349          13 :       offboard_time_ = ros::Time::now();
+     350             :     }
+     351             : 
+     352             :     // if we were in offboard_ previously
+     353       23225 :   } else if (offboard_ == true) {
+     354             : 
+     355             :     // and we are not really now
+     356       23225 :     if (!msg->offboard) {
+     357             : 
+     358           0 :       offboard_ = false;
+     359             :     }
+     360             :   }
+     361             : 
+     362       50292 :   if (msg->connected) {
+     363       49872 :     got_hw_api_status_ = true;
+     364             :   }
+     365             : }
+     366             : 
+     367             : //}
+     368             : 
+     369             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     370             : 
+     371         705 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     372             : 
+     373         705 :   if (!is_initialized_) {
+     374           0 :     return;
+     375             :   }
+     376             : 
+     377         705 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     378             : 
+     379             :   {
+     380        1410 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     381             : 
+     382         705 :     gazebo_spawner_diagnostics_ = *msg;
+     383             : 
+     384         705 :     got_gazebo_spawner_diagnostics = true;
+     385             :   }
+     386             : }
+     387             : 
+     388             : //}
+     389             : 
+     390             : // --------------------------------------------------------------
+     391             : // |                           timers                           |
+     392             : // --------------------------------------------------------------
+     393             : 
+     394             : /* timerMain() //{ */
+     395             : 
+     396        7692 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     397             : 
+     398        7692 :   if (!is_initialized_) {
+     399        2689 :     return;
+     400             :   }
+     401             : 
+     402        7692 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     403        7692 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     404        7692 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     405             : 
+     406        7692 :   if (!got_control_manager_diag || !got_hw_api_status_ || !got_uav_manager_diag || !got_estimation_diag) {
+     407        2689 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     408             :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api_status_ ? "true" : "FALSE",
+     409             :                       got_estimation_diag ? "true" : "FALSE");
+     410        2689 :     return;
+     411             :   }
+     412             : 
+     413        5003 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     414        5003 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     415             : 
+     416        5003 :   switch (current_state) {
+     417             : 
+     418        3522 :     case STATE_IDLE: {
+     419             : 
+     420        3522 :       bool   control_output   = sh_control_manager_diag_.getMsg()->output_enabled;
+     421        3522 :       double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     422             : 
+     423        3522 :       std_msgs::Bool can_takeoff_msg;
+     424        3522 :       can_takeoff_msg.data = false;
+     425             : 
+     426             :       // | -------------------- preflight checks -------------------- |
+     427             : 
+     428        3522 :       bool position_valid = validateReference();
+     429        3522 :       bool got_topics     = topicCheck();
+     430        3522 :       bool speed_valid    = speedCheck();
+     431             : 
+     432        3522 :       bool can_takeoff = got_topics && position_valid && speed_valid;
+     433             : 
+     434             :       // | ---------------------------------------------------------- |
+     435             : 
+     436        3522 :       can_takeoff_msg.data = can_takeoff;
+     437        3522 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     438             : 
+     439        3522 :       if (armed && !control_output) {
+     440             : 
+     441         152 :         if (can_takeoff) {
+     442             : 
+     443          13 :           bool res = toggleControlOutput(true);
+     444             : 
+     445          13 :           if (!res) {
+     446           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     447             :           }
+     448             :         }
+     449             : 
+     450         152 :         if (time_from_arming > _control_output_timeout_) {
+     451             : 
+     452           3 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     453           3 :           disarm();
+     454           3 :           changeState(STATE_FINISHED);
+     455             :         }
+     456             :       }
+     457             : 
+     458        3522 :       if (_simulation_ && isGazeboSimulation()) {
+     459             : 
+     460         948 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     461             : 
+     462         948 :         if (got_gazebo_spawner_diagnostics) {
+     463             : 
+     464         948 :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     465           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     466           0 :             return;
+     467             :           }
+     468             : 
+     469             :         } else {
+     470             : 
+     471           0 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     472           0 :           return;
+     473             :         }
+     474             :       }
+     475             : 
+     476             :       // when armed and in offboard, takeoff
+     477        3522 :       if (armed && offboard && control_output) {
+     478             : 
+     479        1902 :         double armed_time_diff    = (ros::Time::now() - armed_time).toSec();
+     480        1902 :         double offboard_time_diff = (ros::Time::now() - offboard_time).toSec();
+     481             : 
+     482        1902 :         if ((armed_time_diff > _safety_timeout_) && (offboard_time_diff > _safety_timeout_)) {
+     483             : 
+     484          11 :           if (_handle_takeoff_) {
+     485          10 :             changeState(STATE_TAKEOFF);
+     486             :           } else {
+     487           1 :             changeState(STATE_FINISHED);
+     488             :           }
+     489             : 
+     490             :         } else {
+     491             : 
+     492        1891 :           double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff : offboard_time_diff;
+     493             : 
+     494        1891 :           ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     495             :         }
+     496             :       }
+     497             : 
+     498        3522 :       break;
+     499             :     }
+     500             : 
+     501        1467 :     case STATE_TAKEOFF: {
+     502             : 
+     503             :       // if takeoff finished
+     504        1467 :       if (control_manager_diagnostics->flying_normally) {
+     505             : 
+     506          10 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     507             : 
+     508          10 :         changeState(STATE_FINISHED);
+     509             : 
+     510             :       } else {
+     511             : 
+     512        1457 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     513             :       }
+     514             : 
+     515        1467 :       break;
+     516             :     }
+     517             : 
+     518          14 :     case STATE_FINISHED: {
+     519             : 
+     520          14 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     521          14 :       ros::requestShutdown();
+     522          14 :       break;
+     523             :     }
+     524             :   }
+     525             : 
+     526             : }  // namespace automatic_start
+     527             : 
+     528             : //}
+     529             : 
+     530             : // --------------------------------------------------------------
+     531             : // |                          routines                          |
+     532             : // --------------------------------------------------------------
+     533             : 
+     534             : /* changeState() //{ */
+     535             : 
+     536          24 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     537             : 
+     538          24 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     539             : 
+     540          24 :   switch (new_state) {
+     541             : 
+     542           0 :     case STATE_IDLE: {
+     543             : 
+     544           0 :       break;
+     545             :     }
+     546             : 
+     547          10 :     case STATE_TAKEOFF: {
+     548             : 
+     549          10 :       if (_pre_takeoff_sleep_ > 1.0) {
+     550           0 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     551           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     552             :       }
+     553             : 
+     554          10 :       bool res = takeoff();
+     555             : 
+     556          10 :       if (!res) {
+     557             : 
+     558           0 :         current_state = STATE_FINISHED;
+     559             : 
+     560           0 :         return;
+     561             :       }
+     562             : 
+     563          10 :       break;
+     564             :     }
+     565             : 
+     566          14 :     case STATE_FINISHED: {
+     567             : 
+     568          14 :       break;
+     569             :     }
+     570             : 
+     571             :     break;
+     572             :   }
+     573             : 
+     574          24 :   current_state = new_state;
+     575             : }
+     576             : 
+     577             : //}
+     578             : 
+     579             : /* takeoff() //{ */
+     580             : 
+     581          10 : bool AutomaticStart::takeoff() {
+     582             : 
+     583          10 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     584             : 
+     585          20 :   std_srvs::Trigger srv;
+     586             : 
+     587          10 :   bool res = service_client_takeoff_.call(srv);
+     588             : 
+     589          10 :   if (res) {
+     590             : 
+     591          10 :     if (srv.response.success) {
+     592             : 
+     593          10 :       return true;
+     594             : 
+     595             :     } else {
+     596             : 
+     597           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     598             :     }
+     599             : 
+     600             :   } else {
+     601             : 
+     602           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     603             :   }
+     604             : 
+     605           0 :   return false;
+     606             : }
+     607             : 
+     608             : //}
+     609             : 
+     610             : /* validateReference() //{ */
+     611             : 
+     612        3522 : bool AutomaticStart::validateReference() {
+     613             : 
+     614        7044 :   mrs_msgs::ValidateReference srv_out;
+     615             : 
+     616        3522 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     617             : 
+     618        3522 :   bool res = service_client_validate_reference_.call(srv_out);
+     619             : 
+     620        3522 :   if (res) {
+     621             : 
+     622        3520 :     if (srv_out.response.success) {
+     623             : 
+     624        3444 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     625        3444 :       return true;
+     626             : 
+     627             :     } else {
+     628             : 
+     629          76 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     630          76 :       return false;
+     631             :     }
+     632             : 
+     633             :   } else {
+     634             : 
+     635           2 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     636           2 :     return false;
+     637             :   }
+     638             : }
+     639             : 
+     640             : //}
+     641             : 
+     642             : /* toggleControlOutput() //{ */
+     643             : 
+     644          13 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     645             : 
+     646          13 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     647             : 
+     648          26 :   std_srvs::SetBool srv;
+     649          13 :   srv.request.data = value;
+     650             : 
+     651          13 :   bool res = service_client_toggle_control_output_.call(srv);
+     652             : 
+     653          13 :   if (res) {
+     654             : 
+     655          13 :     if (srv.response.success) {
+     656             : 
+     657          13 :       return true;
+     658             : 
+     659             :     } else {
+     660             : 
+     661           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     662             :     }
+     663             : 
+     664             :   } else {
+     665             : 
+     666           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     667             :   }
+     668             : 
+     669           0 :   return false;
+     670             : }
+     671             : 
+     672             : //}
+     673             : 
+     674             : /* disarm() //{ */
+     675             : 
+     676           3 : bool AutomaticStart::disarm() {
+     677             : 
+     678           3 :   if (!got_hw_api_status_) {
+     679             : 
+     680           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     681             : 
+     682           0 :     return false;
+     683             :   }
+     684             : 
+     685           3 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     686             : 
+     687           3 :   if (offboard) {
+     688             : 
+     689           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     690             : 
+     691           0 :     return false;
+     692             :   }
+     693             : 
+     694           3 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     695             : 
+     696           6 :   std_srvs::SetBool srv;
+     697           3 :   srv.request.data = false;
+     698             : 
+     699           3 :   bool res = service_client_arm_.call(srv);
+     700             : 
+     701           3 :   if (res) {
+     702             : 
+     703           3 :     if (srv.response.success) {
+     704             : 
+     705           3 :       return true;
+     706             : 
+     707             :     } else {
+     708             : 
+     709           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     710             :     }
+     711             : 
+     712             :   } else {
+     713             : 
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     715             :   }
+     716             : 
+     717           0 :   return false;
+     718             : }
+     719             : 
+     720             : //}
+     721             : 
+     722             : /* isGazeboSimulation() //{ */
+     723             : 
+     724        3522 : bool AutomaticStart::isGazeboSimulation(void) {
+     725             : 
+     726        3522 :   if (is_gazebo_simulation_) {
+     727         945 :     return true;
+     728             :   }
+     729             : 
+     730        5154 :   ros::V_string node_list;
+     731        2577 :   ros::master::getNodes(node_list);
+     732             : 
+     733       36030 :   for (auto& node : node_list) {
+     734       33456 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     735           3 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     736           3 :       is_gazebo_simulation_ = true;
+     737           3 :       return true;
+     738             :     }
+     739             :   }
+     740             : 
+     741        2574 :   return false;
+     742             : }
+     743             : 
+     744             : //}
+     745             : 
+     746             : /* topicCheck() //{ */
+     747             : 
+     748        3522 : bool AutomaticStart::topicCheck(void) {
+     749             : 
+     750        3522 :   bool got_topics = true;
+     751             : 
+     752        3522 :   std::stringstream missing_topics;
+     753             : 
+     754        3522 :   if (_topic_check_enabled_) {
+     755             : 
+     756       10643 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     757        7121 :       if ((ros::Time::now() - topic_check_topics_[i].getTime()).toSec() > _topic_check_timeout_) {
+     758          77 :         missing_topics << std::endl << "\t" << topic_check_topics_[i].getTopicName();
+     759          77 :         got_topics = false;
+     760             :       }
+     761             :     }
+     762             :   }
+     763             : 
+     764        3522 :   if (!got_topics) {
+     765          77 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     766             :   }
+     767             : 
+     768        7044 :   return got_topics;
+     769             : }
+     770             : 
+     771             : //}
+     772             : 
+     773             : /* velocityCheck() //{ */
+     774             : 
+     775        3522 : bool AutomaticStart::speedCheck(void) {
+     776             : 
+     777        3522 :   if (!_velocity_check_enabled_) {
+     778           0 :     return true;
+     779             :   }
+     780             : 
+     781        3522 :   if (!sh_estimation_diag_.hasMsg()) {
+     782           0 :     return false;
+     783             :   }
+     784             : 
+     785        7044 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     786             : 
+     787             :   double speed =
+     788        3522 :       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));
+     789             : 
+     790        3522 :   if (speed > _velocity_check_max_speed_) {
+     791          76 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _velocity_check_max_speed_);
+     792          76 :     return false;
+     793             :   }
+     794             : 
+     795        3446 :   return true;
+     796             : }
+     797             : 
+     798             : //}
+     799             : 
+     800             : }  // namespace automatic_start
+     801             : 
+     802             : }  // namespace mrs_uav_autostart
+     803             : 
+     804             : #include <pluginlib/class_list_macros.h>
+     805          16 : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
+
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)24
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)25
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)25
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)24
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&)1
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          25 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          25 :     return msg.throttle;
+      78             :   }
+      79          24 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          24 :     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           1 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      89           1 :     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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+
          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         744 : PIDController::PIDController() {
+      43             : 
+      44         744 :   this->reset();
+      45         744 : }
+      46             : 
+      47         744 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49         744 :   this->_kp_       = kp;
+      50         744 :   this->_kd_       = kd;
+      51         744 :   this->_ki_       = ki;
+      52         744 :   this->saturation = saturation;
+      53         744 :   this->antiwindup = antiwindup;
+      54         744 : }
+      55             : 
+      56        4172 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58        4172 :   this->saturation = saturation;
+      59        4172 : }
+      60             : 
+      61         744 : void PIDController::reset(void) {
+      62             : 
+      63         744 :   this->last_error_ = 0;
+      64         744 :   this->integral_   = 0;
+      65         744 : }
+      66             : 
+      67        4172 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70        4172 :   double difference = (error - last_error_) / dt;
+      71        4172 :   last_error_       = error;
+      72             : 
+      73        4172 :   double p_component = _kp_ * error;       // proportional feedback
+      74        4172 :   double d_component = _kd_ * difference;  // derivative feedback
+      75        4172 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77        4172 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79        4172 :   if (saturation > 0) {
+      80        4172 :     if (sum >= saturation) {
+      81           0 :       sum = saturation;
+      82        4172 :     } else if (sum <= -saturation) {
+      83           0 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87        4172 :   if (antiwindup > 0) {
+      88        4172 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90        3962 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95        4172 :   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&)148
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3782
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&)7543
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9917
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&)52224
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&)52224
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)54269
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&)54269
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)55493
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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 %
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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&)52224
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)3782
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)55493
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)148
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9917
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)54269
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&)54269
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&)52224
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&)7543
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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:2024-01-14 11:12:21Functions:99100.0 %
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+
          Line data    Source code
+
+       1             : #include <common.h>
+       2             : 
+       3             : namespace mrs_uav_controllers
+       4             : {
+       5             : 
+       6             : namespace common
+       7             : {
+       8             : 
+       9             : /* orientationError() //{ */
+      10             : 
+      11       54269 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       54269 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       54269 :     Eigen::Vector3d R_error_vec;
+      19       54269 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       54269 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       54269 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24      108538 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       52224 : 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       52224 :   double theta = acos(input[2]);
+      36       52224 :   double phi   = atan2(input[1], input[0]);
+      37             : 
+      38             :   // check for the failsafe limit
+      39       52224 :   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       52224 :   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       52224 :   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       52224 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       52224 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       52224 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       52224 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       52224 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       52224 :   if (preserve_heading) {
+      78             : 
+      79       17515 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82       17515 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87       17515 :     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       35030 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91       17515 :     A.col(0)          = projector_body_z_compl.col(0);
+      92       17515 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       35030 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96       17515 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97       17515 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       35030 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       35030 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102       17515 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104       17515 :     Rd.col(0) = oblique_projector * heading;
+     105       17515 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109       17515 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110       17515 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       34709 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       34709 :     Rd.col(2) = body_z_normed;
+     117       34709 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       34709 :     Rd.col(1).normalize();
+     119       34709 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       34709 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123      104448 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130       55493 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132       55493 :   if (outputs.actuators) {
+     133        2389 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       53104 :   if (outputs.control_group) {
+     137        2368 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       50736 :   if (outputs.attitude_rate) {
+     141       45333 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        5403 :   if (outputs.attitude) {
+     145        2134 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        3269 :   if (outputs.acceleration_hdg_rate) {
+     149         945 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        2324 :   if (outputs.acceleration_hdg) {
+     153         945 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        1379 :   if (outputs.velocity_hdg_rate) {
+     157         461 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160         918 :   if (outputs.velocity_hdg) {
+     161         461 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         457 :   if (outputs.position) {
+     165         457 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175        9917 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177        9917 :   if (outputs.position) {
+     178           2 :     return POSITION;
+     179             :   }
+     180             : 
+     181        9915 :   if (outputs.velocity_hdg) {
+     182           2 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185        9913 :   if (outputs.velocity_hdg_rate) {
+     186           1 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189        9912 :   if (outputs.acceleration_hdg) {
+     190           4 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193        9908 :   if (outputs.acceleration_hdg_rate) {
+     194           5 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197        9903 :   if (outputs.attitude) {
+     198        5672 :     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         148 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         148 :   if (!control_output.control_output) {
+     223          84 :     return {};
+     224             :   }
+     225             : 
+     226         128 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       54269 : 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       54269 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       54269 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       54269 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       54269 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       54269 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249       16407 :     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       16407 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254       16407 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255       16407 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257       16407 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260       16407 :       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       16407 :       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       16407 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       54269 :   if (rate_feedback[0] > rate_saturation[0]) {
+     279           0 :     rate_feedback[0] = rate_saturation[0];
+     280       54269 :   } else if (rate_feedback[0] < -rate_saturation[0]) {
+     281           0 :     rate_feedback[0] = -rate_saturation[0];
+     282             :   }
+     283             : 
+     284       54269 :   if (rate_feedback[1] > rate_saturation[1]) {
+     285           0 :     rate_feedback[1] = rate_saturation[1];
+     286       54269 :   } else if (rate_feedback[1] < -rate_saturation[1]) {
+     287           0 :     rate_feedback[1] = -rate_saturation[1];
+     288             :   }
+     289             : 
+     290       54269 :   if (rate_feedback[2] > rate_saturation[2]) {
+     291           0 :     rate_feedback[2] = rate_saturation[2];
+     292       54269 :   } 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       54269 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       54269 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       54269 :   cmd.body_rate.x = rate_feedback[0];
+     303       54269 :   cmd.body_rate.y = rate_feedback[1];
+     304       54269 :   cmd.body_rate.z = rate_feedback[2];
+     305             : 
+     306       54269 :   cmd.throttle = reference.throttle;
+     307             : 
+     308      108538 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        7543 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        7543 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        7543 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        7543 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        7543 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        7543 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        7543 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        7543 :   cmd.roll  = ctrl_group_action[0];
+     330        7543 :   cmd.pitch = ctrl_group_action[1];
+     331        7543 :   cmd.yaw   = ctrl_group_action[2];
+     332             : 
+     333       15086 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        3782 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        3782 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        7564 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        3782 :   double min = motors.minCoeff();
+     347             : 
+     348        3782 :   if (min < 0.0) {
+     349           2 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        3782 :   double max = motors.maxCoeff();
+     353             : 
+     354        3782 :   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        3782 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        3782 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       18910 :   for (int i = 0; i < motors.size(); i++) {
+     377       15128 :     actuator_msg.motors.push_back(motors[i]);
+     378             :   }
+     379             : 
+     380        7564 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.png b/mrs_uav_controllers/src/common.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..1e547626ee0285bef0d938ffe6a6384aa699d3a2 GIT binary patch literal 1366 zcmV-c1*!UpP)oiq$s z=NH2Am0;OgEB5CBD62zU z{0~B*^^;g{Gnu2ZEX$e<>)sE0Gw^o&IfD=AUo8*QLFz)L2chU0?~CiP#6q@!xE%yCid_+&Kx1$X`Ja*nN?~tAa88? zKxc45lH{g&hp4A`P%0=Wl0@2v;*`|P257*h)lzi5P09)vF~-ogLHF{kqn$e_BWA63 zT|ZzqrfK_Pm;^p)TdPy%vB_^ddlL%xod}6F9ZySpBI5RJbHNG^7bEJFc_eM9K18AS zlz}qTG>9r?&@oJ7mQ9@k|2en>0O4Qr9>_{2d{;rV02Nei0?e0~vk3mHFkQt?X%&Hgh@e!z5aZl>AF1HmZ-6fatSs6np!&6Xc} zl~Ps9t}XOBAwsy zCno%9ht(gGkktU1U^rzS?3-V2o}jedXNrVphT@^;f; zS=M#C4#E_k8|x$<{Yz_EfA2$7yvn=qxxbgfQB;^mcnT3&udVwO$XYtTzT!qFDUn7z zI84@+->mHUZRazkLW;!qVrFug5dhNiEL8U@hGKDsNdwpJRJ1AHVHh^)u3&$P=&5zQ Yf1F4(w@zod)&Kwi07*qoM6N<$g0IhoX8-^I literal 0 HcmV?d00001 diff --git a/mrs_uav_controllers/src/failsafe_controller.cpp.func-sort-c.html b/mrs_uav_controllers/src/failsafe_controller.cpp.func-sort-c.html new file mode 100644 index 0000000000..855aa4100b --- /dev/null +++ b/mrs_uav_controllers/src/failsafe_controller.cpp.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/failsafe_controller.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_controllers/src - failsafe_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13119467.5 %
Date:2024-01-14 11:12:21Functions:91181.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::failsafe_controller::FailsafeController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::failsafe_controller::FailsafeController::resetDisturbanceEstimators()0
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()31
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)245
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()970
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9714
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)70248
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Date:2024-01-14 11:12:21Functions:91181.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()31
mrs_uav_controllers::failsafe_controller::FailsafeController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9714
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)245
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)70248
mrs_uav_controllers::failsafe_controller::FailsafeController::getHeadingSafely(geometry_msgs::Quaternion_<std::allocator<void> > const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::failsafe_controller::FailsafeController::resetDisturbanceEstimators()0
mrs_uav_controllers::failsafe_controller::FailsafeController::activate(mrs_uav_managers::Controller::ControlOutput const&)7
mrs_uav_controllers::failsafe_controller::FailsafeController::getStatus()970
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Generated by: LCOV version 1.14
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Date:2024-01-14 11:12:21Functions:91181.8 %
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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          62 : 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          62 :   nh_ = nh;
+     117             : 
+     118          62 :   common_handlers_  = common_handlers;
+     119          62 :   private_handlers_ = private_handlers;
+     120             : 
+     121          62 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123          62 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141         124 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153          62 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158          62 :   _descend_speed_        = std::abs(_descend_speed_);
+     159          62 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161          62 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166          62 :   shopts.nh                 = nh_;
+     167          62 :   shopts.node_name          = "FailsafeController";
+     168          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169          62 :   shopts.threadsafe         = true;
+     170          62 :   shopts.autostart          = true;
+     171          62 :   shopts.queue_size         = 10;
+     172          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174          62 :   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          62 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182          62 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186          62 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188          62 :   is_initialized_ = true;
+     189             : 
+     190          62 :   return true;
+     191             : }
+     192             : 
+     193             : //}
+     194             : 
+     195             : /* activate() //{ */
+     196             : 
+     197           7 : bool FailsafeController::activate(const ControlOutput &last_control_output) {
+     198             : 
+     199          14 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     200             : 
+     201           7 :   if (!last_control_output.control_output) {
+     202             : 
+     203           0 :     ROS_WARN("[FailsafeController]: activated without getting the last controller's command");
+     204             : 
+     205           0 :     return false;
+     206             : 
+     207             :   } else {
+     208             : 
+     209             :     // | -------------- calculate the initial heading ------------- |
+     210             : 
+     211           7 :     if (sh_hw_api_orientation_.getMsg()) {
+     212             : 
+     213          14 :       auto hw_api_orientation = sh_hw_api_orientation_.getMsg();
+     214             : 
+     215           7 :       heading_setpoint_ = getHeadingSafely(hw_api_orientation->quaternion);
+     216             : 
+     217           7 :       ROS_INFO("[FailsafeController]: activated with heading = %.2f rad", heading_setpoint_);
+     218             : 
+     219             :     } else {
+     220             : 
+     221           0 :       ROS_ERROR("[FailsafeController]: missing orientation from HW API, activated with heading = 0 rad");
+     222             : 
+     223           0 :       heading_setpoint_ = 0;
+     224             :     }
+     225             : 
+     226           7 :     activation_control_output_ = last_control_output;
+     227             : 
+     228           7 :     if (last_control_output.diagnostics.mass_estimator) {
+     229           7 :       uav_mass_difference_ = last_control_output.diagnostics.mass_difference;
+     230             :     } else {
+     231           0 :       uav_mass_difference_ = 0;
+     232             :     }
+     233             : 
+     234           7 :     activation_control_output_.diagnostics.controller_enforcing_constraints = false;
+     235             : 
+     236           7 :     hover_throttle_ = _initial_throttle_percentage_ * mrs_lib::quadratic_throttle_model::forceToThrottle(
+     237           7 :                                                           common_handlers_->throttle_model, (_uav_mass_ + uav_mass_difference_) * common_handlers_->g);
+     238             : 
+     239           7 :     ROS_INFO("[FailsafeController]: activated with uav_mass_difference %.2f kg.", uav_mass_difference_);
+     240             :   }
+     241             : 
+     242           7 :   first_iteration_ = true;
+     243             : 
+     244           7 :   is_active_ = true;
+     245             : 
+     246           7 :   return true;
+     247             : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* deactivate() //{ */
+     252             : 
+     253          31 : void FailsafeController::deactivate(void) {
+     254             : 
+     255          31 :   is_active_           = false;
+     256          31 :   first_iteration_     = false;
+     257          31 :   uav_mass_difference_ = 0;
+     258             : 
+     259          31 :   ROS_INFO("[FailsafeController]: deactivated");
+     260          31 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266       70248 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268       70248 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270       70248 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272       70248 :   first_iteration_ = false;
+     273       70248 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        9714 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       29142 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       29142 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       19428 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        9714 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        9714 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        9714 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        9714 :   if (first_iteration_) {
+     302           7 :     dt               = 0.01;
+     303           7 :     first_iteration_ = false;
+     304             :   } else {
+     305        9707 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        9714 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        9714 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        9714 :   if (!std::isfinite(hover_throttle_)) {
+     313           0 :     hover_throttle_ = 0;
+     314           0 :     ROS_ERROR("[FailsafeController]: NaN detected in variable 'hover_throttle', setting it to 0 and returning!!!");
+     315        9714 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        9714 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       19428 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        9714 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        9714 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        9714 :   if (!highest_modality) {
+     330           0 :     ROS_ERROR_THROTTLE(1.0, "[FailsafeController]: output modalities are empty! This error should never appear.");
+     331           0 :     return control_output;
+     332             :   }
+     333             : 
+     334        9714 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        9714 :   if (highest_modality.value() == common::POSITION) {
+     341           0 :     ROS_INFO_THROTTLE(1.0, "[FailsafeController]: returning empty command, because we are at the position modality");
+     342           0 :     return control_output;
+     343             :   }
+     344             : 
+     345             :   // --------------------------------------------------------------
+     346             :   // |                       velocity output                      |
+     347             :   // --------------------------------------------------------------
+     348             : 
+     349        9714 :   if (highest_modality.value() == common::VELOCITY_HDG) {
+     350             : 
+     351           0 :     mrs_msgs::HwApiVelocityHdgCmd vel_cmd;
+     352             : 
+     353           0 :     vel_cmd.header.stamp = ros::Time::now();
+     354             : 
+     355           0 :     vel_cmd.velocity.x = 0;
+     356           0 :     vel_cmd.velocity.y = 0;
+     357           0 :     vel_cmd.velocity.z = -_descend_speed_;
+     358           0 :     vel_cmd.heading    = heading_setpoint_;
+     359             : 
+     360           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg output");
+     361           0 :     control_output.control_output = vel_cmd;
+     362           0 :     return control_output;
+     363             :   }
+     364             : 
+     365        9714 :   if (highest_modality.value() == common::VELOCITY_HDG_RATE) {
+     366             : 
+     367           0 :     mrs_msgs::HwApiVelocityHdgRateCmd vel_cmd;
+     368             : 
+     369           0 :     vel_cmd.header.stamp = ros::Time::now();
+     370             : 
+     371           0 :     vel_cmd.velocity.x   = 0;
+     372           0 :     vel_cmd.velocity.y   = 0;
+     373           0 :     vel_cmd.velocity.z   = -_descend_speed_;
+     374           0 :     vel_cmd.heading_rate = 0.0;
+     375             : 
+     376           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning velocity+hdg rate output");
+     377           0 :     control_output.control_output = vel_cmd;
+     378           0 :     return control_output;
+     379             :   }
+     380             : 
+     381             :   // --------------------------------------------------------------
+     382             :   // |                     acceleration output                    |
+     383             :   // --------------------------------------------------------------
+     384             : 
+     385        9714 :   if (highest_modality.value() == common::ACCELERATION_HDG) {
+     386             : 
+     387           0 :     mrs_msgs::HwApiAccelerationHdgCmd acc_cmd;
+     388             : 
+     389           0 :     acc_cmd.header.stamp = ros::Time::now();
+     390             : 
+     391           0 :     acc_cmd.acceleration.x = 0;
+     392           0 :     acc_cmd.acceleration.y = 0;
+     393           0 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     394           0 :     acc_cmd.heading        = heading_setpoint_;
+     395             : 
+     396           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg output");
+     397           0 :     control_output.control_output = acc_cmd;
+     398           0 :     return control_output;
+     399             :   }
+     400             : 
+     401        9714 :   if (highest_modality.value() == common::ACCELERATION_HDG_RATE) {
+     402             : 
+     403           0 :     mrs_msgs::HwApiAccelerationHdgRateCmd acc_cmd;
+     404             : 
+     405           0 :     acc_cmd.header.stamp = ros::Time::now();
+     406             : 
+     407           0 :     acc_cmd.acceleration.x = 0;
+     408           0 :     acc_cmd.acceleration.y = 0;
+     409           0 :     acc_cmd.acceleration.z = -_descend_acceleration_;
+     410           0 :     acc_cmd.heading_rate   = 0.0;
+     411             : 
+     412           0 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning acceleration+hdg rate output");
+     413           0 :     control_output.control_output = acc_cmd;
+     414           0 :     return control_output;
+     415             :   }
+     416             : 
+     417             :   // --------------------------------------------------------------
+     418             :   // |                       attitude output                      |
+     419             :   // --------------------------------------------------------------
+     420             : 
+     421        9714 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        9714 :   attitude_cmd.stamp       = ros::Time::now();
+     424        9714 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        9714 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        9714 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        5535 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        5535 :     control_output.control_output = attitude_cmd;
+     430        5535 :     return control_output;
+     431             :   }
+     432             : 
+     433             :   // --------------------------------------------------------------
+     434             :   // |                      attitude control                      |
+     435             :   // --------------------------------------------------------------
+     436             : 
+     437        4179 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+     438        4179 :   Eigen::Vector3d rate_ff(0, 0, 0);
+     439        4179 :   Eigen::Vector3d Kq(_kq_, _kq_, _kq_);
+     440             : 
+     441        4179 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, rate_ff, attitude_rate_saturation, Kq, false);
+     442             : 
+     443        4179 :   if (highest_modality.value() == common::ATTITUDE_RATE) {
+     444        1393 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude rate output");
+     445        1393 :     control_output.control_output = attitude_rate_command;
+     446        1393 :     return control_output;
+     447             :   }
+     448             : 
+     449             :   // --------------------------------------------------------------
+     450             :   // |                    attitude rate control                   |
+     451             :   // --------------------------------------------------------------
+     452             : 
+     453        2786 :   Eigen::Vector3d Kw = common_handlers_->detailed_model_params->inertia.diagonal() * _kw_;
+     454             : 
+     455        2786 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+     456             : 
+     457        2786 :   if (highest_modality.value() == common::CONTROL_GROUP) {
+     458        1393 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning control group output");
+     459        1393 :     control_output.control_output = control_group_command;
+     460        1393 :     return control_output;
+     461             :   }
+     462             : 
+     463             :   // --------------------------------------------------------------
+     464             :   // |                            mixer                           |
+     465             :   // --------------------------------------------------------------
+     466             : 
+     467        2786 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+     468             : 
+     469        1393 :   ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning actuators output");
+     470        1393 :   control_output.control_output = actuator_cmd;
+     471        1393 :   return control_output;
+     472             : }
+     473             : 
+     474             : //}
+     475             : 
+     476             : /* getStatus() //{ */
+     477             : 
+     478         970 : const mrs_msgs::ControllerStatus FailsafeController::getStatus() {
+     479             : 
+     480         970 :   mrs_msgs::ControllerStatus controller_status;
+     481             : 
+     482         970 :   controller_status.active = is_active_;
+     483             : 
+     484         970 :   return controller_status;
+     485             : }
+     486             : 
+     487             : //}
+     488             : 
+     489             : /* switchOdometrySource() //{ */
+     490             : 
+     491           0 : void FailsafeController::switchOdometrySource([[maybe_unused]] const mrs_msgs::UavState &new_uav_state) {
+     492           0 : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* resetDisturbanceEstimators() //{ */
+     497             : 
+     498           0 : void FailsafeController::resetDisturbanceEstimators(void) {
+     499           0 : }
+     500             : 
+     501             : //}
+     502             : 
+     503             : /* setConstraints() //{ */
+     504             : 
+     505         245 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         245 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         245 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         245 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         490 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         245 :   res.success = true;
+     518         245 :   res.message = "constraints updated";
+     519             : 
+     520         245 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     521             : }
+     522             : 
+     523             : //}
+     524             : 
+     525             : /* getHeadingSafely() //{ */
+     526             : 
+     527           7 : double FailsafeController::getHeadingSafely(const geometry_msgs::Quaternion &quaternion) {
+     528             : 
+     529             :   try {
+     530           7 :     return mrs_lib::AttitudeConverter(quaternion).getHeading();
+     531             :   }
+     532           0 :   catch (...) {
+     533             :   }
+     534             : 
+     535             :   try {
+     536           0 :     return mrs_lib::AttitudeConverter(quaternion).getYaw();
+     537             :   }
+     538           0 :   catch (...) {
+     539             :   }
+     540             : 
+     541           0 :   return 0;
+     542             : }
+     543             : 
+     544             : //}
+     545             : 
+     546             : }  // namespace failsafe_controller
+     547             : 
+     548             : }  // namespace mrs_uav_controllers
+     549             : 
+     550             : #include <pluginlib/class_list_macros.h>
+     551          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::failsafe_controller::FailsafeController, mrs_uav_managers::Controller)
+
+
+
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+ + diff --git a/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.png b/mrs_uav_controllers/src/failsafe_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..37f1ed5c8d31b8129d2f889eaed969e69d0777e4 GIT binary patch literal 1814 zcmV+x2kH2UP)Bulo_nv>+wE~{$ zG8^Ggl!8B*M>U9CZ-=pr;d?xbAor4ws!8hm8LY4Lgv)4^9f4B_W&Ow9LOCLZ zvXlU{kdKBjj7YE-C-{7nwUv`yDe_L-;_SR_GI(VBk_+(T7QE=Xyv zV6&M#!j&Zwld0C2h1oMsm^>{(YP@o(|Iqi=x_D+*uJ)-Anq^22@*52HqjOzLdR;Vl)C7V8Uz_RYCgGCzR0sA% z=mNq1T|WWwhOSEi;)D!>Pndq|k4SaJ^15e+69Q{B8S#L%-%!t5Kx-_BvfLtlhBJH0aX;=Fd1l*+wz}Vr zrSVI)Ql(TX`k6*#3ue3aUD}u6q;nZL4xE090~;_riJaf= znRJ*+hVLl&E(I#AFrrr$hWySDJgU6FBK|FM)L>Ic4d%lh`f=2T?Jtc1{<7CYmsx#z1(-mE!J??fEa5h)dIbnPeA?u-uu7y#BaSE8$vuUPuK3%*P$P-`tNUKX<%*e3umc z4PJFy$=p{um1g>B2`FJX2uf(JT)3d%^I+n!PW? zy^FrALL@4C)q-Uef#CiMf*IsG^Tg52QU7?HdZyr---f*+A5m0qI72Eh@_)j|7saz$ zK~hIF7^=)I9}LCE?Gb#ei{aspZ+P~T7>=U&pPe&T=QDMJaP$Si<2ez<`_7r;gGbC6 zI);ZR-onQ`BmZ?izD=|*LH?tBd`2FQW{CNgn+ohX6A)*3V=1UsbL|Cqdkg(&mvz$DKyPseLy z<#R_EUcl{H;#ain#t`$G1ll&|+-Sdl=L9keyYlopF_}lKJ8UZGm|tD5|6B-0)f4JrF}&9_ELlfKKS&O`nKve8+BM*eotrhk%;EFpT)d^q#T+#mQsAn<*71j< zKF7j9h($07*qoM6N<$ Ef(Ku2xBvhE literal 0 HcmV?d00001 diff --git a/mrs_uav_controllers/src/index-detail-sort-f.html b/mrs_uav_controllers/src/index-detail-sort-f.html new file mode 100644 index 0000000000..a69cc3c90d --- /dev/null +++ b/mrs_uav_controllers/src/index-detail-sort-f.html @@ -0,0 +1,182 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:1746217280.4 %
Date:2024-01-14 11:12:21Functions:586687.9 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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<unnamed>88.7 %134 / 15181.8 %9 / 11
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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+ 		82.4 %737 / 89488.9 %16 / 18
<unnamed>82.4 %737 / 89488.9 %16 / 18
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:1746217280.4 %
Date:2024-01-14 11:12:21Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
78.7%78.7%
+ 		78.7 %609 / 77488.2 %15 / 17
<unnamed>78.7 %609 / 77488.2 %15 / 17
mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 18
<unnamed>82.4 %737 / 89488.9 %16 / 18
common.cpp +
84.9%84.9%
+ 		84.9 %135 / 159100.0 %9 / 9
<unnamed>84.9 %135 / 159100.0 %9 / 9
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
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Test:MRS UAV System - Test coverage reportLines:1746217280.4 %
Date:2024-01-14 11:12:21Functions:586687.9 %
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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mpc_controller.cpp +
82.4%82.4%
+ 		82.4 %737 / 89488.9 %16 / 18
<unnamed>82.4 %737 / 89488.9 %16 / 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:1746217280.4 %
Date:2024-01-14 11:12:21Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
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+ 		88.7 %134 / 15181.8 %9 / 11
se3_controller.cpp +
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mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 18
common.cpp +
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+ 		84.9 %135 / 159100.0 %9 / 9
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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:1746217280.4 %
Date:2024-01-14 11:12:21Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
failsafe_controller.cpp +
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+ 		67.5 %131 / 19481.8 %9 / 11
se3_controller.cpp +
78.7%78.7%
+ 		78.7 %609 / 77488.2 %15 / 17
mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 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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+ + + diff --git a/mrs_uav_controllers/src/index.html b/mrs_uav_controllers/src/index.html new file mode 100644 index 0000000000..775aa86f26 --- /dev/null +++ b/mrs_uav_controllers/src/index.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1746217280.4 %
Date:2024-01-14 11:12:21Functions:586687.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
common.cpp +
84.9%84.9%
+ 		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 +
82.4%82.4%
+ 		82.4 %737 / 89488.9 %16 / 18
se3_controller.cpp +
78.7%78.7%
+ 		78.7 %609 / 77488.2 %15 / 17
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Generated by: LCOV version 1.14
+
+ + + 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..d4126700d2 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2024-01-14 11:12:21Functions:91181.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::midair_activation_controller::MidairActivationController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::resetDisturbanceEstimators()0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()64
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()74
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)91
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)203
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)245
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)79759
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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 - midair_activation_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415188.7 %
Date:2024-01-14 11:12:21Functions: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()62
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()64
mrs_uav_controllers::midair_activation_controller::MidairActivationController::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)203
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)245
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)79759
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)8
mrs_uav_controllers::midair_activation_controller::MidairActivationController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::resetDisturbanceEstimators()0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)91
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()74
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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..2abb5e8996 --- /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:2024-01-14 11:12:21Functions: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          62 : 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          62 :   nh_ = nh;
+      90             : 
+      91          62 :   common_handlers_  = common_handlers;
+      92          62 :   private_handlers_ = private_handlers;
+      93             : 
+      94          62 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96          62 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114          62 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119          62 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123          62 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127          62 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129          62 :   is_initialized_ = true;
+     130             : 
+     131          62 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138          91 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140          91 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142          91 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144          91 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146          91 :   is_active_ = true;
+     147             : 
+     148          91 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         182 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157          64 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159          64 :   is_active_           = false;
+     160          64 :   uav_mass_difference_ = 0;
+     161             : 
+     162          64 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163          64 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169       79759 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172       79759 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173       79759 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         203 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182         609 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184         609 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         203 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         203 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         406 :   ControlOutput control_output;
+     195             : 
+     196         203 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         203 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         203 :   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         203 :   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           2 :     case common::VELOCITY_HDG: {
+     228             : 
+     229           4 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           2 :       cmd.header.stamp    = ros::Time::now();
+     232           2 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           2 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           2 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           2 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           2 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           2 :       control_output.control_output = cmd;
+     241             : 
+     242           2 :       break;
+     243             :     }
+     244             : 
+     245           1 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247           2 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249           1 :       cmd.header.stamp    = ros::Time::now();
+     250           1 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252           1 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253           1 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254           1 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256           1 :       cmd.heading_rate = 0;
+     257             : 
+     258           1 :       control_output.control_output = cmd;
+     259             : 
+     260           1 :       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         137 :     case common::ATTITUDE: {
+     300             : 
+     301         137 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         137 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         137 :       cmd.orientation = uav_state.pose.orientation;
+     306         137 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         137 :       control_output.control_output = cmd;
+     309             : 
+     310         137 :       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         203 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369          74 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371          74 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373          74 :   controller_status.active = is_active_;
+     374             : 
+     375          74 :   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         245 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         245 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406           8 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409           8 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     410             :   }
+     411           0 :   catch (...) {
+     412             :   }
+     413             : 
+     414             :   try {
+     415           0 :     return mrs_lib::AttitudeConverter(uav_state.pose.orientation).getYaw();
+     416             :   }
+     417           0 :   catch (...) {
+     418             :   }
+     419             : 
+     420           0 :   if (tracker_command.use_heading) {
+     421           0 :     return tracker_command.heading;
+     422             :   }
+     423             : 
+     424           0 :   return 0;
+     425             : }
+     426             : 
+     427             : //}
+     428             : 
+     429             : }  // namespace midair_activation_controller
+     430             : 
+     431             : }  // namespace mrs_uav_controllers
+     432             : 
+     433             : #include <pluginlib/class_list_macros.h>
+     434          62 : 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:73789482.4 %
Date:2024-01-14 11:12:21Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_controllers::mpc_controller::MpcController::deactivate()116
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>)124
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)124
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)132
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)223
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&)453
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)490
mrs_uav_controllers::mpc_controller::MpcController::getStatus()7166
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)8111
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&)35635
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)36088
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)36311
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)64888
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)123613
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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..c2bf3bc582 --- /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:73789482.4 %
Date:2024-01-14 11:12:21Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_controllers::mpc_controller::MpcController::deactivate()116
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>)124
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)8111
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)124
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)36311
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)490
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)123613
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)36088
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&)453
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)64888
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)223
mrs_uav_controllers::mpc_controller::MpcController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_controllers::mpc_controller::MpcController::callbackSetIntegralTerms(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_controllers::mpc_controller::MpcController::resetDisturbanceEstimators()0
mrs_uav_controllers::mpc_controller::MpcController::MPC(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&, double const&, mrs_uav_controllers::common::CONTROL_OUTPUT const&)35635
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)132
mrs_uav_controllers::mpc_controller::MpcController::getStatus()7166
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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..2559b0db1a --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - mpc_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:73789482.4 %
Date:2024-01-14 11:12:21Functions:161888.9 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : #include <pid.hpp>
+       8             : 
+       9             : #include <mrs_uav_managers/controller.h>
+      10             : 
+      11             : #include <mpc_controller.h>
+      12             : 
+      13             : #include <dynamic_reconfigure/server.h>
+      14             : #include <mrs_uav_controllers/mpc_controllerConfig.h>
+      15             : 
+      16             : #include <std_srvs/SetBool.h>
+      17             : 
+      18             : #include <mrs_lib/profiler.h>
+      19             : #include <mrs_lib/utils.h>
+      20             : #include <mrs_lib/mutex.h>
+      21             : #include <mrs_lib/attitude_converter.h>
+      22             : #include <mrs_lib/geometry/cyclic.h>
+      23             : 
+      24             : #include <geometry_msgs/Vector3Stamped.h>
+      25             : 
+      26             : //}
+      27             : 
+      28             : #define OUTPUT_ACTUATORS 0
+      29             : #define OUTPUT_CONTROL_GROUP 1
+      30             : #define OUTPUT_ATTITUDE_RATE 2
+      31             : #define OUTPUT_ATTITUDE 3
+      32             : 
+      33             : namespace mrs_uav_controllers
+      34             : {
+      35             : 
+      36             : namespace mpc_controller
+      37             : {
+      38             : 
+      39             : /* structs //{ */
+      40             : 
+      41             : typedef struct
+      42             : {
+      43             :   double kiwxy;          // world xy integral gain
+      44             :   double kibxy;          // body xy integral gain
+      45             :   double kiwxy_lim;      // world xy integral limit
+      46             :   double kibxy_lim;      // body xy integral limit
+      47             :   double km;             // mass estimator gain
+      48             :   double km_lim;         // mass estimator limit
+      49             :   double kq_roll_pitch;  // pitch/roll attitude gain
+      50             :   double kq_yaw;         // yaw attitude gain
+      51             :   double kw_rp;          // attitude rate gain
+      52             :   double kw_y;           // attitude rate gain
+      53             : } Gains_t;
+      54             : 
+      55             : //}
+      56             : 
+      57             : /* //{ class MpcController */
+      58             : 
+      59             : class MpcController : public mrs_uav_managers::Controller {
+      60             : 
+      61             : public:
+      62             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      63             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      64             : 
+      65             :   bool activate(const ControlOutput &last_control_output);
+      66             : 
+      67             :   void deactivate(void);
+      68             : 
+      69             :   void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command);
+      70             : 
+      71             :   ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      72             : 
+      73             :   const mrs_msgs::ControllerStatus getStatus();
+      74             : 
+      75             :   void switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      76             : 
+      77             :   void resetDisturbanceEstimators(void);
+      78             : 
+      79             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle nh_;
+      83             : 
+      84             :   bool is_initialized_ = false;
+      85             :   bool is_active_      = false;
+      86             : 
+      87             :   std::string name_;
+      88             : 
+      89             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      90             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      91             : 
+      92             :   // | ------------------------ uav state ----------------------- |
+      93             : 
+      94             :   mrs_msgs::UavState uav_state_;
+      95             :   std::mutex         mutex_uav_state_;
+      96             : 
+      97             :   // | --------------- dynamic reconfigure server --------------- |
+      98             : 
+      99             :   boost::recursive_mutex                            mutex_drs_;
+     100             :   typedef mrs_uav_controllers::mpc_controllerConfig DrsConfig_t;
+     101             :   typedef dynamic_reconfigure::Server<DrsConfig_t>  Drs_t;
+     102             :   boost::shared_ptr<Drs_t>                          drs_;
+     103             :   void                                              callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, uint32_t level);
+     104             :   DrsConfig_t                                       drs_params_;
+     105             : 
+     106             :   // | ----------------------- controllers ---------------------- |
+     107             : 
+     108             :   void positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+     109             : 
+     110             :   void PIDVelocityOutput(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const common::CONTROL_OUTPUT &control_output,
+     111             :                          const double &dt);
+     112             : 
+     113             :   void MPC(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command, const double &dt,
+     114             :            const common::CONTROL_OUTPUT &output_modality);
+     115             : 
+     116             :   // | ----------------------- constraints ---------------------- |
+     117             : 
+     118             :   mrs_msgs::DynamicsConstraints constraints_;
+     119             :   std::mutex                    mutex_constraints_;
+     120             : 
+     121             :   // | -------- throttle generation and mass estimation --------- |
+     122             : 
+     123             :   double _uav_mass_;
+     124             :   double uav_mass_difference_;
+     125             : 
+     126             :   Gains_t gains_;
+     127             : 
+     128             :   // | ------------------- configurable gains ------------------- |
+     129             : 
+     130             :   std::mutex mutex_gains_;       // locks the gains the are used and filtered
+     131             :   std::mutex mutex_drs_params_;  // locks the gains that came from the drs
+     132             : 
+     133             :   ros::Timer timer_gains_;
+     134             :   void       timerGains(const ros::TimerEvent &event);
+     135             : 
+     136             :   double _gain_filtering_rate_;
+     137             : 
+     138             :   // | --------------------- gain filtering --------------------- |
+     139             : 
+     140             :   double calculateGainChange(const double dt, const double current_value, const double desired_value, const bool bypass_rate, std::string name, bool &updated);
+     141             : 
+     142             :   double getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+     143             : 
+     144             :   double _gains_filter_change_rate_;
+     145             :   double _gains_filter_min_change_rate_;
+     146             : 
+     147             :   // | ----------------------- gain muting ---------------------- |
+     148             : 
+     149             :   std::atomic<bool> mute_gains_            = false;
+     150             :   std::atomic<bool> mute_gains_by_tracker_ = false;
+     151             :   double            _gain_mute_coefficient_;
+     152             : 
+     153             :   // | ------------ controller limits and saturations ----------- |
+     154             : 
+     155             :   bool   _tilt_angle_failsafe_enabled_;
+     156             :   double _tilt_angle_failsafe_;
+     157             : 
+     158             :   double _throttle_saturation_;
+     159             : 
+     160             :   // | ------------------ activation and output ----------------- |
+     161             : 
+     162             :   ControlOutput last_control_output_;
+     163             :   ControlOutput activation_control_output_;
+     164             : 
+     165             :   ros::Time         last_update_time_;
+     166             :   std::atomic<bool> first_iteration_ = true;
+     167             : 
+     168             :   // | ----------------- integral terms enabler ----------------- |
+     169             : 
+     170             :   ros::ServiceServer service_set_integral_terms_;
+     171             :   bool               callbackSetIntegralTerms(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res);
+     172             :   bool               integral_terms_enabled_ = true;
+     173             : 
+     174             :   // | --------------------- MPC controller --------------------- |
+     175             : 
+     176             :   // number of states
+     177             :   int _n_states_;
+     178             : 
+     179             :   // time steps
+     180             :   double _dt1_;  // the first time step
+     181             :   double _dt2_;  // all the other steps
+     182             : 
+     183             :   // the last control input
+     184             :   double mpc_solver_x_u_ = 0;
+     185             :   double mpc_solver_y_u_ = 0;
+     186             :   double mpc_solver_z_u_ = 0;
+     187             : 
+     188             :   int _horizon_length_;
+     189             : 
+     190             :   // constraints
+     191             :   double _max_speed_horizontal_, _max_acceleration_horizontal_, _max_jerk_;
+     192             :   double _max_speed_vertical_, _max_acceleration_vertical_, _max_u_vertical_;
+     193             : 
+     194             :   // Q and S matrix diagonals for horizontal
+     195             :   std::vector<double> _mat_Q_, _mat_S_;
+     196             : 
+     197             :   // Q and S matrix diagonals for vertical
+     198             :   std::vector<double> _mat_Q_z_, _mat_S_z_;
+     199             : 
+     200             :   // MPC solver handlers
+     201             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_x_;
+     202             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_y_;
+     203             :   std::shared_ptr<mrs_mpc_solvers::mpc_controller::Solver> mpc_solver_z_;
+     204             : 
+     205             :   // MPC solver params
+     206             :   bool _mpc_solver_verbose_ = false;
+     207             :   int  _mpc_solver_max_iterations_;
+     208             : 
+     209             :   // | ------------------------ profiler ------------------------ |
+     210             : 
+     211             :   mrs_lib::Profiler profiler_;
+     212             :   bool              _profiler_enabled_ = false;
+     213             : 
+     214             :   // | ------------------------ integrals ----------------------- |
+     215             : 
+     216             :   Eigen::Vector2d Ib_b_;  // body error integral in the body frame
+     217             :   Eigen::Vector2d Iw_w_;  // world error integral in the world_frame
+     218             :   std::mutex      mutex_integrals_;
+     219             : 
+     220             :   // | ------------------------- rampup ------------------------- |
+     221             : 
+     222             :   bool   _rampup_enabled_ = false;
+     223             :   double _rampup_speed_;
+     224             : 
+     225             :   bool      rampup_active_ = false;
+     226             :   double    rampup_throttle_;
+     227             :   int       rampup_direction_;
+     228             :   double    rampup_duration_;
+     229             :   ros::Time rampup_start_time_;
+     230             :   ros::Time rampup_last_time_;
+     231             : 
+     232             :   // | ---------------------- position pid ---------------------- |
+     233             : 
+     234             :   double _pos_pid_p_;
+     235             :   double _pos_pid_i_;
+     236             :   double _pos_pid_d_;
+     237             : 
+     238             :   double _hdg_pid_p_;
+     239             :   double _hdg_pid_i_;
+     240             :   double _hdg_pid_d_;
+     241             : 
+     242             :   PIDController position_pid_x_;
+     243             :   PIDController position_pid_y_;
+     244             :   PIDController position_pid_z_;
+     245             :   PIDController position_pid_heading_;
+     246             : };
+     247             : 
+     248             : //}
+     249             : 
+     250             : // --------------------------------------------------------------
+     251             : // |                   controller's interface                   |
+     252             : // --------------------------------------------------------------
+     253             : 
+     254             : /* //{ initialize() */
+     255             : 
+     256         124 : 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         124 :   nh_ = nh;
+     260             : 
+     261         124 :   common_handlers_  = common_handlers;
+     262         124 :   private_handlers_ = private_handlers;
+     263             : 
+     264         124 :   _uav_mass_ = common_handlers_->getMass();
+     265         124 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267         124 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         248 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273         124 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275         124 :   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         124 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283         124 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284         124 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285         124 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         248 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325         124 :   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         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345         124 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347         124 :   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         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376         124 :   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         124 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384         124 :         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         124 :   uav_mass_difference_ = 0;
+     390         124 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391         124 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395         124 :   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         124 :                                                                             _dt2_, 0, 1.0);
+     397         124 :   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         124 :                                                                             _dt2_, 0, 1.0);
+     399         124 :   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         124 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404         124 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405         124 :   drs_params_.kibxy         = gains_.kibxy;
+     406         124 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407         124 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408         124 :   drs_params_.km            = gains_.km;
+     409         124 :   drs_params_.km_lim        = gains_.km_lim;
+     410         124 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411         124 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413         124 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414         124 :   drs_->updateConfig(drs_params_);
+     415         124 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416         124 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420         124 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424         124 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428         124 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429         124 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430         124 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431         124 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435         124 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439         124 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441         124 :   is_initialized_ = true;
+     442             : 
+     443         124 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450         132 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452         132 :   activation_control_output_ = last_control_output;
+     453             : 
+     454         132 :   double activation_mass = _uav_mass_;
+     455             : 
+     456         132 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           5 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           5 :     activation_mass += uav_mass_difference_;
+     459           5 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462         132 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464         132 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           5 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           5 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           5 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           5 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           5 :     ROS_INFO(
+     472             :         "[%s]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     473             :         "%.2f, %.2f N",
+     474             :         this->name_.c_str(), Ib_b_[0], Ib_b_[1], Iw_w_[0], Iw_w_[1]);
+     475             :   }
+     476             : 
+     477             :   // did the last controller use manual throttle control?
+     478         132 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481         132 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          44 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          44 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          44 :     if (throttle_difference > 0) {
+     488          23 :       rampup_direction_ = 1;
+     489          21 :     } else if (throttle_difference < 0) {
+     490           2 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          19 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          44 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          44 :     rampup_active_     = true;
+     498          44 :     rampup_start_time_ = ros::Time::now();
+     499          44 :     rampup_last_time_  = ros::Time::now();
+     500          44 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          44 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505         132 :   first_iteration_ = true;
+     506         132 :   mute_gains_      = true;
+     507             : 
+     508         132 :   timer_gains_.start();
+     509             : 
+     510         132 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512         132 :   is_active_ = true;
+     513             : 
+     514         132 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521         116 : void MpcController::deactivate(void) {
+     522             : 
+     523         116 :   is_active_           = false;
+     524         116 :   first_iteration_     = false;
+     525         116 :   uav_mass_difference_ = 0;
+     526             : 
+     527         116 :   timer_gains_.stop();
+     528             : 
+     529         116 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530         116 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536      123613 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538      123613 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540      123613 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542      123613 :   first_iteration_ = false;
+     543      123613 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       36311 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551      108933 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     552      108933 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554       72622 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       36311 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       36311 :   last_control_output_.desired_heading_rate          = {};
+     559       36311 :   last_control_output_.desired_orientation           = {};
+     560       36311 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       36311 :   last_control_output_.control_output                = {};
+     562             : 
+     563       36311 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       36311 :   if (first_iteration_) {
+     572          44 :     dt               = 0.01;
+     573          44 :     first_iteration_ = false;
+     574             :   } else {
+     575       36267 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       36311 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       36311 :   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       36311 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       36311 :   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       36311 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       31323 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       31323 :     lowest_modality = common::ATTITUDE_RATE;
+     603        4988 :   } 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        4988 :   } 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        4988 :   } 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       36311 :   switch (lowest_modality.value()) {
+     615             : 
+     616         223 :     case common::POSITION: {
+     617         223 :       positionPassthrough(uav_state, tracker_command);
+     618         223 :       break;
+     619             :     }
+     620             : 
+     621         222 :     case common::VELOCITY_HDG: {
+     622         222 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         222 :       break;
+     624             :     }
+     625             : 
+     626         231 :     case common::VELOCITY_HDG_RATE: {
+     627         231 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         231 :       break;
+     629             :     }
+     630             : 
+     631         465 :     case common::ACCELERATION_HDG: {
+     632         465 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     633         465 :       break;
+     634             :     }
+     635             : 
+     636         461 :     case common::ACCELERATION_HDG_RATE: {
+     637         461 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         461 :       break;
+     639             :     }
+     640             : 
+     641        1026 :     case common::ATTITUDE: {
+     642        1026 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1026 :       break;
+     644             :     }
+     645             : 
+     646       31323 :     case common::ATTITUDE_RATE: {
+     647       31323 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       31323 :       break;
+     649             :     }
+     650             : 
+     651        1179 :     case common::CONTROL_GROUP: {
+     652        1179 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1179 :       break;
+     654             :     }
+     655             : 
+     656        1181 :     case common::ACTUATORS_CMD: {
+     657        1181 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1181 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       36311 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673        7166 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675        7166 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677        7166 :   controller_status.active = is_active_;
+     678             : 
+     679        7166 :   return controller_status;
+     680             : }
+     681             : 
+     682             : //}
+     683             : 
+     684             : /* switchOdometrySource() //{ */
+     685             : 
+     686           4 : void MpcController::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     687             : 
+     688           4 :   ROS_INFO("[%s]: switching the odometry source", this->name_.c_str());
+     689             : 
+     690           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     691             : 
+     692             :   // | ----- transform world disturabances to the new frame ----- |
+     693             : 
+     694           8 :   geometry_msgs::Vector3Stamped world_integrals;
+     695             : 
+     696           4 :   world_integrals.header.stamp    = ros::Time::now();
+     697           4 :   world_integrals.header.frame_id = uav_state.header.frame_id;
+     698             : 
+     699           4 :   world_integrals.vector.x = Iw_w_[0];
+     700           4 :   world_integrals.vector.y = Iw_w_[1];
+     701           4 :   world_integrals.vector.z = 0;
+     702             : 
+     703           8 :   auto res = common_handlers_->transformer->transformSingle(world_integrals, new_uav_state.header.frame_id);
+     704             : 
+     705           4 :   if (res) {
+     706             : 
+     707           4 :     std::scoped_lock lock(mutex_integrals_);
+     708             : 
+     709           4 :     Iw_w_[0] = res.value().vector.x;
+     710           4 :     Iw_w_[1] = res.value().vector.y;
+     711             : 
+     712             :   } else {
+     713             : 
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: could not transform world integral to the new frame", this->name_.c_str());
+     715             : 
+     716           0 :     std::scoped_lock lock(mutex_integrals_);
+     717             : 
+     718           0 :     Iw_w_[0] = 0;
+     719           0 :     Iw_w_[1] = 0;
+     720             :   }
+     721           4 : }
+     722             : 
+     723             : //}
+     724             : 
+     725             : /* resetDisturbanceEstimators() //{ */
+     726             : 
+     727           0 : void MpcController::resetDisturbanceEstimators(void) {
+     728             : 
+     729           0 :   std::scoped_lock lock(mutex_integrals_);
+     730             : 
+     731           0 :   Iw_w_ = Eigen::Vector2d::Zero(2);
+     732           0 :   Ib_b_ = Eigen::Vector2d::Zero(2);
+     733           0 : }
+     734             : 
+     735             : //}
+     736             : 
+     737             : /* setConstraints() //{ */
+     738             : 
+     739         490 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         490 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         490 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         490 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750         980 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         490 :   res.success = true;
+     752         490 :   res.message = "constraints updated";
+     753             : 
+     754         490 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       35635 : 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       71270 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       35635 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       35635 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       35635 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       35635 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       35635 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       35635 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       35635 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       35635 :   double max_jerk                    = _max_jerk_;
+     783       35635 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       35635 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       22716 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       22716 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       22716 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       22716 :     max_acceleration_vertical =
+     793       22716 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       22716 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       22716 :     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       35635 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       35635 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       35635 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       35635 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       35635 :   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       35635 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       35635 :   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       35635 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       35635 :   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       35635 :   Eigen::Vector3d Ep = Rp - Op;
+     836       35635 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840       71270 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841       71270 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842       71270 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       35635 :     double coef = 1.5;
+     850             : 
+     851       35635 :     if (fabs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       35635 :       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       35635 :     if (fabs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       35635 :       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       35635 :     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       35635 :     double coef = 1.5;
+     880             : 
+     881       35635 :     if (fabs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       35635 :       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       35635 :     if (fabs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       35635 :       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       35635 :     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       35635 :     double coef = 1.5;
+     910             : 
+     911       35635 :     if (fabs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       35635 :       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       35635 :     if (fabs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       35635 :       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       35635 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936       71270 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937       71270 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938       71270 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       35635 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       22716 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       22716 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       22716 :     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      590616 :     for (int i = 1; i < _horizon_length_; i++) {
+     951      567900 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].x;
+     952      567900 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].y;
+     953      567900 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].z;
+     954             :     }
+     955             : 
+     956      590616 :     for (int i = 1; i < _horizon_length_; i++) {
+     957      567900 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].x;
+     958      567900 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].y;
+     959      567900 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].z;
+     960             :     }
+     961             : 
+     962      590616 :     for (int i = 1; i < _horizon_length_; i++) {
+     963      567900 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].x;
+     964      567900 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].y;
+     965      567900 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      348813 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      335894 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      335894 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      335894 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979       71270 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980       71270 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982       71270 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983       71270 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       35635 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal[0] = 0;
+     987           0 :     temp_S_horizontal[0] = 0;
+     988             :   }
+     989             : 
+     990       35635 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal[1] = 0;
+     992           0 :     temp_S_horizontal[1] = 0;
+     993             :   }
+     994             : 
+     995       35635 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical[0] = 0;
+     997           0 :     temp_S_vertical[0] = 0;
+     998             :   }
+     999             : 
+    1000       35635 :   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       35635 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       35635 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       35635 :   mpc_solver_x_->setParams();
+    1010       35635 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       35635 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       35635 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       35635 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       35635 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       35635 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       35635 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       35635 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       35635 :   mpc_solver_y_->setParams();
+    1020       35635 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       35635 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       35635 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       35635 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       35635 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       35635 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       35635 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       35635 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       35635 :   mpc_solver_z_->setParams();
+    1030       35635 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       35635 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       35635 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       35635 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       35635 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       35635 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       35635 :   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       35635 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       35635 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       35635 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       35635 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       35635 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       35635 :     Kw[0] = gains.kw_rp;
+    1057       35635 :     Kw[1] = gains.kw_rp;
+    1058       35635 :     Kw[2] = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       35635 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069       71270 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       35635 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       35635 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       35635 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       35635 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       35635 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077       71270 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       35635 :     if (res) {
+    1080       35635 :       Ib_w[0] = res.value().vector.x;
+    1081       35635 :       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       35635 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        1628 :     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       34007 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       35635 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       35635 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       35635 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       35635 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       35635 :     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       71270 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       35635 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       35635 :     double temp_gain = gains.kiwxy;
+    1125       35635 :     if (!tracker_command.disable_antiwindups) {
+    1126       30956 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127       13413 :         temp_gain = 0;
+    1128       13413 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       35635 :     if (integral_terms_enabled_) {
+    1133       35635 :       if (tracker_command.use_position_horizontal) {
+    1134       35635 :         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       35635 :     bool world_integral_saturated = false;
+    1142       35635 :     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       35635 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       35635 :     } 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       35635 :     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       35635 :     world_integral_saturated = false;
+    1159       35635 :     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       35635 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       35635 :     } 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       35635 :     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       71270 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       35635 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       35635 :     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       71270 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       35635 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       35635 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       35635 :       Ep_stamped.vector.x        = Ep(0);
+    1193       35635 :       Ep_stamped.vector.y        = Ep(1);
+    1194       35635 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196      106905 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       35635 :       if (res) {
+    1199       35635 :         Ep_fcu_untilted[0] = res.value().vector.x;
+    1200       35635 :         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       71270 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       35635 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       35635 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       35635 :       Ev_stamped.vector.x        = Ev(0);
+    1213       35635 :       Ev_stamped.vector.y        = Ev(1);
+    1214       35635 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216      106905 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       35635 :       if (res) {
+    1219       35635 :         Ev_fcu_untilted[0] = res.value().vector.x;
+    1220       35635 :         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       35635 :     double temp_gain = gains.kibxy;
+    1230       35635 :     if (!tracker_command.disable_antiwindups) {
+    1231       30956 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232       13413 :         temp_gain = 0;
+    1233       13413 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       35635 :     if (integral_terms_enabled_) {
+    1238       35635 :       if (tracker_command.use_position_horizontal) {
+    1239       35635 :         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       35635 :     bool body_integral_saturated = false;
+    1247       35635 :     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       35635 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1251           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       35635 :     } 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       35635 :     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       35635 :     body_integral_saturated = false;
+    1264       35635 :     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       35635 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1268           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       35635 :     } 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       35635 :     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       35635 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       35635 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286         926 :     if (output_modality == common::ACCELERATION_HDG) {
+    1287             : 
+    1288         930 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1289             : 
+    1290         465 :       cmd.acceleration.x = des_acc[0];
+    1291         465 :       cmd.acceleration.y = des_acc[1];
+    1292         465 :       cmd.acceleration.z = des_acc[2];
+    1293             : 
+    1294         465 :       cmd.heading = tracker_command.heading;
+    1295             : 
+    1296         465 :       last_control_output_.control_output = cmd;
+    1297             : 
+    1298             :     } else {
+    1299             : 
+    1300         461 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         461 :       if (tracker_command.use_heading_rate) {
+    1303         461 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306         922 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         461 :       cmd.acceleration.x = des_acc[0];
+    1309         461 :       cmd.acceleration.y = des_acc[1];
+    1310         461 :       cmd.acceleration.z = des_acc[2];
+    1311             : 
+    1312         461 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         461 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         461 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         461 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         461 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         461 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327         926 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        1852 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333         926 :       world_accel.header.stamp    = ros::Time::now();
+    1334         926 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335         926 :       world_accel.vector.x        = Ra[0];
+    1336         926 :       world_accel.vector.y        = Ra[1];
+    1337         926 :       world_accel.vector.z        = Ra[2];
+    1338             : 
+    1339        2778 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341         926 :       if (res) {
+    1342         926 :         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         926 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351         926 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353         926 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354         926 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355         926 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357         926 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359         926 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1360         926 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1361             : 
+    1362         926 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1363         926 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1364             : 
+    1365         926 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1366         926 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1367             : 
+    1368         926 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370         926 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371         926 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373         926 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374         926 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376         926 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377         926 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379         926 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381         926 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391       69418 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       34709 :     double temp_gain = gains.km;
+    1395       68902 :     if (rampup_active_ ||
+    1396       34193 :         (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       10252 :       temp_gain = 0;
+    1398       10252 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       34709 :     if (tracker_command.use_position_vertical) {
+    1402       34709 :       uav_mass_difference_ += temp_gain * Ep[2] * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       34709 :     bool uav_mass_saturated = false;
+    1407       34709 :     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       34709 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       34709 :     } 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       34709 :     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       34709 :   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       34709 :   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       34709 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       34709 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       34709 :   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       34709 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       34709 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       34709 :   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       34709 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       34709 :     if (tracker_command.use_heading) {
+    1486       34709 :       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       34709 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       34709 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       34709 :   double throttle             = 0;
+    1499             : 
+    1500       34709 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503         516 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          39 :       rampup_active_ = false;
+    1506             : 
+    1507          39 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         477 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         477 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         477 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         477 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         477 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       34193 :     if (desired_thrust_force >= 0) {
+    1525       34193 :       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       34709 :   bool throttle_saturated = false;
+    1534             : 
+    1535       34709 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       34709 :   } 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       34709 :   } 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       34709 :   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       34709 :   double desired_x_accel = 0;
+    1569       34709 :   double desired_y_accel = 0;
+    1570       34709 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       34709 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       34709 :     double world_accel_x = (thrust_vector[0] / total_mass) - (Iw_w_[0] / total_mass) - (Ib_w[0] / total_mass);
+    1576       34709 :     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       34709 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581       69418 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       34709 :     world_accel.header.stamp    = ros::Time::now();
+    1584       34709 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       34709 :     world_accel.vector.x        = world_accel_x;
+    1586       34709 :     world_accel.vector.y        = world_accel_y;
+    1587       34709 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589      104127 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       34709 :     if (res) {
+    1592             : 
+    1593       34709 :       desired_x_accel = res.value().vector.x;
+    1594       34709 :       desired_y_accel = res.value().vector.y;
+    1595       34709 :       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       34709 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       34709 :   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       34709 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       34709 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       34709 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       34709 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       34709 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       34709 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1618       34709 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1619             : 
+    1620       34709 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1621       34709 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1622             : 
+    1623       34709 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1624       34709 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1625             : 
+    1626       34709 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       34709 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       34709 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       34709 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       34709 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       34709 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       34709 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       34709 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       34709 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       34709 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       34709 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       34709 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       34709 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1026 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1026 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       33683 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       33683 :   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       33683 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       33682 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       33682 :       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       33682 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       33683 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       33683 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       20766 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       20766 :     Eigen::Matrix3d I;
+    1688       20766 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       20766 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       20766 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       33683 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       33683 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       33683 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       33683 :       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       33683 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       31323 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       31323 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2360 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2360 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2360 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2360 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1179 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1179 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2362 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1181 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1181 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         223 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         223 :   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         446 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         223 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         223 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         223 :   cmd.position = tracker_command.position;
+    1769         223 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         223 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         223 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         223 :   last_control_output_.desired_orientation           = {};
+    1776         223 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         223 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         223 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         223 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         223 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         223 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         223 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         223 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         223 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         223 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         223 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         223 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         223 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         223 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         223 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         223 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         223 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         223 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         223 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         453 : 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         453 :   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         453 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         453 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         453 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         453 :   double hdg_ref = tracker_command.heading;
+    1828         453 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         453 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         453 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         453 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         453 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         453 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         453 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         453 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         453 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1849         453 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1850         453 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         453 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         453 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         444 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         222 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         222 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         222 :     cmd.velocity.x = des_vel[0];
+    1866         222 :     cmd.velocity.y = des_vel[1];
+    1867         222 :     cmd.velocity.z = des_vel[2];
+    1868             : 
+    1869         222 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         222 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         231 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         231 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         231 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         231 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         231 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         231 :     if (tracker_command.use_heading_rate) {
+    1886         231 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891         462 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         231 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         231 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         231 :     cmd.velocity.x = des_vel[0];
+    1897         231 :     cmd.velocity.y = des_vel[1];
+    1898         231 :     cmd.velocity.z = des_vel[2];
+    1899             : 
+    1900         231 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         231 :     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         453 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         453 :   last_control_output_.desired_orientation           = {};
+    1912         453 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         453 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         453 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         453 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         453 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         453 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         453 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         453 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         453 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         453 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         453 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         453 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         453 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         453 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         453 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         453 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         453 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         453 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         453 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954         124 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956         124 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958         124 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959         124 : }
+    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        8111 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       24333 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995             :   mrs_lib::ScopeTimer timer =
+    1996       24333 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1997             : 
+    1998       16222 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1999        8111 :   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        8111 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2004        8111 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2005             : 
+    2006        8111 :   mute_gains_ = false;
+    2007             : 
+    2008        8111 :   const double dt = (event.current_real - event.last_real).toSec();
+    2009             : 
+    2010        8111 :   bool updated = false;
+    2011             : 
+    2012        8111 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2013        8111 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2014        8111 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2015        8111 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2016        8111 :   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        8111 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2020        8111 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2021        8111 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2022             : 
+    2023        8111 :   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        8111 :   if (updated) {
+    2028             : 
+    2029         911 :     drs_params.kiwxy         = gains.kiwxy;
+    2030         911 :     drs_params.kibxy         = gains.kibxy;
+    2031         911 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2032         911 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2033         911 :     drs_params.km            = gains.km;
+    2034         911 :     drs_params.km_lim        = gains.km_lim;
+    2035         911 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2036         911 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2037             : 
+    2038         911 :     drs_->updateConfig(drs_params);
+    2039             : 
+    2040         911 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2041             :   }
+    2042        8111 : }
+    2043             : 
+    2044             : //}
+    2045             : 
+    2046             : // --------------------------------------------------------------
+    2047             : // |                       other routines                       |
+    2048             : // --------------------------------------------------------------
+    2049             : 
+    2050             : /* calculateGainChange() //{ */
+    2051             : 
+    2052       64888 : 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       64888 :   double change = desired_value - current_value;
+    2056             : 
+    2057       64888 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2058       64888 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2059             : 
+    2060       64888 :   if (!bypass_rate) {
+    2061             : 
+    2062             :     // if current value is near 0...
+    2063             :     double change_in_perc;
+    2064             :     double saturated_change;
+    2065             : 
+    2066       64378 :     if (fabs(current_value) < 1e-6) {
+    2067           0 :       change *= gains_filter_max_change;
+    2068             :     } else {
+    2069             : 
+    2070       64378 :       saturated_change = change;
+    2071             : 
+    2072       64378 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    2073             : 
+    2074       64378 :       if (change_in_perc > gains_filter_max_change) {
+    2075        3540 :         saturated_change = current_value * gains_filter_max_change;
+    2076       60838 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2077           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2078             :       }
+    2079             : 
+    2080       64378 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    2081           0 :         change *= gains_filter_min_change;
+    2082             :       } else {
+    2083       64378 :         change = saturated_change;
+    2084             :       }
+    2085             :     }
+    2086             :   }
+    2087             : 
+    2088       64888 :   if (fabs(change) > 1e-3) {
+    2089        4555 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2090        4555 :     updated = true;
+    2091             :   }
+    2092             : 
+    2093       64888 :   return current_value + change;
+    2094             : }
+    2095             : 
+    2096             : //}
+    2097             : 
+    2098             : /* getHeadingSafely() //{ */
+    2099             : 
+    2100       36088 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2101             : 
+    2102             :   try {
+    2103       36088 :     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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:60977478.7 %
Date:2024-01-14 11:12:21Functions: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::activate(mrs_uav_managers::Controller::ControlOutput const&)16
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()17
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)124
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)234
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)245
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&)469
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2035
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)2622
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&)18479
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)18948
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)19182
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)36708
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)60780
+
+
+ + + +
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..0724a99ca8 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.func.html @@ -0,0 +1,148 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:60977478.7 %
Date:2024-01-14 11:12:21Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()17
mrs_uav_controllers::se3_controller::Se3Controller::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)2622
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)124
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)19182
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&)18479
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)245
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)60780
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)18948
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&)469
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)36708
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)234
mrs_uav_controllers::se3_controller::Se3Controller::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::se3_controller::Se3Controller::resetDisturbanceEstimators()0
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)16
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2035
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..96cbbf6f55 --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.html new file mode 100644 index 0000000000..888fa1f37a --- /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
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Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:60977478.7 %
Date:2024-01-14 11:12:21Functions: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          62 : 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          62 :   nh_ = nh;
+     217             : 
+     218          62 :   common_handlers_  = common_handlers;
+     219          62 :   private_handlers_ = private_handlers;
+     220             : 
+     221          62 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223          62 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241         124 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281          62 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283          62 :   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          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302         124 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303          62 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314          62 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318          62 :   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          62 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326          62 :         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          62 :   uav_mass_difference_ = 0;
+     333          62 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334          62 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338          62 :   drs_params_.kpxy             = gains_.kpxy;
+     339          62 :   drs_params_.kvxy             = gains_.kvxy;
+     340          62 :   drs_params_.kaxy             = gains_.kaxy;
+     341          62 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342          62 :   drs_params_.kibxy            = gains_.kibxy;
+     343          62 :   drs_params_.kpz              = gains_.kpz;
+     344          62 :   drs_params_.kvz              = gains_.kvz;
+     345          62 :   drs_params_.kaz              = gains_.kaz;
+     346          62 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347          62 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348          62 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349          62 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350          62 :   drs_params_.km               = gains_.km;
+     351          62 :   drs_params_.km_lim           = gains_.km_lim;
+     352          62 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354          62 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355          62 :   drs_->updateConfig(drs_params_);
+     356          62 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357          62 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361          62 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365          62 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366          62 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367          62 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368          62 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372          62 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376          62 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378          62 :   is_initialized_ = true;
+     379             : 
+     380          62 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          16 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          16 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          16 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          16 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     394           0 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     395           0 :     activation_mass += uav_mass_difference_;
+     396           0 :     ROS_INFO("[Se3Controller]: setting mass difference from the last control output: %.2f kg", uav_mass_difference_);
+     397             :   }
+     398             : 
+     399          16 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          16 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     402           0 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     403           0 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     404             : 
+     405           0 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     406           0 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     407             : 
+     408           0 :     ROS_INFO(
+     409             :         "[Se3Controller]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     410             :         "%.2f, %.2f N",
+     411             :         Ib_b_[0], Ib_b_[1], Iw_w_[0], Iw_w_[1]);
+     412             :   }
+     413             : 
+     414             :   // did the last controller use manual throttle control?
+     415          16 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          16 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420          11 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422          11 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424          11 :     if (throttle_difference > 0) {
+     425           2 :       rampup_direction_ = 1;
+     426           9 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429           9 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432          11 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434          11 :     rampup_active_     = true;
+     435          11 :     rampup_start_time_ = ros::Time::now();
+     436          11 :     rampup_last_time_  = ros::Time::now();
+     437          11 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439          11 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          16 :   first_iteration_ = true;
+     443          16 :   mute_gains_      = true;
+     444             : 
+     445          16 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          16 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          16 :   is_active_ = true;
+     452             : 
+     453          16 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460          17 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          17 :   is_active_           = false;
+     463          17 :   first_iteration_     = false;
+     464          17 :   uav_mass_difference_ = 0;
+     465             : 
+     466          17 :   timer_gains_.stop();
+     467             : 
+     468          17 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          17 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475       60780 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477       60780 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479       60780 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481       60780 :   first_iteration_ = false;
+     482       60780 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488       19182 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       57546 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     491       57546 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       38364 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495       19182 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497       19182 :   last_control_output_.desired_heading_rate          = {};
+     498       19182 :   last_control_output_.desired_orientation           = {};
+     499       19182 :   last_control_output_.desired_unbiased_acceleration = {};
+     500       19182 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506       19182 :   if (first_iteration_) {
+     507          16 :     dt               = 0.01;
+     508          16 :     first_iteration_ = false;
+     509             :   } else {
+     510       19166 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513       19182 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515       19182 :   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       19182 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526       19182 :   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       19182 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536       14010 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537       14010 :     lowest_modality = common::ATTITUDE_RATE;
+     538        5172 :   } 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        5172 :   } 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        5172 :   } 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       19182 :   switch (lowest_modality.value()) {
+     550             : 
+     551         234 :     case common::POSITION: {
+     552         234 :       positionPassthrough(uav_state, tracker_command);
+     553         234 :       break;
+     554             :     }
+     555             : 
+     556         239 :     case common::VELOCITY_HDG: {
+     557         239 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558         239 :       break;
+     559             :     }
+     560             : 
+     561         230 :     case common::VELOCITY_HDG_RATE: {
+     562         230 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563         230 :       break;
+     564             :     }
+     565             : 
+     566         480 :     case common::ACCELERATION_HDG: {
+     567         480 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         480 :       break;
+     569             :     }
+     570             : 
+     571         484 :     case common::ACCELERATION_HDG_RATE: {
+     572         484 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         484 :       break;
+     574             :     }
+     575             : 
+     576        1108 :     case common::ATTITUDE: {
+     577        1108 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1108 :       break;
+     579             :     }
+     580             : 
+     581       14010 :     case common::ATTITUDE_RATE: {
+     582       14010 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583       14010 :       break;
+     584             :     }
+     585             : 
+     586        1189 :     case common::CONTROL_GROUP: {
+     587        1189 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1189 :       break;
+     589             :     }
+     590             : 
+     591        1208 :     case common::ACTUATORS_CMD: {
+     592        1208 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593        1208 :       break;
+     594             :     }
+     595             : 
+     596       19182 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600       19182 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607        2035 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609        2035 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611        2035 :   controller_status.active = is_active_;
+     612             : 
+     613        2035 :   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         245 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         245 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         245 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         245 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         490 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         245 :   res.success = true;
+     686         245 :   res.message = "constraints updated";
+     687             : 
+     688         245 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699       18479 : 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       36958 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703       18479 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704       18479 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708       18479 :   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       18479 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719       18479 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720       18479 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722       18479 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724       18479 :     if (tracker_command.use_position_horizontal) {
+     725       18479 :       Rp[0] = tracker_command.position.x;
+     726       18479 :       Rp[1] = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv[0] = 0;
+     729           0 :       Rv[1] = 0;
+     730             :     }
+     731             : 
+     732       18479 :     if (tracker_command.use_position_vertical) {
+     733       18479 :       Rp[2] = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv[2] = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739       18479 :   if (tracker_command.use_velocity_horizontal) {
+     740       18479 :     Rv[0] = tracker_command.velocity.x;
+     741       18479 :     Rv[1] = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv[0] = 0;
+     744           0 :     Rv[1] = 0;
+     745             :   }
+     746             : 
+     747       18479 :   if (tracker_command.use_velocity_vertical) {
+     748       18479 :     Rv[2] = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv[2] = 0;
+     751             :   }
+     752             : 
+     753       18479 :   if (tracker_command.use_acceleration) {
+     754       18479 :     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       18479 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764       18479 :   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       18479 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770       18479 :   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       18479 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777       18479 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778       18479 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782       18479 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784       18479 :   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       18479 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791       18479 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793       18479 :   Eigen::Vector3d Ka(0, 0, 0);
+     794       18479 :   Eigen::Array3d  Kp(0, 0, 0);
+     795       18479 :   Eigen::Array3d  Kv(0, 0, 0);
+     796       18479 :   Eigen::Array3d  Kq(0, 0, 0);
+     797       18479 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800       18479 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802       18479 :     if (tracker_command.use_position_horizontal) {
+     803       18479 :       Kp[0] = gains.kpxy;
+     804       18479 :       Kp[1] = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp[0] = 0;
+     807           0 :       Kp[1] = 0;
+     808             :     }
+     809             : 
+     810       18479 :     if (tracker_command.use_position_vertical) {
+     811       18479 :       Kp[2] = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp[2] = 0;
+     814             :     }
+     815             : 
+     816       18479 :     if (tracker_command.use_velocity_horizontal) {
+     817       18479 :       Kv[0] = gains.kvxy;
+     818       18479 :       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       18479 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826       18479 :       Kv[2] = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv[2] = 0;
+     829             :     }
+     830             : 
+     831       18479 :     if (tracker_command.use_acceleration) {
+     832       18479 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           0 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837       18479 :     if (!tracker_command.use_attitude_rate) {
+     838       18479 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841       18479 :     Kw[0] = gains.kw_roll_pitch;
+     842       18479 :     Kw[1] = gains.kw_roll_pitch;
+     843       18479 :     Kw[2] = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846       18479 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847       18479 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853       18479 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       36958 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858       18479 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859       18479 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860       18479 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861       18479 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862       18479 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       36958 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866       18479 :     if (res) {
+     867       18479 :       Ib_w[0] = res.value().vector.x;
+     868       18479 :       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       18479 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878       18479 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879       18479 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880       18479 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881       18479 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883       18479 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885       18479 :     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       36958 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901       18479 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904       18479 :     if (tracker_command.use_position_horizontal) {
+     905       18479 :       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       18479 :     bool world_integral_saturated = false;
+     912       18479 :     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       18479 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+     916           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918       18479 :     } 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       18479 :     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       18479 :     world_integral_saturated = false;
+     929       18479 :     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       18479 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+     933           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935       18479 :     } 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       18479 :     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       36958 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956       18479 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957       18479 :     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       36958 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964       18479 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965       18479 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966       18479 :       Ep_stamped.vector.x        = Ep(0);
+     967       18479 :       Ep_stamped.vector.y        = Ep(1);
+     968       18479 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       55437 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972       18479 :       if (res) {
+     973       18479 :         Ep_fcu_untilted[0] = res.value().vector.x;
+     974       18479 :         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       36958 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984       18479 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985       18479 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986       18479 :       Ev_stamped.vector.x        = Ev(0);
+     987       18479 :       Ev_stamped.vector.y        = Ev(1);
+     988       18479 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       55437 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992       18479 :       if (res) {
+     993       18479 :         Ev_fcu_untilted[0] = res.value().vector.x;
+     994       18479 :         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       18479 :     if (tracker_command.use_position_horizontal) {
+    1002       18479 :       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       18479 :     bool body_integral_saturated = false;
+    1009       18479 :     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       18479 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1013           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015       18479 :     } 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       18479 :     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       18479 :     body_integral_saturated = false;
+    1026       18479 :     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       18479 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1030           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032       18479 :     } 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       18479 :     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       18479 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046         964 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048         964 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050         960 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         480 :       cmd.acceleration.x = des_acc[0];
+    1053         480 :       cmd.acceleration.y = des_acc[1];
+    1054         480 :       cmd.acceleration.z = des_acc[2];
+    1055             : 
+    1056         480 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         480 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         484 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         484 :       if (tracker_command.use_heading_rate) {
+    1065         484 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068         968 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         484 :       cmd.acceleration.x = des_acc[0];
+    1071         484 :       cmd.acceleration.y = des_acc[1];
+    1072         484 :       cmd.acceleration.z = des_acc[2];
+    1073             : 
+    1074         484 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         484 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         484 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         484 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         484 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         484 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089         964 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093         964 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        1928 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097         964 :       world_accel.header.stamp    = ros::Time::now();
+    1098         964 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099         964 :       world_accel.vector.x        = unbiased_des_acc_world[0];
+    1100         964 :       world_accel.vector.y        = unbiased_des_acc_world[1];
+    1101         964 :       world_accel.vector.z        = unbiased_des_acc_world[2];
+    1102             : 
+    1103        2892 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105         964 :       if (res) {
+    1106         964 :         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         964 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115         964 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117         964 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118         964 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119         964 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121         964 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123         964 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1124         964 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1125             : 
+    1126         964 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1127         964 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1128             : 
+    1129         964 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1130         964 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1131             : 
+    1132         964 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134         964 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136         964 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       35030 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148       17515 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149       17504 :       uav_mass_difference_ += gains.km * Ep[2] * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153       17515 :     bool uav_mass_saturated = false;
+    1154       17515 :     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       17515 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160       17515 :     } 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       17515 :     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       17515 :   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       17515 :   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       17515 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189       17515 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191       17515 :   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       17515 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212       17515 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214       17515 :   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       17515 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232       17515 :     if (tracker_command.use_heading) {
+    1233       17515 :       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       17515 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244       17515 :   double desired_thrust_force = f.dot(R.col(2));
+    1245       17515 :   double throttle             = 0;
+    1246             : 
+    1247       17515 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252       17515 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255          11 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257          11 :       rampup_active_ = false;
+    1258             : 
+    1259          11 :       ROS_INFO("[Se3Controller]: rampup finished");
+    1260             : 
+    1261             :     } else {
+    1262             : 
+    1263           0 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           0 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           0 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           0 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           0 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276       17504 :     if (desired_thrust_force >= 0) {
+    1277       17504 :       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       17515 :   bool throttle_saturated = false;
+    1286             : 
+    1287       17515 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292       17515 :   } 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       17515 :   } 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       17515 :   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       17515 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323       17515 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       35030 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327       17515 :     world_accel.header.stamp    = ros::Time::now();
+    1328       17515 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329       17515 :     world_accel.vector.x        = unbiased_des_acc_world[0];
+    1330       17515 :     world_accel.vector.y        = unbiased_des_acc_world[1];
+    1331       17515 :     world_accel.vector.z        = unbiased_des_acc_world[2];
+    1332             : 
+    1333       52545 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335       17515 :     if (res) {
+    1336       17515 :       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       17515 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346       17515 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350       17515 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352       17515 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353       17515 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354       17515 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356       17515 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358       17515 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1359       17515 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1360             : 
+    1361       17515 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1362       17515 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1363             : 
+    1364       17515 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1365       17515 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1366             : 
+    1367       17515 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369       17515 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373       17515 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375       17515 :   attitude_cmd.stamp       = ros::Time::now();
+    1376       17515 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377       17515 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379       17515 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1108 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1108 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390       16407 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392       16407 :   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       16407 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399       16407 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402       16407 :       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       16407 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413       16407 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415       16407 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417       16401 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419       16401 :     Eigen::Matrix3d I;
+    1420       16401 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421       16401 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422       16401 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427       16407 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429       16407 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       32814 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432       16407 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440       16407 :       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       16407 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450       14010 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452       14010 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        2397 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        2397 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        2397 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        2397 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1189 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1189 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478        2416 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480        1208 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482        1208 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         234 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         234 :   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         468 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         234 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         234 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         234 :   cmd.position = tracker_command.position;
+    1502         234 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         234 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         234 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         234 :   last_control_output_.desired_orientation           = {};
+    1509         234 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         234 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         234 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         234 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         234 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         234 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         234 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         234 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         234 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         234 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         234 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         234 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         234 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538         469 : 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         469 :   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         469 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547         469 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549         469 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550         469 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552         469 :   double hdg_ref = tracker_command.heading;
+    1553         469 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557         469 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559         469 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560         469 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565         469 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568         469 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570         469 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575         469 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579         469 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580         469 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581         469 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583         469 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1584         469 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1585         469 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589         469 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591         469 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595         478 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597         239 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598         239 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600         239 :     cmd.velocity.x = des_vel[0];
+    1601         239 :     cmd.velocity.y = des_vel[1];
+    1602         239 :     cmd.velocity.z = des_vel[2];
+    1603             : 
+    1604         239 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606         239 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608         230 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610         230 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612         230 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614         230 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618         230 :     double des_hdg_ff = 0;
+    1619             : 
+    1620         230 :     if (tracker_command.use_heading_rate) {
+    1621         230 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626         460 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628         230 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629         230 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631         230 :     cmd.velocity.x = des_vel[0];
+    1632         230 :     cmd.velocity.y = des_vel[1];
+    1633         230 :     cmd.velocity.z = des_vel[2];
+    1634             : 
+    1635         230 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637         230 :     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         469 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646         469 :   last_control_output_.desired_orientation           = {};
+    1647         469 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651         469 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653         469 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654         469 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656         469 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658         469 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659         469 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661         469 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662         469 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664         469 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665         469 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667         469 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669         469 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680         124 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         124 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684         124 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685         124 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        2622 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697        7866 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698             :   mrs_lib::ScopeTimer timer =
+    1699        7866 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1700             : 
+    1701        5244 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1702        2622 :   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        2622 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1707        2622 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1708             : 
+    1709        2622 :   mute_gains_ = false;
+    1710             : 
+    1711        2622 :   const double dt = (event.current_real - event.last_real).toSec();
+    1712             : 
+    1713        2622 :   bool updated = false;
+    1714             : 
+    1715        2622 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1716        2622 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1717        2622 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1718        2622 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1719        2622 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1720        2622 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1721        2622 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1722        2622 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1723        2622 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1724        2622 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1725        2622 :   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        2622 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1729        2622 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1730        2622 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1731             : 
+    1732        2622 :   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        2622 :   if (updated) {
+    1737             : 
+    1738         144 :     drs_params.kpxy          = gains.kpxy;
+    1739         144 :     drs_params.kvxy          = gains.kvxy;
+    1740         144 :     drs_params.kaxy          = gains.kaxy;
+    1741         144 :     drs_params.kiwxy         = gains.kiwxy;
+    1742         144 :     drs_params.kibxy         = gains.kibxy;
+    1743         144 :     drs_params.kpz           = gains.kpz;
+    1744         144 :     drs_params.kvz           = gains.kvz;
+    1745         144 :     drs_params.kaz           = gains.kaz;
+    1746         144 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1747         144 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1748         144 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1749         144 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1750         144 :     drs_params.km            = gains.km;
+    1751         144 :     drs_params.km_lim        = gains.km_lim;
+    1752             : 
+    1753         144 :     drs_->updateConfig(drs_params);
+    1754             : 
+    1755         144 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1756             :   }
+    1757        2622 : }
+    1758             : 
+    1759             : //}
+    1760             : 
+    1761             : // --------------------------------------------------------------
+    1762             : // |                       other routines                       |
+    1763             : // --------------------------------------------------------------
+    1764             : 
+    1765             : /* calculateGainChange() //{ */
+    1766             : 
+    1767       36708 : 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       36708 :   double change = desired_value - current_value;
+    1771             : 
+    1772       36708 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1773       36708 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1774             : 
+    1775       36708 :   if (!bypass_rate) {
+    1776             : 
+    1777             :     // if current value is near 0...
+    1778             :     double change_in_perc;
+    1779             :     double saturated_change;
+    1780             : 
+    1781       36532 :     if (fabs(current_value) < 1e-6) {
+    1782           0 :       change *= gains_filter_max_change;
+    1783             :     } else {
+    1784             : 
+    1785       36532 :       saturated_change = change;
+    1786             : 
+    1787       36532 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    1788             : 
+    1789       36532 :       if (change_in_perc > gains_filter_max_change) {
+    1790        1232 :         saturated_change = current_value * gains_filter_max_change;
+    1791       35300 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1792          18 :         saturated_change = current_value * -gains_filter_max_change;
+    1793             :       }
+    1794             : 
+    1795       36532 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    1796          12 :         change *= gains_filter_min_change;
+    1797             :       } else {
+    1798       36520 :         change = saturated_change;
+    1799             :       }
+    1800             :     }
+    1801             :   }
+    1802             : 
+    1803       36708 :   if (fabs(change) > 1e-3) {
+    1804        1598 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1805        1598 :     updated = true;
+    1806             :   }
+    1807             : 
+    1808       36708 :   return current_value + change;
+    1809             : }
+    1810             : 
+    1811             : //}
+    1812             : 
+    1813             : /* getHeadingSafely() //{ */
+    1814             : 
+    1815       18948 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1816             : 
+    1817             :   try {
+    1818       18948 :     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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
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+ + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.png b/mrs_uav_controllers/src/se3_controller.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..afb671c5d34ce6ca6b223aeabfae4877a52e212a GIT binary patch literal 5820 zcmV;t7DMTYP)YR;5o}f-jrz-}$ z1i(om+7m+nnZAkB-t4LtIF2!j>}D`dYzHQ76anYrIJK4mQ}g77`4H_M82uDA&yk}| zQ*eHo#gM+fxZW^Y211=Hrbc?<2^H6%VTtJ_L`Xj(Pf-eNRAXEde)2Pc2_sn81I8A? zBtl3DuRzXdt_|%wG0qet!&5^;^=*pGsB1ch(KmUTvW*4{S02z%b*VVclmX3xJ5A`< zGw#!hsgFoN0dRllHep0!rcnRXq)NjsNWYlTXLc;i^v4q5g;s&S#9z$hbGh-?AU%Q( zQOA8OJrnp_&u}zJ2{Uum5|>4YF-~5B8uz5MI<8_=^(3^`UiE;UfyHY}5+L)tdR{tW zrcm#6DzE-s6)`Hi8BnjQx`D?yH*tf*7+QJp`!4rq_PXRu0NsAU&-jyvY^pj3c!?7| zP;={fN(8zV4a7*s4A}`ZjF}mpA+{swSE}r7UaGRQFv^C|&GE9yjM9si+^ z}!=_rBHR?O;#MPaHpFiG3qo$dDLP=a#e7~&6=v!1@*PF&o(O` zIx|#%z<;fcu(#g`D8lx&*B=;1*zB_^cQe(G3?g;t#b^o>|T(+hxG0Aw3tt$M|5>3}gyhY_Qn!{=+*>r6pc zxYo?!ppBA1teo^{sit^hPgyYXOnql8}t&$fYT(2Nm)2KKzG>i(Mjdx_B*bpC=+ zT*QEt4`VpprhZ@>iQe{+ZFJN8r?;`Jj()~Oy6byzl{xgkEdc5c!8y{pCA#ihpZx^#`<2tqS;fr>bBg#(UjzG&NS8{${i~bFNLuclHtLOn0jPLK~?! zWg^OEP0xs?i5uMXF;nxg$J;l1=Zi4oe#CaqZQAF?h#`(W8?gEKrwcbY;VS2!*(L6I zaBS!2!~J>h5*IY7(y9av8f(Tjb?jZ;Gv2k<16GWgPGMvVZj)e~{|BKnZFFTp%%wq*t|ZFFRn0ZmBVS1|nA8KASE`C5*eqztJDL z8rGkGl#iJ|Y4FF;MLl)zPIry_DX7z9=;LpsE z_yOD{UNN{VZPc+xT^2_1*^Y>54dRomvp~?0j%eee!V%dD zO?FDaqK(wnMrjUf#CXf@UDaZyu6kf(YPZ~6T)5tfpN@5|&Dj+3#D1;7h*ToZglxu` zmG8eJ6kz%2fl(3%`l2QtSI`+;k3#dTtY5Fjs@Ft#KqX$5K0?9?JB|ss2)Jkg&z6<| zfs+aWYKciAQ;*pSysA7P(nGR+0UIQC9|Nd{{*gRjWN>Cqxg0ww4IlSi92_H3Ncl+h zy5o$y2Hx~B_$J zheznr-8g2n#AOY$gS&7Fr^mxzmjSFxga$If_-AaV*vP|rKCTE5jccw8iMhvP3?k*e z%XHx@4#(FM*u$R@ie-4IYX4lW`kVk>T-B^-6szVVUAU^xKP=UJ)nmK>*eugJTo-7_ z%`9QiWapt-S#yA@sz=!N0DDAoQevVs01>%;5;5Wgts-WB`%%PX1eYfT6Z2U;BlL}y znA^t?W0(LqVj$rAiOHxmx}Mp-#C(a7h|z5L3{`ixAQ4qTuKG`z;=AS2PF6?w0Z3<~ zQJRgYtiqTHo~et*>0=|+cj3^K4t;FrXqy?!gFYGdt|_7i+(Jb_1I7~#)6^%}is&)A zO|G*`IHpc>$eL!~o;TaCy9RL3b3@@MYQ3GmCBuY2~ zF~f5Vby$;x1?feHX2oolmkAq2Jjn`Or3d^|ecjP(FGn6i?GzY%^FPs7t@Z*?Q#>uc zdw(kcdQCsHDD0k_6tE6sKr9`qDjk$SfPq2*(9*_??dn=2_yEkx`eaze)9GNyIK~l1(LI#>W!&!(JZZ( zTEK;8a^et?0O{w|rkhPcgHfbv5fVE1Z*3~qJo`jDIetr2Q+ck@NJHpsOo&vak%lCU zr4y6LRejHS0V8DSiD0mJk^&-Y9 z!2AR-;84|}nw@OE$!#?ND$9UGk(ZeIWeWRMGZM_6AXHJ=V>H>JdJiYpHC1Dbo0x?$ zshZ}_U;$%Z$3oRcK>5&sp6WG!-0WbkRew}P&n{%RWKTe-04*z5;?_ptILGrl&9fKi z3_2tC8tVvtF2_nK#c9>%%pplIucvJf10GG_LS7pHg#|>vDsWpVVHBD%p8D8H2zUz1 z@E{Y3#$OnH=YEZu(D#FV=RPL2PoPar#DK3It%n1tZrIwh!d@Yd=p0;XurRFGaF)s$ zuZ{acPX%|+J$J#*&LJ+fV>IW-uTxMGl| zycQmhCxeeOxgeojT#K32)?@TFguqX1nn-0c$c2_i1`7PEyneKc7RRg@ix)mbT^ z8e?)kb!&BBC5qH90@~V$S7$3 z<=WPz#xMkZQuNWXAPuq3%yg(S8@kL~k1UKfPX)-A5G|?I`4WUSCVS4BI4Oz~n_n{Q z!I6++8|ek$9op#orXxlirEdZ3RP|N?_?M|hnAE&4_h@uyT0nd=a4cf<#Ig}Zr0unr~jJ$(Q{@?dK*3&lsItL z5KKMc)wmhXk1*Bm9Q^1r{DFmHcUb7C(4QM}#}Y$hcIU*YuJd;clL%#q_JLVuH=SiBV4?gqp-_=M+& zmhw~$g?p)$XVC`&-OrGiV)dmMq^G|_@vSjP-Ls}cd+#Zm?mr^%EqgBcj_x#z0{wVi zRMULu)cyC2Dd0nx)C+1pq+TNR|#C&*!mk{x@q!mcrq)~_?!d-rr0xjVXH5T_rM zh7F{$T(}TTZoy%eI5G568m)k=BMBp_I=$yqU!tb)Vw)!T&|6XwHd%iP+Xtn z0xBX#LovRnb*2U*#aY7WW~!%zk+v`|6ySF~*h7659oU1L`7{tS(3sjO`iV&=!)Nj| zC~;=TVm_#;CR`aKZXiY()Ra^$1vO#7{l%{W8mLwTHH}M-bykoGYPuO*z9SW+5Zx5b zdbKI)uxW6Pei8`B#$6;GWi=sdBDDCbN&UVH)m8V6&=T4h24hXEt3dMxLZ7mL^eCp( zMjD~jp^d)wju=TERRdtBs<#Tjzf3j4+>S9d238DLknKM>-8&3dIo!R5>SYnnrYG!S zCQuG=6BAS#+sK@N;!XqVG4k>FXPfIWzAqdvTlm}Wyc~j8<9wQl<|)ukGP zMtVjaZdPjT;c_!=_V5s1<1bL*dIOxZ$sYYORjr$_mh?mpTl5;K()XFcT#e3p4_vS z{r{IS%Hv^$clkO@9xw)fu5QeXbf>~(It`Z+ab^lwD(n=Bo%X&%Az$kDg_mn$L><2`j3UYhl((31_$y&-7&V=9QTCvr z3x}kh4W-ZNy(HMtjY#}to6T4?IS~s!1Oddj`knhH#ISn_Zx6fxxf&(U6#2moS!*2#~U;@}d)1EZ(eW$$=ptX%2rN2PF14hJn22giQ(;$z+vB8%= z(0ROh99RCmGoIpW8J5e}GF*r8|7o86T85X8u?(|C2m`pF@AlF^ItsRN@>*UWjJ#W# z6x)$JP9$!@g4=w4W(|3Zl7(F@X6mXxN6aP~HZnA`+WA8^g-lgR#Vp1oLDi{3DDq+S zD~tokMQFv{hgiIS#?nT=krJ_O5pdyr3P{kcUVCRvoSjDF&w`T9p5cLSu?v6NxU7iL znOleazN@G5pY|gU%Y@3IM6vKi4kxE#4xm&+Ndk3O-j0Mv<_o(LM*y#^$yy9 zR}c3GhQO=wdiYU#MInn}$j83QPt<(RxG&+Psju3pg&SNTxxrB3M0N%1|JxRoxGZ1< zt?;`R((~IKIqo>>sjkaguWPhQ=2;E^yKLmhJryGLK0PKnAI=-4kGsyhhLMr|V0+Ij z)K$UUK5;6V7K|&w$w||JkqRvrDYgS5hbrF7YzB_IF3=^qss9T zFecG*97ZM8+S$1K$`!bH+*y>R8Zyw$-C-CDCOmmO+ATo?q$dyem6v~6hV_cO=s$*W~Ofe;4d?VG$3mfh!)k0H-v@uP@ z&tg>8Y^b{b1TatVDybeb0Kr(Ziy-9+wZdFOi$mW{K>q=XJb^`GL+jZ90000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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 %
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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:2024-01-14 11:12:21Functions: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:2024-01-14 11:12:21Functions:1010100.0 %
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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..fa1998f2ce --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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&)459
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)463
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)54602
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)73270
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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/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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*)73270
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)463
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)54602
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
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Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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       73270 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52       73270 :     void operator()(const T& msg) {
+      53       73270 :       obj_->publish(msg);
+      54       73270 :     }
+      55             :   };
+      56             : };
+      57             : 
+      58             : }  // namespace control_manager
+      59             : 
+      60             : }  // namespace mrs_uav_managers
+      61             : 
+      62             : #endif  //  CONTROL_MANAGER_OUTPUT_PUBLISHER
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html new file mode 100644 index 0000000000..09b263e5e1 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.overview.html @@ -0,0 +1,36 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.png b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fdd688bb370f7663153724647927eaa459667bca GIT binary patch literal 332 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfW!VDz+4mNH9QW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!CRg#jv*eMTc_R@JgmUO63D)Y^##MP z_qxsoW@77=HNHQc`DTrZj!g2}RPCgyMn{X24zmu;3tZ^#7E%+I9$1z2-~Hw84U=k2 z4|j*$Z0-BVwQ#LZPe@1*@1FIJ-4-|f*Lgnua4f;i^kDBLO$82VM}aqiJexoA?e=!; zP1$C<>VaG4@4cUR8vfjSmptKVZex36aP6U&;q4|#;dgdw2qk^7v)`$HtkLlNGdUR# zYu`;D4^40T_+7%T&EUnw&}9A@Oy}y>9psSfzqj9wQ#d|**7eZ4D=rjGy76rCwIcb5 X-I2 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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&)52
mrs_uav_managers::AglEstimator::~AglEstimator().252
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers - agl_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::AglEstimator::AglEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)52
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().252
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Date:2024-01-14 11:12:21Functions: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          52 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          52 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          52 :   }
+      57             : 
+      58          52 :   virtual ~AglEstimator(void) {
+      59          52 :   }
+      60             : 
+      61             :   // virtual methods
+      62             :   virtual mrs_msgs::Float64Stamped getUavAglHeight() const     = 0;
+      63             :   virtual std::vector<double>      getHeightCovariance() const = 0;
+      64             : 
+      65             :   // implemented methods
+      66             :   void publishAglHeight() const;
+      67             :   void publishCovariance() const;
+      68             :   bool isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      69             : };
+      70             : 
+      71             : }  // namespace mrs_uav_managers
+      72             : 
+      73             : #endif  // MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..21f3af39aa --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

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+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d88c3428e27de2da87a77f1e9b45246bce5c1009 GIT binary patch literal 397 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1@!VDxMp6xjcq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUqO7#O8JT^vI^I**2N^Bq>;m@551^bPNq zf9122k3Q-bES1dkxxB~jU(@G%i}R249^oF@8-^V(Ynvcr7WJ?T*XcTjST)6V%To!AaM zVduIYRMU7w<@9e;50Qhsq7K!Y7H0fOOAcJ-FL2X1>-ZLKhy8pP p#LM#zrZ}!(zhtL;GxNsIIKPIdz%zeOxB$bB!PC{xWt~$(697r3r%?a^ literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html new file mode 100644 index 0000000000..fa9c0ce05a --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-01-14 11:12:21Functions: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&)459
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
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&)462
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
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&)463
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)463
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&)949
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
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&)950
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
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&)3779
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&)3800
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5171
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)5193
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&)7806
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)7863
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13340
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&)46742
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)56425
+
+
+ + + +
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..19f898e446 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func.html @@ -0,0 +1,188 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-01-14 11:12:21Functions: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&)3800
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&)7806
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&)459
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&)463
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&)46742
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&)3779
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&)949
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&)462
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&)950
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&)7863
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&)5193
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13340
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)463
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)56425
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5171
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
+
+
+ + + +
Generated by: LCOV version 1.14
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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..383f5101fe --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.gcov.html @@ -0,0 +1,380 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/control_manager - common.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:539655.2 %
Date:2024-01-14 11:12:21Functions: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        5193 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        5193 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        5193 :     double throttle = 0;
+      88             : 
+      89       25965 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       20772 :       throttle += msg.motors[i];
+      91             :     };
+      92             : 
+      93        5193 :     throttle /= msg.motors.size();
+      94             : 
+      95        5193 :     return throttle;
+      96             :   }
+      97        5171 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5171 :     return msg.throttle;
+      99             :   }
+     100       13340 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101       13340 :     return msg.throttle;
+     102             :   }
+     103       56425 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104       56425 :     return msg.throttle;
+     105             :   }
+     106         950 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107         950 :     return std::nullopt;
+     108             :   }
+     109         949 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110         949 :     return std::nullopt;
+     111             :   }
+     112         462 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113         462 :     return std::nullopt;
+     114             :   }
+     115         463 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116         463 :     return std::nullopt;
+     117             :   }
+     118         459 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         459 :     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        3800 :   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        3800 :     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        3800 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        3779 :   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        3779 :     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        3779 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        7806 :   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        7806 :     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        7806 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       46742 :   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       46742 :     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       46742 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183         950 :   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         950 :     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         950 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193         949 :   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         949 :     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         949 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203         462 :   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         462 :     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         462 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213         463 :   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         463 :     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         463 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         459 :   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         459 :     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         459 :     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        7863 :   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        7863 :     initializeHwApiCmd(msg, min_throttle);
+     267        7863 :   }
+     268           0 :   void operator()(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     269             :                   [[maybe_unused]] const double& n_motors) {
+     270           0 :     initializeHwApiCmd(msg, uav_state);
+     271           0 :   }
+     272           0 :   void operator()(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     273             :                   [[maybe_unused]] const double& n_motors) {
+     274           0 :     initializeHwApiCmd(msg, uav_state);
+     275           0 :   }
+     276           0 :   void operator()(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     277             :                   [[maybe_unused]] const double& n_motors) {
+     278           0 :     initializeHwApiCmd(msg, uav_state);
+     279           0 :   }
+     280           0 :   void operator()(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     281             :                   [[maybe_unused]] const double& n_motors) {
+     282           0 :     initializeHwApiCmd(msg, uav_state);
+     283           0 :   }
+     284           0 :   void operator()(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state, [[maybe_unused]] const double& min_throttle,
+     285             :                   [[maybe_unused]] const double& n_motors) {
+     286           0 :     initializeHwApiCmd(msg, uav_state);
+     287           0 :   }
+     288             : };
+     289             : 
+     290             : //}
+     291             : 
+     292             : }  // namespace control_manager
+     293             : 
+     294             : }  // namespace mrs_uav_managers
+     295             : 
+     296             : #endif  // CONTROL_MANAGER_COMMON_H
+
+
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          Line data    Source code
+
+       1             : #ifndef MRS_UAV_CONTROLLER_H
+       2             : #define MRS_UAV_CONTROLLER_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       9             : #include <mrs_uav_managers/control_manager/private_handlers.h>
+      10             : 
+      11             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      12             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      13             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      14             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      15             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      16             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      17             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      18             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      19             : #include <mrs_msgs/HwApiPositionCmd.h>
+      20             : 
+      21             : #include <mrs_msgs/ControllerDiagnostics.h>
+      22             : #include <mrs_msgs/ControllerStatus.h>
+      23             : #include <mrs_msgs/TrackerCommand.h>
+      24             : #include <mrs_msgs/UavState.h>
+      25             : 
+      26             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      27             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      28             : #include <mrs_msgs/DynamicsConstraintsSrvResponse.h>
+      29             : 
+      30             : //}
+      31             : 
+      32             : namespace mrs_uav_managers
+      33             : {
+      34             : 
+      35             : class Controller {
+      36             : public:
+      37             :   typedef std::variant<mrs_msgs::HwApiActuatorCmd, mrs_msgs::HwApiControlGroupCmd, mrs_msgs::HwApiAttitudeRateCmd, mrs_msgs::HwApiAttitudeCmd,
+      38             :                        mrs_msgs::HwApiAccelerationHdgRateCmd, mrs_msgs::HwApiAccelerationHdgCmd, mrs_msgs::HwApiVelocityHdgRateCmd,
+      39             :                        mrs_msgs::HwApiVelocityHdgCmd, mrs_msgs::HwApiPositionCmd>
+      40             :       HwApiOutputVariant;
+      41             : 
+      42             :   typedef struct
+      43             :   {
+      44             :     std::optional<HwApiOutputVariant> control_output;
+      45             :     mrs_msgs::ControllerDiagnostics   diagnostics;
+      46             : 
+      47             :     /**
+      48             :      * @brief Desired orientation is used for checking the orientation control error.
+      49             :      *        This variable is optional, fill it in if you know it.
+      50             :      */
+      51             :     std::optional<Eigen::Quaterniond> desired_orientation;
+      52             : 
+      53             :     /**
+      54             :      * @brief Desired unbiased acceleration is used by the MRS odometry as control input.
+      55             :      *        This variable is optional, fill it in if you know it.
+      56             :      */
+      57             :     std::optional<Eigen::Vector3d> desired_unbiased_acceleration;
+      58             : 
+      59             :     /**
+      60             :      * @brief Desired heading rate caused by the controllers control action.
+      61             :      *        This variable is optional, fill it in if you know it.
+      62             :      */
+      63             :     std::optional<double> desired_heading_rate;
+      64             :   } ControlOutput;
+      65             : 
+      66             :   /**
+      67             :    * @brief Initializes the controller. It is called once for every controller. The runtime is not limited.
+      68             :    *
+      69             :    * @param nh the node handle of the ControlManager
+      70             :    * @param name of the controller for distinguishing multiple running instances of the same code
+      71             :    * @param name_space the parameter namespace of the controller, can be used during initialization of the private node handle
+      72             :    * @param common_handlers handlers shared between trackers and controllers
+      73             :    * @param private_handlers handlers provided individually to each controller
+      74             :    *
+      75             :    * @return true if success
+      76             :    */
+      77             :   virtual bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      78             :                           std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) = 0;
+      79             : 
+      80             :   /**
+      81             :    * @brief It is called before the controller output will be required and used. Should not take much time (within miliseconds).
+      82             :    *
+      83             :    * @param last_attitude_cmd the last command produced by the last active controller. Should be used as an initial condition, e.g., for re-initializing
+      84             :    * integrators and estimators.
+      85             :    *
+      86             :    * @return true if success
+      87             :    */
+      88             :   virtual bool activate(const ControlOutput &last_control_output) = 0;
+      89             : 
+      90             :   /**
+      91             :    * @brief is called when this controller's output is no longer needed. However, it can be activated later.
+      92             :    */
+      93             :   virtual void deactivate(void) = 0;
+      94             : 
+      95             :   /**
+      96             :    * @brief It may be called to reset the controllers disturbance estimators.
+      97             :    */
+      98             :   virtual void resetDisturbanceEstimators(void) = 0;
+      99             : 
+     100             :   /**
+     101             :    * @brief This method is called in the main feedback control loop when your controller is NOT active. You can use this to validate your results without endangering the drone.
+     102             :    *        The method is called even before the flight with just the uav_state being supplied.
+     103             :    *
+     104             :    * @param uav_state current estimated state of the UAV dynamics
+     105             :    * @param tracker_command current required control reference (is optional)
+     106             :    */
+     107             :   virtual void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command) = 0;
+     108             : 
+     109             :   /**
+     110             :    * @brief This method is called in the main feedback control loop when your controller IS active and when it is supposed to produce a control output.
+     111             :    *
+     112             :    * @param uav_state current estimated state of the UAV dynamics
+     113             :    * @param tracker_command current required control reference
+     114             :    *
+     115             :    * @return produced control output
+     116             :    */
+     117             :   virtual ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) = 0;
+     118             : 
+     119             :   /**
+     120             :    * @brief A request for the controller's status.
+     121             :    *
+     122             :    * @return the controller's status
+     123             :    */
+     124             :   virtual const mrs_msgs::ControllerStatus getStatus() = 0;
+     125             : 
+     126             :   /**
+     127             :    * @brief It is called during every switch of reference frames of the UAV state estimate.
+     128             :    * The controller should recalculate its internal states from old the frame to the new one.
+     129             :    *
+     130             :    * @param new_uav_state the new UavState which will come in the next update()
+     131             :    */
+     132             :   virtual void switchOdometrySource(const mrs_msgs::UavState &new_uav_state) = 0;
+     133             : 
+     134             :   /**
+     135             :    * @brief Request for setting new constraints.
+     136             :    *
+     137             :    * @param constraints to be set
+     138             :    *
+     139             :    * @return a service response
+     140             :    */
+     141             :   virtual const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) = 0;
+     142             : 
+     143         310 :   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&)365
mrs_uav_managers::Estimator::~Estimator().2365
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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&)365
mrs_uav_managers::Estimator::~Estimator()0
mrs_uav_managers::Estimator::~Estimator().2365
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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         365 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         365 :   }
+      65             : 
+      66         365 :   virtual ~Estimator(void) {
+      67         365 :   }
+      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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estimator.h +
100.0%
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support.h +
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Date:2024-01-14 11:12:21Functions:171894.4 %
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-01-14 11:12:21Functions:171894.4 %
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support.h +
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-01-14 11:12:21Functions:171894.4 %
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support.h +
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estimator.h +
100.0%
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Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-01-14 11:12:21Functions:171894.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
support.h +
97.1%97.1%
+ 		97.1 %102 / 105100.0 %15 / 15
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-01-14 11:12:21Functions:1515100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)4
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8
mrs_uav_managers::estimation_manager::Support::isStringInVector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)184
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)248
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1467
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)100827
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)188262
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)213152
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)221157
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)222114
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)234068
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)546110
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)558969
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)773030
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)870218
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html new file mode 100644 index 0000000000..1e94bdd651 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html @@ -0,0 +1,140 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-01-14 11:12:21Functions:1515100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)213152
mrs_uav_managers::estimation_manager::Support::getPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)4
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)558969
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)773030
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)248
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1467
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)222114
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)100827
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)546110
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)188262
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)221157
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&)184
mrs_uav_managers::estimation_manager::Support::frameIdToEstimatorName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)234068
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)870218
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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:10210597.1 %
Date:2024-01-14 11:12:21Functions:1515100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATION_MANAGER_SUPPORT_H
+       3             : #define ESTIMATION_MANAGER_SUPPORT_H
+       4             : 
+       5             : /* includes //{ */
+       6             : 
+       7             : #include <string.h>
+       8             : 
+       9             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      10             : 
+      11             : #include <geometry_msgs/TransformStamped.h>
+      12             : #include <geometry_msgs/Pose.h>
+      13             : #include <geometry_msgs/PointStamped.h>
+      14             : 
+      15             : #include <nav_msgs/Odometry.h>
+      16             : 
+      17             : #include <mrs_msgs/UavState.h>
+      18             : 
+      19             : #include <mrs_lib/attitude_converter.h>
+      20             : #include <mrs_lib/transformer.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_managers
+      25             : {
+      26             : 
+      27             : namespace estimation_manager
+      28             : {
+      29             : 
+      30             : /*//{ class Support */
+      31             : class Support {
+      32             : 
+      33             : public:
+      34             : 
+      35             :   const static inline std::string waiting_for_string = "\033[0;36mWAITING FOR:\033[0m";
+      36             : 
+      37             :   /*//{ toSnakeCase() */
+      38        1467 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40        1467 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       23132 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       21665 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44        1218 :         str += "_";
+      45             :       }
+      46       21665 :       str += *it;
+      47             :     }
+      48             : 
+      49        1467 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51        1467 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         248 : static std::string toLowercase(const std::string str_in) {
+      58         248 :   std::string str_out = str_in;
+      59         248 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         248 :   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      188262 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100      188262 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102      186436 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104      185987 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      369712 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111      870218 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     2608788 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     3477461 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     1739412 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      234068 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      234068 :     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      773030 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137      773030 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139      772756 :     tf2::Quaternion q;
+     140      772692 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142      772607 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144     1542954 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      558969 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      558969 :     geometry_msgs::Pose pose_out;
+     154      557855 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      558562 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      558957 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      559048 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      559369 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      213152 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      213152 :     geometry_msgs::Transform tf_out;
+     169      213152 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      213152 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      213152 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      213152 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      213152 :     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      546110 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      546110 :     geometry_msgs::Vector3 vec_out;
+     196      545792 :     vec_out.x = point_in.x;
+     197      545792 :     vec_out.y = point_in.y;
+     198      545792 :     vec_out.z = point_in.z;
+     199             : 
+     200      545792 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      222114 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      222114 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      222125 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      221771 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      221938 :       geometry_msgs::Vector3 vec_out;
+     213      221183 :       vec_out.x = vec_eigen_rotated[0];
+     214      221230 :       vec_out.y = vec_eigen_rotated[1];
+     215      221462 :       vec_out.z = vec_eigen_rotated[2];
+     216      221623 :       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      221157 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      221157 :     nav_msgs::Odometry odom;
+     228      221128 :     odom.header              = uav_state.header;
+     229      221098 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      221061 :     odom.pose.pose           = uav_state.pose;
+     231      221061 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      221061 :     tf2::Quaternion q;
+     234      221057 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      221075 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      439754 :     return odom;
+     238             :   }
+     239             :   /*//}*/
+     240             : 
+     241             :   /*//{ getPoseDiff() */
+     242           4 :   static geometry_msgs::Pose getPoseDiff(const geometry_msgs::Pose& p1, const geometry_msgs::Pose& p2) {
+     243             : 
+     244           4 :     tf2::Vector3 v1, v2;
+     245           4 :     tf2::fromMsg(p1.position, v1);
+     246           4 :     tf2::fromMsg(p2.position, v2);
+     247           4 :     const tf2::Vector3 v3 = v1 - v2;
+     248             : 
+     249           4 :     tf2::Quaternion q1, q2;
+     250           4 :     tf2::fromMsg(p1.orientation, q1);
+     251           4 :     tf2::fromMsg(p2.orientation, q2);
+     252           4 :     tf2::Quaternion q3 = q2 * q1.inverse();
+     253           4 :     q3.normalize();
+     254             : 
+     255           4 :     geometry_msgs::Pose pose_diff;
+     256           4 :     tf2::toMsg(v3, pose_diff.position);
+     257           4 :     pose_diff.orientation = tf2::toMsg(q3);
+     258             : 
+     259           8 :     return pose_diff;
+     260             :   }
+     261             :   /*//}*/
+     262             : 
+     263             :   /*//{ applyPoseDiff() */
+     264      100827 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266      100827 :     tf2::Vector3    pos_in;
+     267      100827 :     tf2::Quaternion q_in;
+     268      100827 :     tf2::fromMsg(pose_in.position, pos_in);
+     269      100827 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271      100827 :     tf2::Vector3    pos_diff;
+     272      100827 :     tf2::Quaternion q_diff;
+     273      100827 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274      100827 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276      100827 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277      100827 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279      100827 :     geometry_msgs::Pose pose_out;
+     280      100827 :     tf2::toMsg(pos_out, pose_out.position);
+     281      100827 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      201654 :     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         184 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         184 :     return std::find(str_vec.begin(), str_vec.end(), value) != str_vec.end();
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /*//{ frameIdToEstimatorName() */
+     305           8 :   static std::string frameIdToEstimatorName(const std::string& str_in) {
+     306          16 :     const std::string str_tmp = str_in.substr(str_in.find("/")+1, str_in.size());
+     307          16 :     return str_tmp.substr(0, str_tmp.find("_origin") );
+     308             :   }
+     309             :   /*//}*/
+     310             : 
+     311             : private:
+     312             :   Support() {
+     313             :   }
+     314             : };
+     315             : /*//}*/
+     316             : 
+     317             : }  // namespace estimation_manager
+     318             : 
+     319             : }  // namespace mrs_uav_managers
+     320             : 
+     321             : #endif  // ESTIMATION_MANAGER_SUPPORT_H
+
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agl_estimator.h +
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controller.h +
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state_estimator.h +
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tracker.h +
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mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::StateEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_uav_managers::StateEstimator::~StateEstimator().266
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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&)66
mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().266
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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          66 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62          66 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63          66 :   }
+      64             : 
+      65          66 :   virtual ~StateEstimator(void) {
+      66          66 :   }
+      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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Date:2024-01-14 11:12:21Functions:1250.0 %
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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2373
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mrs_uav_managers::Tracker::~Tracker()0
mrs_uav_managers::Tracker::~Tracker().2373
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Date:2024-01-14 11:12:21Functions:1250.0 %
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_TRACKER_H
+       2             : #define MRS_UAV_TRACKER_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       9             : #include <mrs_uav_managers/control_manager/private_handlers.h>
+      10             : 
+      11             : #include <mrs_msgs/TrackerCommand.h>
+      12             : #include <mrs_msgs/TrackerStatus.h>
+      13             : #include <mrs_msgs/UavState.h>
+      14             : 
+      15             : #include <mrs_msgs/Float64Srv.h>
+      16             : #include <mrs_msgs/Float64SrvRequest.h>
+      17             : #include <mrs_msgs/Float64SrvResponse.h>
+      18             : 
+      19             : #include <mrs_msgs/Float64.h>
+      20             : 
+      21             : #include <mrs_msgs/ReferenceSrv.h>
+      22             : #include <mrs_msgs/ReferenceSrvRequest.h>
+      23             : #include <mrs_msgs/ReferenceSrvResponse.h>
+      24             : 
+      25             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      26             : #include <mrs_msgs/VelocityReferenceSrvRequest.h>
+      27             : #include <mrs_msgs/VelocityReferenceSrvResponse.h>
+      28             : 
+      29             : #include <mrs_msgs/TrajectoryReferenceSrv.h>
+      30             : #include <mrs_msgs/TrajectoryReferenceSrvRequest.h>
+      31             : #include <mrs_msgs/TrajectoryReferenceSrvResponse.h>
+      32             : 
+      33             : #include <std_srvs/Trigger.h>
+      34             : #include <std_srvs/TriggerRequest.h>
+      35             : #include <std_srvs/TriggerResponse.h>
+      36             : 
+      37             : #include <std_srvs/SetBool.h>
+      38             : #include <std_srvs/SetBoolRequest.h>
+      39             : #include <std_srvs/SetBoolResponse.h>
+      40             : 
+      41             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      42             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      43             : #include <mrs_msgs/DynamicsConstraintsSrvResponse.h>
+      44             : 
+      45             : #include <mrs_uav_managers/controller.h>
+      46             : 
+      47             : //}
+      48             : 
+      49             : namespace mrs_uav_managers
+      50             : {
+      51             : 
+      52             : class Tracker {
+      53             : 
+      54             : public:
+      55             :   /**
+      56             :    * @brief It is called once for every tracker. The runtime is not limited.
+      57             :    *
+      58             :    * @param nh the node handle of the ControlManager
+      59             :    * @param uav_name the UAV name (e.g., "uav1")
+      60             :    * @param common_handlers handlers shared between trackers and controllers
+      61             :    * @param private_handlers handlers provided individually to each tracker
+      62             :    *
+      63             :    * @return true if success
+      64             :    */
+      65             :   virtual bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      66             :                           std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) = 0;
+      67             : 
+      68             :   /**
+      69             :    * @brief It is called before the trackers output will be required and used. Should not take much time (within miliseconds).
+      70             :    *
+      71             :    * @param last_tracker_cmd the last command produced by the last active tracker. Should be used as an initial condition to maintain a smooth reference.
+      72             :    *
+      73             :    * @return true if success and message
+      74             :    */
+      75             :   virtual std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) = 0;
+      76             : 
+      77             :   /**
+      78             :    * @brief is called when this trackers output is no longer needed. However, it can be activated later.
+      79             :    */
+      80             :   virtual void deactivate(void) = 0;
+      81             : 
+      82             :   /**
+      83             :    * @brief It is called during every switch of reference frames of the UAV state estimate.
+      84             :    * The tracker should recalculate its internal states from old the frame to the new one.
+      85             :    *
+      86             :    * @param new_uav_state the new UavState which will come in the next update()
+      87             :    *
+      88             :    * @return a service response
+      89             :    */
+      90             :   virtual const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state) = 0;
+      91             : 
+      92             :   /**
+      93             :    * @brief Request for reseting the tracker's states given the UAV is static.
+      94             :    *
+      95             :    * @return true if success
+      96             :    */
+      97             :   virtual bool resetStatic(void) = 0;
+      98             : 
+      99             :   /**
+     100             :    * @brief The most important routine. It is called with every state estimator update and it should produce a new reference for the controllers.
+     101             :    *        The run time should be as short as possible (<= 1 ms).
+     102             :    *
+     103             :    * @param uav_state the latest UAV state estimate
+     104             :    * @param last_attitude_cmd the last controller's output command (may be useful)
+     105             :    *
+     106             :    * @return the new reference for the controllers
+     107             :    */
+     108             :   virtual std::optional<mrs_msgs::TrackerCommand> update(const mrs_msgs::UavState &uav_state, const Controller::ControlOutput &last_control_output) = 0;
+     109             : 
+     110             :   /**
+     111             :    * @brief A request for the tracker's status.
+     112             :    *
+     113             :    * @return the tracker's status
+     114             :    */
+     115             :   virtual const mrs_msgs::TrackerStatus getStatus() = 0;
+     116             : 
+     117             :   /**
+     118             :    * @brief Request for a flight to a given coordinates.
+     119             :    *
+     120             :    * @param cmd the reference
+     121             :    *
+     122             :    * @return a service response
+     123             :    */
+     124             :   virtual const mrs_msgs::ReferenceSrvResponse::ConstPtr setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) = 0;
+     125             : 
+     126             :   /**
+     127             :    * @brief Request for desired velocity reference
+     128             :    *
+     129             :    * @param cmd the reference
+     130             :    *
+     131             :    * @return a service response
+     132             :    */
+     133             :   virtual const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) = 0;
+     134             : 
+     135             :   /**
+     136             :    * @brief Request for a flight along a given trajectory
+     137             :    *
+     138             :    * @param cmd the reference trajectory
+     139             :    *
+     140             :    * @return a service response
+     141             :    */
+     142             :   virtual const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) = 0;
+     143             : 
+     144             :   /**
+     145             :    * @brief Request for stopping the motion of the UAV.
+     146             :    *
+     147             :    * @param trigger service request
+     148             :    *
+     149             :    * @return a service response
+     150             :    */
+     151             :   virtual const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     152             : 
+     153             :   /**
+     154             :    * @brief Request to goto to the first trajectory coordinate.
+     155             :    *
+     156             :    * @param trigger service request
+     157             :    *
+     158             :    * @return a service response
+     159             :    */
+     160             :   virtual const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     161             : 
+     162             :   /**
+     163             :    * @brief Request to start tracking of the pre-loaded trajectory
+     164             :    *
+     165             :    * @param trigger service request
+     166             :    *
+     167             :    * @return a service response
+     168             :    */
+     169             :   virtual const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     170             : 
+     171             :   /**
+     172             :    * @brief Request to stop tracking of the pre-loaded trajectory. The hover() routine will be engaged, thus it should be implemented by the tracker.
+     173             :    *
+     174             :    * @param trigger service request
+     175             :    *
+     176             :    * @return a service response
+     177             :    */
+     178             :   virtual const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     179             : 
+     180             :   /**
+     181             :    * @brief Request to resume the previously stopped trajectory tracking.
+     182             :    *
+     183             :    * @param trigger service request
+     184             :    *
+     185             :    * @return a service response
+     186             :    */
+     187             :   virtual const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd) = 0;
+     188             : 
+     189             :   /**
+     190             :    * @brief Request for enabling/disabling callbacks.
+     191             :    *
+     192             :    * @param cmd service request
+     193             :    *
+     194             :    * @return a service response
+     195             :    */
+     196             :   virtual const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) = 0;
+     197             : 
+     198             :   /**
+     199             :    * @brief Request for setting new constraints.
+     200             :    *
+     201             :    * @param constraints to be set
+     202             :    *
+     203             :    * @return a service response
+     204             :    */
+     205             :   virtual const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) = 0;
+     206             : 
+     207         373 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
+
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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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html new file mode 100644 index 0000000000..8218f6ae36 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html @@ -0,0 +1,118 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20724086.2 %
Date:2024-01-14 11:12:21Functions:1414100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::setIsUtmSource(bool)8
mrs_uav_managers::TfSource::getIsUtmSource()16
mrs_uav_managers::TfSource::getIsUtmBased()17
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)66
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)66
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)66
mrs_uav_managers::TfSource::getName[abi:cxx11]()544
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> > >&)102317
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)120183
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)120237
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)123355
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)123366
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()587765
+
+
+ + + +
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/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20724086.2 %
Date:2024-01-14 11:12:21Functions:1414100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()587765
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)66
mrs_uav_managers::TfSource::getIsUtmBased()17
mrs_uav_managers::TfSource::getIsUtmSource()16
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)66
mrs_uav_managers::TfSource::setIsUtmSource(bool)8
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)66
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)123355
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> > >&)102317
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)120183
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)123366
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)120237
mrs_uav_managers::TfSource::getName[abi:cxx11]()544
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)66
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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:20724086.2 %
Date:2024-01-14 11:12:21Functions:1414100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_SOURCE_H
+       3             : #define TF_SOURCE_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/transformer.h>
+      12             : #include <mrs_lib/transform_broadcaster.h>
+      13             : #include <mrs_lib/gps_conversions.h>
+      14             : 
+      15             : #include <tf2_ros/transform_broadcaster.h>
+      16             : #include <tf2_ros/static_transform_broadcaster.h>
+      17             : 
+      18             : #include <geometry_msgs/TransformStamped.h>
+      19             : 
+      20             : #include <nav_msgs/Odometry.h>
+      21             : 
+      22             : #include <memory>
+      23             : #include <string>
+      24             : 
+      25             : #include <mrs_uav_managers/estimation_manager/support.h>
+      26             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      27             : 
+      28             : namespace mrs_uav_managers
+      29             : {
+      30             : 
+      31             : /*//{ class TfSource */
+      32             : class TfSource {
+      33             : 
+      34             :   using Support = estimation_manager::Support;
+      35             : 
+      36             : public:
+      37             :   /*//{ constructor */
+      38          66 :   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          66 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43          66 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45          66 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49         132 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51         132 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53          66 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54          66 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55          66 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58          66 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      59          66 :       if (tf_from_attitude_enabled_) {
+      60          65 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      61             :       }
+      62          66 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      63          66 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      64          66 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      65          66 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      66          66 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      67             : 
+      68             :       /* coordinate frames origins //{ */
+      69          66 :       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          66 :       if (is_utm_based_) {
+      74         130 :         std::string utm_origin_parent_frame_id;
+      75          65 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      76          65 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      77             : 
+      78          65 :         std::string utm_origin_child_frame_id;
+      79          65 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      80          65 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      81             :       }
+      82             :       /*//}*/
+      83             : 
+      84             :       /*//{ world source */
+      85          66 :       if (is_utm_based_) {
+      86         130 :         std::string world_origin_parent_frame_id;
+      87          65 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      88          65 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      89             : 
+      90          65 :         std::string world_origin_child_frame_id;
+      91          65 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      92          65 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      93             :       }
+      94             :       /*//}*/
+      95             : 
+      96             :       //}
+      97             : 
+      98          66 :       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         132 :       mrs_lib::SubscribeHandlerOptions shopts;
+     107          66 :       shopts.nh                 = nh_;
+     108          66 :       shopts.node_name          = getPrintName();
+     109          66 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     110          66 :       shopts.threadsafe         = true;
+     111          66 :       shopts.autostart          = true;
+     112          66 :       shopts.queue_size         = 10;
+     113          66 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     114             : 
+     115          66 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     116          66 :       if (tf_from_attitude_enabled_) {
+     117          65 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     118             :       }
+     119             : 
+     120          66 :       if (is_utm_source_) {
+     121          61 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     122             :       }
+     123             : 
+     124             :     }
+     125             :     /*//}*/
+     126             : 
+     127         124 :     for (auto frame_id : republish_in_frames_) {
+     128          58 :       republishers_.push_back(
+     129         116 :           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          66 :     is_initialized_ = true;
+     132          66 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     133          66 :   }
+     134             :   /*//}*/
+     135             : 
+     136             :   /*//{ getName() */
+     137         544 :   std::string getName() {
+     138         544 :     return name_;
+     139             :   }
+     140             :   /*//}*/
+     141             : 
+     142             :   /*//{ getPrintName() */
+     143      587765 :   std::string getPrintName() {
+     144     1176300 :     return ch_->nodelet_name + "/" + name_;
+     145             :   }
+     146             :   /*//}*/
+     147             : 
+     148             :   /*//{ getIsUtmBased() */
+     149          17 :   bool getIsUtmBased() {
+     150          17 :     return is_utm_based_;
+     151             :   }
+     152             :   /*//}*/
+     153             : 
+     154             :   /*//{ getIsUtmSource() */
+     155          16 :   bool getIsUtmSource() {
+     156          16 :     return is_utm_source_;
+     157             :   }
+     158             :   /*//}*/
+     159             : 
+     160             :   /*//{ setIsUtmSource() */
+     161           8 :   void setIsUtmSource(const bool is_utm_source) {
+     162           8 :     if (is_utm_source) {
+     163           4 :       mrs_lib::SubscribeHandlerOptions shopts;
+     164           4 :       shopts.nh                 = nh_;
+     165           4 :       shopts.node_name          = getPrintName();
+     166           4 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     167           4 :       shopts.threadsafe         = true;
+     168           4 :       shopts.autostart          = true;
+     169           4 :       shopts.queue_size         = 10;
+     170           4 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     171           4 :       sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     172             :     }
+     173           8 :     is_utm_source_ = is_utm_source;
+     174           8 :   }
+     175             :   /*//}*/
+     176             : 
+     177             :   /*//{ setUtmOrigin() */
+     178          66 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     179             : 
+     180          66 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     181          65 :       utm_origin_        = pt;
+     182          65 :       is_utm_origin_set_ = true;
+     183             :     }
+     184          66 :   }
+     185             :   /*//}*/
+     186             : 
+     187             :   /*//{ setWorldOrigin() */
+     188          66 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     189             : 
+     190          66 :     if (is_utm_based_ && !is_world_origin_set_) {
+     191          65 :       world_origin_        = pt;
+     192          65 :       is_world_origin_set_ = true;
+     193             :     }
+     194          66 :   }
+     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      120237 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     252             : 
+     253      120237 :     if (!is_initialized_) {
+     254           0 :       return;
+     255             :     }
+     256             : 
+     257      360743 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     258             : 
+     259      120212 :     scope_timer.checkpoint("get msg");
+     260             : 
+     261      120252 :     if (!got_first_msg_) {
+     262          66 :       first_msg_     = msg;
+     263          66 :       got_first_msg_ = true;
+     264             :     }
+     265             : 
+     266      120252 :     publishTfFromOdom(msg);
+     267      120281 :     scope_timer.checkpoint("pub tf");
+     268             : 
+     269      120278 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     270          66 :       publishLocalTf(msg->header.frame_id);
+     271          66 :       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      222596 :     for (auto republisher : republishers_) {
+     285      102317 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     286             :     }
+     287             :   }
+     288             :   /*//}*/
+     289             : 
+     290             :   /*//{ callbackTfSourceAtt()*/
+     291      123366 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     292             : 
+     293      123366 :     if (!is_initialized_) {
+     294           0 :       return;
+     295             :     }
+     296             : 
+     297      370058 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299      123325 :     scope_timer.checkpoint("get msg");
+     300      123346 :     publishTfFromAtt(msg);
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /* publishTfFromOdom() //{*/
+     305      120183 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     306             : 
+     307      240424 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     308             : 
+     309      120252 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     310      120208 :     const tf2::Transform      tf_inv   = tf.inverse();
+     311      120239 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     312             : 
+     313             :     /*//{ tf source origin */
+     314      120225 :     geometry_msgs::TransformStamped tf_msg;
+     315      120153 :     tf_msg.header.stamp         = odom->header.stamp;
+     316      120185 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     317      120198 :     if (is_inverted_) {
+     318             : 
+     319      120198 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     320      120212 :       tf_msg.child_frame_id        = origin_frame_id;
+     321      120201 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     322      120245 :       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      120245 :     if (Support::noNans(tf_msg)) {
+     332             :       try {
+     333      120208 :         broadcaster_->sendTransform(tf_msg);
+     334             :       }
+     335           0 :       catch (...) {
+     336           0 :         ROS_ERROR("exception caught ");
+     337             :       }
+     338             : 
+     339      120278 :       if (tf_from_attitude_enabled_) {
+     340      119259 :         if (is_inverted_) {
+     341      119261 :           tf_msg.child_frame_id += "_att_only";
+     342             :         } else {
+     343           0 :           tf_msg.header.frame_id += "_att_only";
+     344             :         }
+     345             :         try {
+     346      119262 :           broadcaster_->sendTransform(tf_msg);
+     347             :         }
+     348           0 :         catch (...) {
+     349           0 :           ROS_ERROR("exception caught ");
+     350             :         }
+     351             :       }
+     352             :       /*//}*/
+     353             : 
+     354             :       /*//{ tf utm origin */
+     355             : 
+     356      120281 :       geometry_msgs::TransformStamped tf_utm_msg;
+     357      120279 :       if (is_utm_source_) {
+     358             :         
+     359      106576 :         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      106576 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     365      106576 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     366      106576 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     367             : 
+     368      106576 :         if (sh_altitude_amsl_.hasMsg()) {
+     369      106575 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     370             :         } else {
+     371           1 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     372             :         }
+     373             : 
+     374      106576 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     375      106576 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     376      106576 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     377             : 
+     378      106576 :         tf2::Transform tf_utm;
+     379      106576 :         if (is_inverted_) {
+     380      106576 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     381             :         } else {
+     382           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     383             :         }
+     384      106576 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     385             : 
+     386             :         try {
+     387      106576 :           broadcaster_->sendTransform(tf_utm_msg);
+     388      106576 :           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      120280 :       if (is_utm_source_) {
+     398      213151 :         geometry_msgs::TransformStamped tf_world_msg;
+     399      106576 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     400      106576 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     401      106576 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     402             : 
+     403      106576 :         tf2::Transform tf_world;
+     404      106576 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     405      106576 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     406             : 
+     407      106576 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     408      106576 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     409      106576 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     410             : 
+     411      106576 :         tf2::Transform tf_utm;
+     412      106576 :         if (is_inverted_) {
+     413      106576 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     414             :         } else {
+     415           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     416             :         }
+     417             : 
+     418      106576 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     419      106576 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     420             : 
+     421             :         try {
+     422      106576 :           broadcaster_->sendTransform(tf_world_msg);
+     423      106576 :           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      120281 :     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      123355 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     443             : 
+     444      370086 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     445             : 
+     446      246724 :     geometry_msgs::TransformStamped tf_msg;
+     447      123327 :     tf_msg.header.stamp = msg->header.stamp;
+     448             : 
+     449      123335 :     geometry_msgs::Pose pose;
+     450      123325 :     pose.position.x = 0.0;
+     451      123325 :     pose.position.y = 0.0;
+     452      123325 :     pose.position.z = 0.0;
+     453      123325 :     pose.orientation = msg->quaternion;
+     454      123309 :     if (is_inverted_) {
+     455             : 
+     456      123309 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     457      123340 :       const tf2::Transform      tf_inv   = tf.inverse();
+     458      123343 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     459             : 
+     460      123364 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     461      123319 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     462      123318 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     463      123337 :       tf_msg.transform.rotation    = pose_inv.orientation;
+     464             : 
+     465             :     } else {
+     466           0 :       tf_msg.header.frame_id       = msg->header.frame_id;
+     467           0 :       tf_msg.child_frame_id        = ch_->frames.ns_fcu;
+     468           0 :       tf_msg.transform.translation = Support::pointToVector3(pose.position);
+     469           0 :       tf_msg.transform.rotation    = pose.orientation;
+     470             :     }
+     471             : 
+     472      123337 :     if (Support::noNans(tf_msg)) {
+     473             :       try {
+     474      123323 :         scope_timer.checkpoint("before pub");
+     475      123355 :         broadcaster_->sendTransform(tf_msg);
+     476      123372 :         scope_timer.checkpoint("after pub");
+     477             :       }
+     478           0 :       catch (...) {
+     479           0 :         ROS_ERROR("exception caught ");
+     480             :       }
+     481             :     } else {
+     482           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     483             :                         tf_msg.child_frame_id.c_str());
+     484             :     }
+     485      123373 :     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      123370 :   }
+     488             :   /*//}*/
+     489             : 
+     490             :   /* publishLocalTf() //{*/
+     491          66 :   void publishLocalTf(const std::string& frame_id) {
+     492             : 
+     493         198 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     494             : 
+     495         132 :     geometry_msgs::TransformStamped tf_msg;
+     496          66 :     tf_msg.header.stamp = ros::Time::now();
+     497             : 
+     498          66 :     tf_msg.header.frame_id       = frame_id;
+     499          66 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     500          66 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     501          66 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     502             : 
+     503          66 :     if (Support::noNans(tf_msg)) {
+     504             :       try {
+     505          66 :         static_broadcaster_.sendTransform(tf_msg);
+     506             :       }
+     507           0 :       catch (...) {
+     508           0 :         ROS_ERROR("exception caught ");
+     509             :       }
+     510             :     } else {
+     511           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     512             :                         tf_msg.child_frame_id.c_str());
+     513             :     }
+     514          66 :     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          66 :     is_local_static_tf_published_ = true;
+     517          66 :   }
+     518             :   /*//}*/
+     519             : 
+     520             :   /* publishUtmTf() //{*/
+     521             :   void publishUtmTf(const std::string& frame_id) {
+     522             : 
+     523             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     524             : 
+     525             :     geometry_msgs::TransformStamped tf_msg;
+     526             :     tf_msg.header.stamp = ros::Time::now();
+     527             : 
+     528             :     tf_msg.header.frame_id         = frame_id;
+     529             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     530             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     531             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     532             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     533             :     tf_msg.transform.rotation.x    = 0;
+     534             :     tf_msg.transform.rotation.y    = 0;
+     535             :     tf_msg.transform.rotation.z    = 0;
+     536             :     tf_msg.transform.rotation.w    = 1;
+     537             : 
+     538             :     if (Support::noNans(tf_msg)) {
+     539             :       try {
+     540             :         static_broadcaster_.sendTransform(tf_msg);
+     541             :       }
+     542             :       catch (...) {
+     543             :         ROS_ERROR("exception caught ");
+     544             :       }
+     545             :     } else {
+     546             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     547             :                         tf_msg.child_frame_id.c_str());
+     548             :     }
+     549             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     550             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     551             :     is_utm_static_tf_published_ = true;
+     552             :   }
+     553             :   /*//}*/
+     554             : 
+     555             :   /* publishWorldTf() //{*/
+     556             :   void publishWorldTf(const std::string& frame_id) {
+     557             : 
+     558             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     559             : 
+     560             :     geometry_msgs::TransformStamped tf_msg;
+     561             :     tf_msg.header.stamp = ros::Time::now();
+     562             : 
+     563             :     tf_msg.header.frame_id         = frame_id;
+     564             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     565             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     566             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     567             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     568             :     tf_msg.transform.translation.z = 0;
+     569             :     tf_msg.transform.rotation.x    = 0;
+     570             :     tf_msg.transform.rotation.y    = 0;
+     571             :     tf_msg.transform.rotation.z    = 0;
+     572             :     tf_msg.transform.rotation.w    = 1;
+     573             : 
+     574             :     if (Support::noNans(tf_msg)) {
+     575             :       try {
+     576             :         static_broadcaster_.sendTransform(tf_msg);
+     577             :       }
+     578             :       catch (...) {
+     579             :         ROS_ERROR("exception caught ");
+     580             :       }
+     581             :     } else {
+     582             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     583             :                         tf_msg.child_frame_id.c_str());
+     584             :     }
+     585             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     586             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     587             :     is_world_static_tf_published_ = true;
+     588             :   }
+     589             :   /*//}*/
+     590             : 
+     591             :   /* republishInFrame() //{*/
+     592      102317 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     593             : 
+     594      204634 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     595             : 
+     596      102317 :     nav_msgs::Odometry msg_out = *msg;
+     597      102317 :     msg_out.header.frame_id    = frame_id;
+     598             : 
+     599      102317 :     geometry_msgs::PoseStamped pose;
+     600      102317 :     pose.header = msg->header;
+     601      102317 :     pose.pose   = msg->pose.pose;
+     602             : 
+     603      102317 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     604      102317 :     if (res) {
+     605       95467 :       msg_out.pose.pose = res->pose;
+     606       95467 :       ph.publish(msg_out);
+     607             :     } else {
+     608        6850 :       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        6850 :       return;
+     610             :     }
+     611             :   }
+     612             : 
+     613             :   /*//}*/
+     614             : };
+     615             : 
+     616             : /*//}*/
+     617             : 
+     618             : }  // namespace mrs_uav_managers
+     619             : 
+     620             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..d1ca43b648c0d3b9b423cb37eb32ad07df5da778 GIT binary patch literal 2161 zcmV-%2#)uOP)4->0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vppjWjU)pKv3%sDdIM|TkpPY?$fw`;WA#i zHm$a85m>fJz>}S=2Q77h4|*m)YYJ-dH@<5{JAjFK$W-_p0_rJRnH{~Y4pdT%wwX27 zQMJ{IZGhYc>(aMAsaHrYd&IERYcdTmh(XM5(bg?satiE=hH@9WejM$Gwtdf^p;_Sm zP_z>~3O?lYs3Gab%tZ<})+Z3~7~k7{3k~_+!S>j?ZS3`=t@+Sg*P|!F0y$%!wsm1_4UcJ7pg`8x@3!@|^j0?Zl>ULH zxTpR1{Mmo@bRRzV9|WvUaq79SOFgd{Txqu=jWEu^8Fx%`Ve%lufFLkAby^}-fYi4| zpa~RNN9MY20s}>1frNR?!T`1tP}LB{P1-QrM;A!!@)l532LN4zJPK>fxAWMsalU#G z9x}&WBQ$jxq*go>>Uu;_!Gk8H8sWZB8Z8A7{a0{2DSKYs{#t|W(0B-X&AlU-gKK^p zq~6+m>ZN{RsBf;Ck>TXERFXOX{Yr-s@I$1on|r;hmXBEKx>J0F)Qwg1T@{&$t^bhJ z&e1nP1Cw%3!6pm73nYoh`T~g)q-X;(*H$01pD-b5LUVFlpdLeAw>LfOiGVS|Wf_!e-4xnavD!Spuf9i=Eo4h6hk!NfPmkJ5y zE6Y&;@ukXTY%9sVkv+{8mvbY_!bURHA5^r@ASUHOMaM}6SZ9j$6n6bNP?wUaO27d< zw$2M3$gQm#*=xnNr)PORqHtw;HtA8`vFmt5{#YcMHwY|GD*0?7!z71%fgWw~1K97y zAePraxn%ZMEX#x)A_dNt28TRC)z$g1EDR@2xE6%rc`Sqxq`6uca7Y3Qo?70+mNTU4 z2d($K?PQ3~Gcs{H&#(tRrZeJx=b73(17KB(@63nKaG+N7h#iKUC+BfCq{j;_6KNdx z_J=zdHwEzcj6j(pbN-qh=qa8HF|}2#RMz6$rMWOe>@N(yEr98i0G9yeVkDSWta|2X zW$KFTA_ENsmf35p9-#!HIQu{@F(k|p?R6FG4^$I-+&!PMGM0ut0Nf!ER}c}3w&dvf z!!-)r9|X8(iZ6(`c%G>_Mcu)GWlGEPKwZs;Q_pT|lN(Y$kRqSB3+07bUU1Ot1f z4}PUZfL+r^v5FZUTtMoQ)1jBsY&$a{6{@E|$D;|C^gX2S%+;W{g#1!%>RLyNizB{p z9S$f(0ES{YdU#+F0Xz@G0ias*!TN1_GN?fU8u#iZrP#~kXHRii8x7!J38d-<)RVX; zuNgOAFGBYIm!X+hvl5zdZ2ohhS=}y=;X}C;ubsT(+}(wJC2N8zAcJ8i>QM?(ctj}o zk4sJ){%i&`J1%u|a{t~b6P#4lXyb%0TWIS-)4LPCg{E6M(%dNv91=zj1sQ0hI_}p4 zg;^B>Uy<;w=i&vRkc-E_N-qANCZ+Gix(74#tCG@qxo~w-x&*?cG@aspWm1}bwW%w6 zO@RE_;x9>a{~sszx4wojtLAm~HH3{B6Tf$27b=DZx?W?fZvgS6fWQBt5Jq}gd#X(e zP_nTK4cD~{JaraVYUmrJJ~v3wSw>jEend2D1T*l0NUDQ!_h(9aZB51Arh_J{ z)%K0ywIKcpG5o|SfZu|EFN)Od6<(Pv*zT1#tMJChh&%hyWP$6x4vez4C>rs*T*i3Z z_@u)IdkD#b=3z5Ra|eOiz}88H=9s(4u$y~uL7%^J=l%XB0Nb0==>_lj=trS)TwnL) n2faP(+meE{IAL`*Es_5Kcr8{MQa#Eo00000NkvXXu0mjfI + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14922765.6 %
Date:2024-01-14 11:12:21Functions: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()62
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)62
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()62
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)1269
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&)1678
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)12942
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)62
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&)1678
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)1269
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&)12942
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()62
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:14922765.6 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      11             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      12             : #include <mrs_msgs/String.h>
+      13             : #include <mrs_msgs/ConstraintsOverride.h>
+      14             : 
+      15             : #include <mrs_lib/profiler.h>
+      16             : #include <mrs_lib/scope_timer.h>
+      17             : #include <mrs_lib/param_loader.h>
+      18             : #include <mrs_lib/mutex.h>
+      19             : #include <mrs_lib/publisher_handler.h>
+      20             : #include <mrs_lib/service_client_handler.h>
+      21             : #include <mrs_lib/subscribe_handler.h>
+      22             : 
+      23             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      24             : #include <dynamic_reconfigure/Reconfigure.h>
+      25             : #include <dynamic_reconfigure/Config.h>
+      26             : 
+      27             : //}
+      28             : 
+      29             : namespace mrs_uav_managers
+      30             : {
+      31             : 
+      32             : namespace constraint_manager
+      33             : {
+      34             : 
+      35             : /* //{ class ConstraintManager */
+      36             : 
+      37             : class ConstraintManager : public nodelet::Nodelet {
+      38             : 
+      39             : public:
+      40             :   virtual void onInit();
+      41             : 
+      42             : private:
+      43             :   ros::NodeHandle nh_;
+      44             :   bool            is_initialized_ = false;
+      45             : 
+      46             :   // | ----------------------- parameters ----------------------- |
+      47             : 
+      48             :   std::vector<std::string> _estimator_type_names_;
+      49             : 
+      50             :   std::vector<std::string>                                       _constraint_names_;
+      51             :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest> _constraints_;
+      52             : 
+      53             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_constraints_;
+      54             :   std::map<std::string, std::string>              _map_type_default_constraints_;
+      55             : 
+      56             :   // | --------------------- service clients -------------------- |
+      57             : 
+      58             :   mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> sc_set_constraints_;
+      59             : 
+      60             :   // | ----------------------- subscribers ---------------------- |
+      61             : 
+      62             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+      63             : 
+      64             :   // | ------------- constraint management ------------- |
+      65             : 
+      66             :   bool setConstraints(std::string constraints_names);
+      67             : 
+      68             :   ros::ServiceServer service_server_set_constraints_;
+      69             :   bool               callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      70             : 
+      71             :   std::string last_estimator_name_;
+      72             :   std::mutex  mutex_last_estimator_name_;
+      73             : 
+      74             :   void       timerConstraintManagement(const ros::TimerEvent& event);
+      75             :   ros::Timer timer_constraint_management_;
+      76             :   double     _constraint_management_rate_;
+      77             : 
+      78             :   std::string current_constraints_;
+      79             :   std::mutex  mutex_current_constraints_;
+      80             : 
+      81             :   // | ------------------ constraints override ------------------ |
+      82             : 
+      83             :   ros::ServiceServer service_server_constraints_override_;
+      84             :   bool               callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res);
+      85             : 
+      86             :   std::atomic<bool>                    override_constraints_         = false;
+      87             :   std::atomic<bool>                    constraints_override_updated_ = false;
+      88             :   std::mutex                           mutex_constraints_override_;
+      89             :   mrs_msgs::ConstraintsOverrideRequest constraints_override_;
+      90             : 
+      91             :   // | ------------------ diagnostics publisher ----------------- |
+      92             : 
+      93             :   mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics> ph_diagnostics_;
+      94             : 
+      95             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      96             :   ros::Timer timer_diagnostics_;
+      97             :   double     _diagnostics_rate_;
+      98             : 
+      99             :   // | ------------------------ profiler ------------------------ |
+     100             : 
+     101             :   mrs_lib::Profiler profiler_;
+     102             :   bool              _profiler_enabled_ = false;
+     103             : 
+     104             :   // | ------------------- scope timer logger ------------------- |
+     105             : 
+     106             :   bool                                       scope_timer_enabled_ = false;
+     107             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     108             : 
+     109             :   // | ------------------------- helpers ------------------------ |
+     110             : 
+     111             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     112             : };
+     113             : 
+     114             : //}
+     115             : 
+     116             : /* //{ onInit() */
+     117             : 
+     118          62 : void ConstraintManager::onInit() {
+     119             : 
+     120          62 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     121             : 
+     122          62 :   ros::Time::waitForValid();
+     123             : 
+     124          62 :   ROS_INFO("[ConstraintManager]: initializing");
+     125             : 
+     126             :   // | ------------------------- params ------------------------- |
+     127             : 
+     128         124 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     129             : 
+     130         124 :   std::string custom_config_path;
+     131         124 :   std::string platform_config_path;
+     132             : 
+     133          62 :   param_loader.loadParam("custom_config", custom_config_path);
+     134          62 :   param_loader.loadParam("platform_config", platform_config_path);
+     135             : 
+     136          62 :   if (custom_config_path != "") {
+     137          62 :     param_loader.addYamlFile(custom_config_path);
+     138             :   }
+     139             : 
+     140          62 :   if (platform_config_path != "") {
+     141          62 :     param_loader.addYamlFile(platform_config_path);
+     142             :   }
+     143             : 
+     144          62 :   param_loader.addYamlFileFromParam("private_config");
+     145          62 :   param_loader.addYamlFileFromParam("public_config");
+     146          62 :   param_loader.addYamlFileFromParam("public_constraints");
+     147             : 
+     148         124 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     149             : 
+     150             :   // params passed from the launch file are not prefixed
+     151          62 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     152             : 
+     153          62 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     154             : 
+     155          62 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     156             : 
+     157          62 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     158          62 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     159             : 
+     160          62 :   std::vector<std::string>::iterator it;
+     161             : 
+     162             :   // loading constraint names
+     163         248 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     164             : 
+     165         186 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     166             : 
+     167         186 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     168             : 
+     169         186 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     170         186 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     171         186 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     172         186 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     173             : 
+     174         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     175         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     176         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     177         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     178             : 
+     179         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     180         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     181         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     182         186 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     183             : 
+     184         186 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     185         186 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     186         186 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     187         186 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     188             : 
+     189         186 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     190         186 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     191         186 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     192             : 
+     193             :     double tilt_deg;
+     194             : 
+     195         186 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     196             : 
+     197         186 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     198             : 
+     199         186 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     200             :   }
+     201             : 
+     202             :   // loading the allowed constraints lists
+     203         496 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     204             : 
+     205         434 :     std::vector<std::string> temp_vector;
+     206         434 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     207             : 
+     208         434 :     std::vector<std::string>::iterator it2;
+     209        1612 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     210        1178 :       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         434 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     217             :   }
+     218             : 
+     219             :   // loading the default constraints
+     220         496 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     221             : 
+     222         434 :     std::string temp_str;
+     223         434 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     224             : 
+     225         434 :     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         434 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     231             :   }
+     232             : 
+     233          62 :   ROS_INFO("[ConstraintManager]: done loading dynamical params");
+     234             : 
+     235          62 :   current_constraints_ = "";
+     236          62 :   last_estimator_name_ = "";
+     237             : 
+     238             :   // | ------------------------ services ------------------------ |
+     239             : 
+     240          62 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     241             : 
+     242          62 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     243             : 
+     244          62 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     245             : 
+     246             :   // | ----------------------- subscribers ---------------------- |
+     247             : 
+     248         124 :   mrs_lib::SubscribeHandlerOptions shopts;
+     249          62 :   shopts.nh                 = nh_;
+     250          62 :   shopts.node_name          = "ConstraintManager";
+     251          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     252          62 :   shopts.threadsafe         = true;
+     253          62 :   shopts.autostart          = true;
+     254          62 :   shopts.queue_size         = 10;
+     255          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     256             : 
+     257          62 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     258             : 
+     259             :   // | ----------------------- publishers ----------------------- |
+     260             : 
+     261          62 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     262             : 
+     263             :   // | ------------------------- timers ------------------------- |
+     264             : 
+     265          62 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     266          62 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     267             : 
+     268             :   // | ------------------------ profiler ------------------------ |
+     269             : 
+     270          62 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     271             : 
+     272             :   // | ------------------- scope timer logger ------------------- |
+     273             : 
+     274          62 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     275         186 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     276          62 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     277             : 
+     278             :   // | ----------------------- finish init ---------------------- |
+     279             : 
+     280          62 :   if (!param_loader.loadedSuccessfully()) {
+     281           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     282           0 :     ros::shutdown();
+     283             :   }
+     284             : 
+     285          62 :   is_initialized_ = true;
+     286             : 
+     287          62 :   ROS_INFO("[ConstraintManager]: initialized");
+     288             : 
+     289          62 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     290          62 : }
+     291             : 
+     292             : //}
+     293             : 
+     294             : // --------------------------------------------------------------
+     295             : // |                           methods                          |
+     296             : // --------------------------------------------------------------
+     297             : 
+     298             : /* setConstraints() //{ */
+     299             : 
+     300          62 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     301             : 
+     302          62 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     303          62 :   it = _constraints_.find(constraints_name);
+     304             : 
+     305          62 :   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         124 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     311             : 
+     312          62 :   srv_call.request = it->second;
+     313             : 
+     314          62 :   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          62 :   bool res = sc_set_constraints_.call(srv_call);
+     336             : 
+     337          62 :   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          62 :     if (srv_call.response.success) {
+     345             : 
+     346          62 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     347          62 :       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       12942 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     471             : 
+     472       12942 :   if (!is_initialized_) {
+     473        3140 :     return;
+     474             :   }
+     475             : 
+     476       25884 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     477       25884 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     478             : 
+     479       12942 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     480       12942 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     481             : 
+     482       12942 :   if (!sh_estimation_diag_.hasMsg()) {
+     483        3140 :     return;
+     484             :   }
+     485             : 
+     486        9802 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     487             : 
+     488             :   // | --- automatically set constraints when the state estimator changes -- |
+     489        9802 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name_) {
+     490             : 
+     491          66 :     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          66 :     std::map<std::string, std::string>::iterator it;
+     495          66 :     it = _map_type_default_constraints_.find(estimation_diagnostics.current_state_estimator);
+     496             : 
+     497          66 :     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          66 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics.current_state_estimator))) {
+     506             : 
+     507           4 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     508             : 
+     509             :         // else, try to set the initial constraints
+     510             :       } else {
+     511             : 
+     512          62 :         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          62 :         if (setConstraints(it->second)) {
+     516             : 
+     517          62 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     518             : 
+     519          62 :           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        9802 :   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        9802 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     544             : }
+     545             : 
+     546             : //}
+     547             : 
+     548             : /* timerDiagnostics() //{ */
+     549             : 
+     550        1269 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     551             : 
+     552        1269 :   if (!is_initialized_) {
+     553         306 :     return;
+     554             :   }
+     555             : 
+     556        2538 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     557        2538 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     558             : 
+     559        1269 :   if (!sh_estimation_diag_.hasMsg()) {
+     560         306 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     561         306 :     return;
+     562             :   }
+     563             : 
+     564        1926 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     565             : 
+     566        1926 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     567             : 
+     568        1926 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     569             : 
+     570         963 :   diagnostics.stamp        = ros::Time::now();
+     571         963 :   diagnostics.current_name = current_constraints;
+     572         963 :   diagnostics.loaded       = _constraint_names_;
+     573             : 
+     574             :   // get the available constraints
+     575             :   {
+     576         963 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577         963 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics.current_state_estimator);
+     578             : 
+     579         963 :     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         963 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current constraint values
+     588             :   {
+     589         963 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     590         963 :     it = _constraints_.find(current_constraints);
+     591             : 
+     592         963 :     diagnostics.current_values = it->second.constraints;
+     593             :   }
+     594             : 
+     595         963 :   ph_diagnostics_.publish(diagnostics);
+     596             : }
+     597             : 
+     598             : //}
+     599             : 
+     600             : // --------------------------------------------------------------
+     601             : // |                          routines                          |
+     602             : // --------------------------------------------------------------
+     603             : 
+     604             : /* stringInVector() //{ */
+     605             : 
+     606        1678 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     607             : 
+     608        1678 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     609          62 :     return false;
+     610             :   } else {
+     611        1616 :     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          62 : 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..637b9ed6eef252b61efd55da7f5e6f6d74642fba GIT binary patch literal 2164 zcmV-)2#fcLP)y?m8!+ z$c*5BC#Eej1bL%sb#%&sH@$VNs)&M)Ai4b;wR%oRG#MOc)Zne1K26hSM=aY}N65?um_Sil6aaL*pW{Ct-9CY?^6ZoBL$M zIL6rNj`7kRG9nq6F#zOxj|7*7=*WQ5MUQwxcu0PXXtmY^}C|8HtDhIk1p0B<6hGNRe6#F#lPJt~a>3I)_DEv$xq%Qr!C z|LNZ77Mr>uZrid!T3$2_%zJ`yTi1=EwH^^tiLnkb`k)?>NL-v>>Rfo`>cLo5TOEV5 zN*OuMdWR?YWk$%k1xC5(=(S}%lapm6W#`5ZFAgGQRKyxYwxA@dW8SzP(2=D?G|RV2 z88N0R&1|l?PpTtYRfvOc$>X)e@Bf^#QT{G*tBgr#St!^Zh`5b4BjPdTba_!UU|*X= zlVgK2)?v0@=&;WrF3qjgG+Xrh$)PZYNS}3!*=+g*rACW!zqD!c7 zQCO>{01I9Gs~M%D`!6A>9SD||93+75@jL>e~e*muF#5ZP3%jv#<1 zag2)5^`YJjc{^JtxD2S&vCBT!O{IVwz9#R;0KujJR43=xb&(n4S+RPn^L(M!n+Kwr zu?5Y3{@543N)c5vC!?&I(Udd6fZMWA=x}ChCb{ttjrh^W`G+oAkyMLWq3I3-ml1wSM$+qHc~$Zkmr(*Z2(WEn8B9RQr%oZW$C z+*W+`m{0U@U(zrIyB7!8@nilc6}V6ySo_DvGuODt)$36S5C>0{&QOeA3 zmWA(VS`oX-YTuw+5#MgCj{_;GtO_wv5j?uOq6*Pg4h2sl#(Tv5ZmHm@qyP@ds%EI8 zP;{CUuqIEemLl4uut4WiKs3*XpMf2^%Kl$cl#+rAA*N0tj0J$E$4x>AD{+T^I7S`f zZwVoE2d{#nYBu9=IOkcY4ASi32E@wjiS0cbAO5c$fK=%3g*voyAUwFwuExJ?NqfO8`Jw8taQy-a^;4t8-+Mlt5 z5}1y&Q}WJ^M8@RJ%e`0<_mnbRCpx)8#oW?RL`D*tTExUZ&Pzs&F4lcxn6^_~5c{<_ z*RCZs-*HU8myF56oT{?O-Lat!7+BY(OcGRlsTDw@Ji*wdWG q + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-14 11:12:21Functions:213167.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::validateOdometry(nav_msgs::Odometry_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> >&, double const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiPositionCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> >&, double const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::control_manager::loadDetailedUavModelParams(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
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&)459
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&)462
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&)463
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&)468
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&)949
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&)950
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&)971
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)2168
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&)3779
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&)3800
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&)3990
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)7863
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&)7863
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)8180
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&)46742
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&)55698
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&)65410
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&)73213
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&)80027
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)89966
+
+
+ + + +
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..4b20c2b5b0 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-14 11:12:21Functions:213167.7 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::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&)971
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)8180
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)89966
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)2168
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&)80027
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&)3990
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&)7863
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&)65410
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&)55698
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&)7863
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&)3800
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&)73213
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&)459
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&)468
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&)62
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&)463
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&)46742
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&)3779
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&)949
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&)462
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&)950
+
+
+ + + +
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..1a1d8489bf --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html @@ -0,0 +1,1301 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23056340.9 %
Date:2024-01-14 11:12:21Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/control_manager/common.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : namespace control_manager
+       7             : {
+       8             : 
+       9             : /* idxInVector() //{ */
+      10             : 
+      11         971 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        2744 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        2742 :     if (str == vec[i]) {
+      15         969 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           2 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26       55698 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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       55698 :   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         468 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240         468 :   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         468 :   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         468 :   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         468 :   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         468 :   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         468 :   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         468 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277        3990 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281        3990 :   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        3990 :   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        3990 :   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        3990 :   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        3990 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310       80027 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   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       80027 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460        2168 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462        2168 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464        2168 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466        2168 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471        2168 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472        1700 :     return 0.0;
+     473             :   }
+     474             : 
+     475         468 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477         261 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479         261 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483         207 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485         207 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495          62 : 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         124 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500          62 :   if (custom_config != "") {
+     501          62 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504          62 :   if (platform_config != "") {
+     505          62 :     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          62 :   param_loader.loadParam("uav_mass", mass);
+     518             : 
+     519          62 :   param_loader.loadParam("model_params/arm_length", arm_length);
+     520          62 :   param_loader.loadParam("model_params/body_height", body_height);
+     521             : 
+     522          62 :   param_loader.loadParam("model_params/propulsion/force_constant", force_constant);
+     523          62 :   param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant);
+     524          62 :   param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius);
+     525          62 :   param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min);
+     526          62 :   param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max);
+     527             : 
+     528         186 :   Eigen::MatrixXd allocation_matrix = param_loader.loadMatrixDynamic2("model_params/propulsion/allocation_matrix", 4, -1);
+     529             : 
+     530          62 :   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          62 :   int n_motors = allocation_matrix.cols();
+     536             : 
+     537         124 :   DetailedModelParams_t model_params;
+     538             : 
+     539          62 :   model_params.arm_length  = arm_length;
+     540          62 :   model_params.body_height = body_height;
+     541          62 :   model_params.prop_radius = prop_radius;
+     542             : 
+     543         186 :   Eigen::MatrixXd inertia_matrix = param_loader.loadMatrixDynamic2("model_params/inertia_matrix", 3, 3);
+     544             : 
+     545          62 :   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          62 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     555          62 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     556          62 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     557          62 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     558             : 
+     559          62 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     560          62 :     ROS_INFO_STREAM(model_params.inertia);
+     561             :   }
+     562             : 
+     563             :   // create the force-torque allocation matrix
+     564          62 :   model_params.force_torque_mixer = allocation_matrix;
+     565          62 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     566          62 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     567          62 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     568          62 :   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         124 :       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         310 :   for (int i = 0; i < n_motors; i++) {
+     581         248 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     582             :   }
+     583             : 
+     584             :   // the 3rd column (yaw)
+     585         310 :   for (int i = 0; i < n_motors; i++) {
+     586         248 :     if (alloc_tmp(i, 2) > 1e-2) {
+     587         124 :       alloc_tmp(i, 2) = 1.0;
+     588         124 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     589         124 :       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         310 :   for (int i = 0; i < n_motors; i++) {
+     597         248 :     alloc_tmp(i, 3) = 1.0;
+     598             :   }
+     599             : 
+     600          62 :   std::cout << "Control group mixer: " << std::endl << alloc_tmp << std::endl;
+     601             : 
+     602          62 :   model_params.control_group_mixer = alloc_tmp;
+     603             : 
+     604          62 :   return model_params;
+     605             : }
+     606             : 
+     607             : //}
+     608             : 
+     609             : /* getLowestOutput() //{ */
+     610             : 
+     611        8180 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     612             : 
+     613        8180 :   if (outputs.actuators) {
+     614          16 :     return ACTUATORS_CMD;
+     615             :   }
+     616             : 
+     617        8164 :   if (outputs.control_group) {
+     618          16 :     return CONTROL_GROUP;
+     619             :   }
+     620             : 
+     621        8148 :   if (outputs.attitude_rate) {
+     622        8082 :     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       89966 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     696             : 
+     697       89966 :   if (!control_output.control_output) {
+     698        6554 :     return {};
+     699             :   }
+     700             : 
+     701      166824 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     702             : }
+     703             : 
+     704             : //}
+     705             : 
+     706             : // | -------------- validation of HW api commands ------------- |
+     707             : 
+     708             : /* validateControlOutput() //{ */
+     709             : 
+     710       65410 : 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       65410 :   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       65410 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     719      130820 :   std::variant<std::string>               node_name_var{node_name};
+     720       65410 :   std::variant<std::string>               var_name_var{var_name};
+     721             : 
+     722       65410 :   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        3800 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     730             : 
+     731       19000 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     732       15200 :     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        3800 :   return true;
+     739             : }
+     740             : 
+     741             : //}
+     742             : 
+     743             : /* validateHwApiControlGroupCmd() //{ */
+     744             : 
+     745        3779 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     746             : 
+     747        3779 :   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        3779 :   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        3779 :   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        3779 :   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        3779 :   return true;
+     768             : }
+     769             : 
+     770             : //}
+     771             : 
+     772             : /* validateHwApiAttitudeCmd() //{ */
+     773             : 
+     774       73213 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     775             : 
+     776             :   // check the orientation
+     777             : 
+     778       73213 :   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       73213 :   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       73213 :   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       73213 :   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       73213 :   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       73213 :   return true;
+     806             : }
+     807             : 
+     808             : //}
+     809             : 
+     810             : /* validateHwApiAttitudeRateCmd() //{ */
+     811             : 
+     812       46742 : 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       46742 :   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       46742 :   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       46742 :   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       46742 :   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       46742 :   return true;
+     839             : }
+     840             : 
+     841             : //}
+     842             : 
+     843             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     844             : 
+     845         950 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     846             : 
+     847             :   // | ----------------- check the acceleration ----------------- |
+     848             : 
+     849         950 :   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         950 :   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         950 :   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         950 :   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         950 :   return true;
+     872             : }
+     873             : 
+     874             : //}
+     875             : 
+     876             : /* validateHwApiAccelerationHdgCmd() //{ */
+     877             : 
+     878         949 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     879             : 
+     880             :   // | ----------------- check the acceleration ----------------- |
+     881             : 
+     882         949 :   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         949 :   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         949 :   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         949 :   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         949 :   return true;
+     905             : }
+     906             : 
+     907             : //}
+     908             : 
+     909             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     910             : 
+     911         462 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     912             : 
+     913             :   // | ----------------- check the velocity ----------------- |
+     914             : 
+     915         462 :   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         462 :   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         462 :   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         462 :   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         462 :   return true;
+     938             : }
+     939             : 
+     940             : //}
+     941             : 
+     942             : /* validateHwApiVelocityHdgCmd() //{ */
+     943             : 
+     944         463 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     945             : 
+     946             :   // | ----------------- check the velocity ----------------- |
+     947             : 
+     948         463 :   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         463 :   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         463 :   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         463 :   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         463 :   return true;
+     971             : }
+     972             : 
+     973             : //}
+     974             : 
+     975             : /* validateHwApiPositionHdgCmd() //{ */
+     976             : 
+     977         459 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     978             : 
+     979             :   // | ----------------- check the position ----------------- |
+     980             : 
+     981         459 :   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         459 :   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         459 :   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         459 :   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         459 :   return true;
+    1004             : }
+    1005             : 
+    1006             : //}
+    1007             : 
+    1008             : // | ------------ initialization of HW api commands ----------- |
+    1009             : 
+    1010             : /* initializeDefaultOutput() //{ */
+    1011             : 
+    1012        7863 : 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        7863 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1016             : 
+    1017        7863 :   Controller::HwApiOutputVariant output;
+    1018             : 
+    1019        7863 :   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        7863 :     case ATTITUDE_RATE: {
+    1029        7863 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1030        7863 :       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       15726 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1059        7863 :   std::variant<double>             min_throttle_var{min_throttle};
+    1060        7863 :   std::variant<double>             n_motors_var{n_motors};
+    1061             : 
+    1062        7863 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1063             : 
+    1064       15726 :   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        7863 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1099             : 
+    1100        7863 :   msg.stamp = ros::Time::now();
+    1101             : 
+    1102        7863 :   msg.body_rate.x = 0;
+    1103        7863 :   msg.body_rate.y = 0;
+    1104        7863 :   msg.body_rate.z = 0;
+    1105        7863 :   msg.throttle    = min_throttle;
+    1106        7863 : }
+    1107             : 
+    1108             : //}
+    1109             : 
+    1110             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg) //{ */
+    1111             : 
+    1112           0 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle) {
+    1113             : 
+    1114           0 :   msg.stamp = ros::Time::now();
+    1115             : 
+    1116           0 :   msg.orientation = uav_state.pose.orientation;
+    1117           0 :   msg.throttle    = min_throttle;
+    1118           0 : }
+    1119             : 
+    1120             : //}
+    1121             : 
+    1122             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg) //{ */
+    1123             : 
+    1124           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1125             : 
+    1126           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1127           0 :   msg.header.stamp    = ros::Time::now();
+    1128             : 
+    1129           0 :   msg.acceleration.x = 0;
+    1130           0 :   msg.acceleration.y = 0;
+    1131           0 :   msg.acceleration.z = 0;
+    1132           0 :   msg.heading_rate   = 0;
+    1133           0 : }
+    1134             : 
+    1135             : //}
+    1136             : 
+    1137             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg) //{ */
+    1138             : 
+    1139           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1140             : 
+    1141           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1142           0 :   msg.header.stamp    = ros::Time::now();
+    1143             : 
+    1144           0 :   msg.acceleration.x = 0;
+    1145           0 :   msg.acceleration.y = 0;
+    1146           0 :   msg.acceleration.z = 0;
+    1147             : 
+    1148             :   try {
+    1149           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1150             :   }
+    1151           0 :   catch (std::runtime_error& exrun) {
+    1152           0 :     msg.heading = 0;
+    1153             :   }
+    1154           0 : }
+    1155             : 
+    1156             : //}
+    1157             : 
+    1158             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg) //{ */
+    1159             : 
+    1160           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1161             : 
+    1162           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1163           0 :   msg.header.stamp    = ros::Time::now();
+    1164             : 
+    1165           0 :   msg.velocity.x   = 0;
+    1166           0 :   msg.velocity.y   = 0;
+    1167           0 :   msg.velocity.z   = 0;
+    1168           0 :   msg.heading_rate = 0;
+    1169           0 : }
+    1170             : 
+    1171             : //}
+    1172             : 
+    1173             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg) //{ */
+    1174             : 
+    1175           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1176             : 
+    1177           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1178           0 :   msg.header.stamp    = ros::Time::now();
+    1179             : 
+    1180           0 :   msg.velocity.x = 0;
+    1181           0 :   msg.velocity.y = 0;
+    1182           0 :   msg.velocity.z = 0;
+    1183             : 
+    1184             :   try {
+    1185           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1186             :   }
+    1187           0 :   catch (std::runtime_error& exrun) {
+    1188           0 :     msg.heading = 0;
+    1189             :   }
+    1190           0 : }
+    1191             : 
+    1192             : //}
+    1193             : 
+    1194             : /* initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg) //{ */
+    1195             : 
+    1196           0 : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1197             : 
+    1198           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1199           0 :   msg.header.stamp    = ros::Time::now();
+    1200             : 
+    1201           0 :   msg.position.x = uav_state.pose.position.x;
+    1202           0 :   msg.position.y = uav_state.pose.position.y;
+    1203           0 :   msg.position.z = uav_state.pose.position.z;
+    1204             : 
+    1205             :   try {
+    1206           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1207             :   }
+    1208           0 :   catch (std::runtime_error& exrun) {
+    1209           0 :     msg.heading = 0;
+    1210             :   }
+    1211           0 : }
+    1212             : 
+    1213             : //}
+    1214             : 
+    1215             : }  // namespace control_manager
+    1216             : 
+    1217             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html new file mode 100644 index 0000000000..d11dc2de30 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html @@ -0,0 +1,325 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::callbackHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEHover(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::callbackGetMinZ(mrs_msgs::GetFloat64Request_<std::allocator<void> >&, mrs_msgs::GetFloat64Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoFcu(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::deployParachute[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timeoutUavState(double const&)0
mrs_uav_managers::control_manager::ControlManager::callbackJoystick(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)0
mrs_uav_managers::control_manager::ControlManager::callbackParachute(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackPirouette(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::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::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::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::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::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::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)3
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()5
mrs_uav_managers::control_manager::ControlManager::elandSrv()5
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)6
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)8
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)12
mrs_uav_managers::control_manager::ControlManager::isOffboard()16
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)16
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)16
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)31
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)41
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::control_manager::ControlManager::initialize()62
mrs_uav_managers::control_manager::ControlManager::preinitialize()62
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)62
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)62
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)62
mrs_uav_managers::control_manager::ControlManager::onInit()62
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)80
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)84
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)84
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)85
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)104
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)120
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)121
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()133
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)144
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)145
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()148
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)203
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)245
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)292
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)310
mrs_uav_managers::control_manager::ControlManager::getMass()322
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)373
mrs_uav_managers::control_manager::ControlManager::ungripSrv()428
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)468
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)468
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)468
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)509
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1003
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)3521
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)3645
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7793
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9712
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)10184
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()10245
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()10247
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)16249
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)35423
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)56750
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)56946
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)69893
mrs_uav_managers::control_manager::ControlManager::updateTrackers()70250
mrs_uav_managers::control_manager::ControlManager::asyncControl()79498
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)79962
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)79962
mrs_uav_managers::control_manager::ControlManager::publish()79962
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)100828
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)185004
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)236095
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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..5f971ee296 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func.html @@ -0,0 +1,520 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - control_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2155365658.9 %
Date:2024-01-14 11:12:21Functions:6911062.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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)373
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)16249
mrs_uav_managers::control_manager::ControlManager::initialize()62
mrs_uav_managers::control_manager::ControlManager::isOffboard()16
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)292
mrs_uav_managers::control_manager::ControlManager::callbackArm(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)6
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)185004
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)10184
mrs_uav_managers::control_manager::ControlManager::asyncControl()79498
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)56750
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)25
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)84
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)41
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)80
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()62
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)145
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9712
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)35423
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&)62
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()70250
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>)100828
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()10247
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)144
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&)79962
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)8
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()148
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()10245
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)236095
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> >&)16
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)62
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)12
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)468
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)121
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&)3645
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1003
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> >&)62
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)3
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)104
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)84
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()133
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> >&)120
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&)203
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> >&)85
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)3521
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&)509
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)79962
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)245
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)468
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&)69893
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> >&)468
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)3
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()5
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)16
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::onInit()62
mrs_uav_managers::control_manager::ControlManager::getMass()322
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7793
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)56946
mrs_uav_managers::control_manager::ControlManager::publish()79962
mrs_uav_managers::control_manager::ControlManager::elandSrv()5
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::ungripSrv()428
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)310
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..78e936e6a8 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,8807 @@ + + + + + + + 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:2155365658.9 %
Date:2024-01-14 11:12:21Functions:6911062.7 %
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         310 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     207         310 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     208             : 
+     209         310 :   this->eland_threshold               = eland_threshold;
+     210         310 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     211         310 :   this->failsafe_threshold            = failsafe_threshold;
+     212         310 :   this->address                       = address;
+     213         310 :   this->name_space                    = name_space;
+     214         310 :   this->human_switchable              = human_switchable;
+     215         310 : }
+     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         373 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     233             : 
+     234         373 :   this->address          = address;
+     235         373 :   this->name_space       = name_space;
+     236         373 :   this->human_switchable = human_switchable;
+     237         373 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : class ControlManager : public nodelet::Nodelet {
+     242             : 
+     243             : public:
+     244             :   virtual void onInit();
+     245             : 
+     246             : private:
+     247             :   ros::NodeHandle   nh_;
+     248             :   std::atomic<bool> is_initialized_ = false;
+     249             :   std::string       _uav_name_;
+     250             :   std::string       _body_frame_;
+     251             : 
+     252             :   std::string _custom_config_;
+     253             :   std::string _platform_config_;
+     254             :   std::string _world_config_;
+     255             :   std::string _network_config_;
+     256             : 
+     257             :   // | --------------- dynamic loading of trackers -------------- |
+     258             : 
+     259             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     260             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     261             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     262             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     263             :   std::mutex                                                         mutex_tracker_list_;
+     264             : 
+     265             :   // | ------------- dynamic loading of controllers ------------- |
+     266             : 
+     267             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     268             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     269             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     270             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     271             :   std::mutex                                                            mutex_controller_list_;
+     272             : 
+     273             :   // | ------------------------- HW API ------------------------- |
+     274             : 
+     275             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     276             : 
+     277             :   OutputPublisher control_output_publisher_;
+     278             : 
+     279             :   ControlOutputModalities_t _hw_api_inputs_;
+     280             : 
+     281             :   double desired_uav_state_rate_ = 100.0;
+     282             : 
+     283             :   // this timer will check till we already got the hardware api diagnostics
+     284             :   // then it will trigger the initialization of the controllers and finish
+     285             :   // the initialization of the ControlManager
+     286             :   ros::Timer timer_hw_api_capabilities_;
+     287             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     288             : 
+     289             :   void preinitialize(void);
+     290             :   void initialize(void);
+     291             : 
+     292             :   // | ------------ tracker and controller switching ------------ |
+     293             : 
+     294             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     295             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     296             : 
+     297             :   // the time of last switching of a tracker or a controller
+     298             :   ros::Time  controller_tracker_switch_time_;
+     299             :   std::mutex mutex_controller_tracker_switch_time_;
+     300             : 
+     301             :   // | -------------------- the transformer  -------------------- |
+     302             : 
+     303             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     304             : 
+     305             :   // | ------------------- scope timer logger ------------------- |
+     306             : 
+     307             :   bool                                       scope_timer_enabled_ = false;
+     308             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     309             : 
+     310             :   // | --------------------- general params --------------------- |
+     311             : 
+     312             :   // defines the type of state input: odometry or uav_state mesasge types
+     313             :   int _state_input_;
+     314             : 
+     315             :   // names of important trackers
+     316             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     317             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     318             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     319             : 
+     320             :   // names of important controllers
+     321             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     322             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     323             : 
+     324             :   // joystick control
+     325             :   bool        _joystick_enabled_ = false;
+     326             :   int         _joystick_mode_;
+     327             :   std::string _joystick_tracker_name_;
+     328             :   std::string _joystick_controller_name_;
+     329             :   std::string _joystick_fallback_tracker_name_;
+     330             :   std::string _joystick_fallback_controller_name_;
+     331             : 
+     332             :   // should disarm after emergancy landing?
+     333             :   bool _eland_disarm_enabled_ = false;
+     334             : 
+     335             :   // enabling the emergency handoff -> will disable eland and failsafe
+     336             :   bool _rc_emergency_handoff_ = false;
+     337             : 
+     338             :   // what throttle should be output when null tracker is active?
+     339             :   double _min_throttle_null_tracker_ = 0.0;
+     340             : 
+     341             :   // rates of all the timers
+     342             :   double _status_timer_rate_   = 0;
+     343             :   double _safety_timer_rate_   = 0;
+     344             :   double _elanding_timer_rate_ = 0;
+     345             :   double _failsafe_timer_rate_ = 0;
+     346             :   double _bumper_timer_rate_   = 0;
+     347             : 
+     348             :   bool _snap_trajectory_to_safety_area_ = false;
+     349             : 
+     350             :   // | -------------- uav_state/odometry subscriber ------------- |
+     351             : 
+     352             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     353             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     354             : 
+     355             :   mrs_msgs::UavState uav_state_;
+     356             :   mrs_msgs::UavState previous_uav_state_;
+     357             :   bool               got_uav_state_               = false;
+     358             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     359             :   double             uav_roll_                    = 0;
+     360             :   double             uav_pitch_                   = 0;
+     361             :   double             uav_yaw_                     = 0;
+     362             :   double             uav_heading_                 = 0;
+     363             :   std::mutex         mutex_uav_state_;
+     364             : 
+     365             :   // odometry hiccup detection
+     366             :   double uav_state_avg_dt_        = 1;
+     367             :   double uav_state_hiccup_factor_ = 1;
+     368             :   int    uav_state_count_         = 0;
+     369             : 
+     370             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     371             : 
+     372             :   // | -------------- safety area max z subscriber -------------- |
+     373             : 
+     374             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     375             : 
+     376             :   // | ------------- odometry innovation subscriber ------------- |
+     377             : 
+     378             :   // odometry innovation is published by the odometry node
+     379             :   // it is used to issue eland if the estimator's input is too wonky
+     380             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     381             : 
+     382             :   // | --------------------- common handlers -------------------- |
+     383             : 
+     384             :   // contains handlers that are shared with trackers and controllers
+     385             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     386             : 
+     387             :   // | --------------- tracker and controller IDs --------------- |
+     388             : 
+     389             :   // keeping track of currently active controllers and trackers
+     390             :   unsigned int active_tracker_idx_    = 0;
+     391             :   unsigned int active_controller_idx_ = 0;
+     392             : 
+     393             :   // indeces of some notable trackers
+     394             :   unsigned int _ehover_tracker_idx_               = 0;
+     395             :   unsigned int _landoff_tracker_idx_              = 0;
+     396             :   unsigned int _joystick_tracker_idx_             = 0;
+     397             :   unsigned int _joystick_controller_idx_          = 0;
+     398             :   unsigned int _failsafe_controller_idx_          = 0;
+     399             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     400             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     401             :   unsigned int _null_tracker_idx_                 = 0;
+     402             :   unsigned int _eland_controller_idx_             = 0;
+     403             : 
+     404             :   // | -------------- enabling the output publisher ------------- |
+     405             : 
+     406             :   void              toggleOutput(const bool& input);
+     407             :   std::atomic<bool> output_enabled_ = false;
+     408             : 
+     409             :   // | ----------------------- publishers ----------------------- |
+     410             : 
+     411             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     412             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     413             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     414             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     415             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     416             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     417             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     418             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     419             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     420             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     421             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     422             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     423             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     424             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     425             :   mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>              ph_bumper_status_;
+     426             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     427             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     428             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     429             : 
+     430             :   // | --------------------- service servers -------------------- |
+     431             : 
+     432             :   ros::ServiceServer service_server_switch_tracker_;
+     433             :   ros::ServiceServer service_server_switch_controller_;
+     434             :   ros::ServiceServer service_server_reset_tracker_;
+     435             :   ros::ServiceServer service_server_hover_;
+     436             :   ros::ServiceServer service_server_ehover_;
+     437             :   ros::ServiceServer service_server_failsafe_;
+     438             :   ros::ServiceServer service_server_failsafe_escalating_;
+     439             :   ros::ServiceServer service_server_toggle_output_;
+     440             :   ros::ServiceServer service_server_arm_;
+     441             :   ros::ServiceServer service_server_enable_callbacks_;
+     442             :   ros::ServiceServer service_server_set_constraints_;
+     443             :   ros::ServiceServer service_server_use_joystick_;
+     444             :   ros::ServiceServer service_server_use_safety_area_;
+     445             :   ros::ServiceServer service_server_emergency_reference_;
+     446             :   ros::ServiceServer service_server_pirouette_;
+     447             :   ros::ServiceServer service_server_eland_;
+     448             :   ros::ServiceServer service_server_parachute_;
+     449             : 
+     450             :   // human callbable services for references
+     451             :   ros::ServiceServer service_server_goto_;
+     452             :   ros::ServiceServer service_server_goto_fcu_;
+     453             :   ros::ServiceServer service_server_goto_relative_;
+     454             :   ros::ServiceServer service_server_goto_altitude_;
+     455             :   ros::ServiceServer service_server_set_heading_;
+     456             :   ros::ServiceServer service_server_set_heading_relative_;
+     457             : 
+     458             :   // the reference service and subscriber
+     459             :   ros::ServiceServer                                    service_server_reference_;
+     460             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     461             : 
+     462             :   // the velocity reference service and subscriber
+     463             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     464             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     465             : 
+     466             :   // trajectory tracking
+     467             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     468             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     469             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     470             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     471             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     472             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     473             : 
+     474             :   // transform service servers
+     475             :   ros::ServiceServer service_server_transform_reference_;
+     476             :   ros::ServiceServer service_server_transform_pose_;
+     477             :   ros::ServiceServer service_server_transform_vector3_;
+     478             : 
+     479             :   // safety area services
+     480             :   ros::ServiceServer service_server_validate_reference_;
+     481             :   ros::ServiceServer service_server_validate_reference_2d_;
+     482             :   ros::ServiceServer service_server_validate_reference_list_;
+     483             : 
+     484             :   // bumper service servers
+     485             :   ros::ServiceServer service_server_bumper_enabler_;
+     486             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     487             : 
+     488             :   // service clients
+     489             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     490             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     491             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     492             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     493             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     494             : 
+     495             :   // safety area min z servers
+     496             :   ros::ServiceServer service_server_set_min_z_;
+     497             :   ros::ServiceServer service_server_get_min_z_;
+     498             : 
+     499             :   // | --------- trackers' and controllers' last results -------- |
+     500             : 
+     501             :   // the last result of an active tracker
+     502             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     503             :   std::mutex                              mutex_last_tracker_cmd_;
+     504             : 
+     505             :   // the last result of an active controller
+     506             :   Controller::ControlOutput last_control_output_;
+     507             :   std::mutex                mutex_last_control_output_;
+     508             : 
+     509             :   // | -------------- HW API diagnostics subscriber ------------- |
+     510             : 
+     511             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     512             : 
+     513             :   bool offboard_mode_          = false;
+     514             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     515             :   bool armed_                  = false;
+     516             : 
+     517             :   // | -------------------- throttle and mass ------------------- |
+     518             : 
+     519             :   // throttle mass estimation during eland
+     520             :   double    throttle_mass_estimate_   = 0;
+     521             :   bool      throttle_under_threshold_ = false;
+     522             :   ros::Time throttle_mass_estimate_first_time_;
+     523             : 
+     524             :   // | ---------------------- safety params --------------------- |
+     525             : 
+     526             :   // failsafe when tilt error is too large
+     527             :   bool   _tilt_error_disarm_enabled_;
+     528             :   double _tilt_error_disarm_timeout_;
+     529             :   double _tilt_error_disarm_threshold_;
+     530             : 
+     531             :   ros::Time tilt_error_disarm_time_;
+     532             :   bool      tilt_error_disarm_over_thr_ = false;
+     533             : 
+     534             :   // elanding when tilt error is too large
+     535             :   bool   _tilt_limit_eland_enabled_;
+     536             :   double _tilt_limit_eland_ = 0;  // [rad]
+     537             : 
+     538             :   // disarming when tilt error is too large
+     539             :   bool   _tilt_limit_disarm_enabled_;
+     540             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     541             : 
+     542             :   // elanding when yaw error is too large
+     543             :   bool   _yaw_error_eland_enabled_;
+     544             :   double _yaw_error_eland_ = 0;  // [rad]
+     545             : 
+     546             :   // keeping track of control errors
+     547             :   std::optional<double> tilt_error_ = 0;
+     548             :   std::optional<double> yaw_error_  = 0;
+     549             :   std::mutex            mutex_attitude_error_;
+     550             : 
+     551             :   std::optional<Eigen::Vector3d> position_error_;
+     552             :   std::mutex                     mutex_position_error_;
+     553             : 
+     554             :   // control error for triggering failsafe, eland, etc.
+     555             :   // this filled with the current controllers failsafe threshold
+     556             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     557             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     558             :   bool   _odometry_innovation_check_enabled_ = false;
+     559             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     560             : 
+     561             :   bool callbacks_enabled_ = true;
+     562             : 
+     563             :   // | ------------------------ parachute ----------------------- |
+     564             : 
+     565             :   bool _parachute_enabled_ = false;
+     566             : 
+     567             :   std::tuple<bool, std::string> deployParachute(void);
+     568             :   bool                          parachuteSrv(void);
+     569             : 
+     570             :   // | ----------------------- safety area ---------------------- |
+     571             : 
+     572             :   // safety area
+     573             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     574             : 
+     575             :   std::atomic<bool> use_safety_area_ = false;
+     576             : 
+     577             :   std::string _safety_area_horizontal_frame_;
+     578             :   std::string _safety_area_vertical_frame_;
+     579             : 
+     580             :   double _safety_area_min_z_ = 0;
+     581             :   double _safety_area_max_z_ = 0;
+     582             : 
+     583             :   // safety area routines
+     584             :   // those are passed to trackers using the common_handlers object
+     585             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     586             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     587             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     588             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     589             :   double getMinZ(const std::string& frame_id);
+     590             :   double getMaxZ(const std::string& frame_id);
+     591             : 
+     592             :   // | ------------------------ callbacks ----------------------- |
+     593             : 
+     594             :   // topic callbacks
+     595             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     596             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     597             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     598             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     599             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     600             : 
+     601             :   // topic timeouts
+     602             :   void timeoutUavState(const double& missing_for);
+     603             : 
+     604             :   // switching controller and tracker services
+     605             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     606             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     607             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     608             : 
+     609             :   // reference callbacks
+     610             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     611             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     612             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     613             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     614             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     615             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     616             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     617             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     618             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     619             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     620             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     621             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     622             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     623             : 
+     624             :   // safety callbacks
+     625             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     626             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     627             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     628             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     633             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     634             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     635             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     636             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     637             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     638             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     639             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     640             :   bool callbackBumperSetParams(mrs_msgs::BumperParamsSrv::Request& req, mrs_msgs::BumperParamsSrv::Response& res);
+     641             : 
+     642             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     643             : 
+     644             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     645             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     646             :   bool callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res);
+     647             : 
+     648             :   // transformation callbacks
+     649             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     650             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     651             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     652             : 
+     653             :   // | ----------------------- constraints ---------------------- |
+     654             : 
+     655             :   // sets constraints to all trackers
+     656             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     657             : 
+     658             :   // constraints management
+     659             :   bool              got_constraints_ = false;
+     660             :   std::mutex        mutex_constraints_;
+     661             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     662             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     663             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     664             :   std::atomic<bool> constraints_being_enforced_ = false;
+     665             : 
+     666             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     667             : 
+     668             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     669             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     670             : 
+     671             :   // | ------------------ emergency triggered? ------------------ |
+     672             : 
+     673             :   bool failsafe_triggered_ = false;
+     674             :   bool eland_triggered_    = false;
+     675             : 
+     676             :   // | ------------------------- timers ------------------------- |
+     677             : 
+     678             :   // timer for regular status publishing
+     679             :   ros::Timer timer_status_;
+     680             :   void       timerStatus(const ros::TimerEvent& event);
+     681             : 
+     682             :   // timer for issuing the failsafe landing
+     683             :   ros::Timer timer_failsafe_;
+     684             :   void       timerFailsafe(const ros::TimerEvent& event);
+     685             : 
+     686             :   // oneshot timer for running controllers and trackers
+     687             :   void              asyncControl(void);
+     688             :   std::atomic<bool> running_async_control_ = false;
+     689             :   std::future<void> async_control_result_;
+     690             : 
+     691             :   // timer for issuing emergancy landing
+     692             :   ros::Timer timer_eland_;
+     693             :   void       timerEland(const ros::TimerEvent& event);
+     694             : 
+     695             :   // timer for regular checking of controller errors
+     696             :   ros::Timer        timer_safety_;
+     697             :   void              timerSafety(const ros::TimerEvent& event);
+     698             :   std::atomic<bool> running_safety_timer_        = false;
+     699             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     700             : 
+     701             :   // timer for issuing the pirouette
+     702             :   ros::Timer timer_pirouette_;
+     703             :   void       timerPirouette(const ros::TimerEvent& event);
+     704             : 
+     705             :   // | --------------------- obstacle bumper -------------------- |
+     706             : 
+     707             :   // bumper timer
+     708             :   ros::Timer timer_bumper_;
+     709             :   void       timerBumper(const ros::TimerEvent& event);
+     710             : 
+     711             :   // bumper subscriber
+     712             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     713             : 
+     714             :   bool        _bumper_switch_tracker_    = false;
+     715             :   bool        _bumper_switch_controller_ = false;
+     716             :   std::string _bumper_tracker_name_;
+     717             :   std::string _bumper_controller_name_;
+     718             :   std::string bumper_previous_tracker_;
+     719             :   std::string bumper_previous_controller_;
+     720             : 
+     721             :   std::atomic<bool> bumper_enabled_ = false;
+     722             :   std::atomic<bool> repulsing_      = false;
+     723             : 
+     724             :   double _bumper_horizontal_distance_ = 0;
+     725             :   double _bumper_vertical_distance_   = 0;
+     726             : 
+     727             :   double _bumper_horizontal_overshoot_ = 0;
+     728             :   double _bumper_vertical_overshoot_   = 0;
+     729             : 
+     730             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     731             :   bool bumperPushFromObstacle(void);
+     732             : 
+     733             :   // | --------------- safety checks and failsafes -------------- |
+     734             : 
+     735             :   // escalating failsafe (eland -> failsafe -> disarm)
+     736             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     737             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     738             :   double                     _escalating_failsafe_timeout_         = 0;
+     739             :   ros::Time                  escalating_failsafe_time_;
+     740             :   bool                       _escalating_failsafe_ehover_   = false;
+     741             :   bool                       _escalating_failsafe_eland_    = false;
+     742             :   bool                       _escalating_failsafe_failsafe_ = false;
+     743             :   double                     _rc_escalating_failsafe_threshold_;
+     744             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     745             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     746             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     747             : 
+     748             :   std::string _tracker_error_action_;
+     749             : 
+     750             :   // emergancy landing state machine
+     751             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     752             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     753             :   std::mutex      mutex_landing_state_machine_;
+     754             :   void            changeLandingState(LandingStates_t new_state);
+     755             :   double          _uav_mass_ = 0;
+     756             :   double          _elanding_cutoff_mass_factor_;
+     757             :   double          _elanding_cutoff_timeout_;
+     758             :   double          landing_uav_mass_ = 0;
+     759             : 
+     760             :   // initial body disturbance loaded from params
+     761             :   double _initial_body_disturbance_x_ = 0;
+     762             :   double _initial_body_disturbance_y_ = 0;
+     763             : 
+     764             :   // profiling
+     765             :   mrs_lib::Profiler profiler_;
+     766             :   bool              _profiler_enabled_ = false;
+     767             : 
+     768             :   // diagnostics publishing
+     769             :   void       publishDiagnostics(void);
+     770             :   std::mutex mutex_diagnostics_;
+     771             : 
+     772             :   void                                             ungripSrv(void);
+     773             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     774             : 
+     775             :   bool isFlyingNormally(void);
+     776             : 
+     777             :   // | ------------------------ pirouette ----------------------- |
+     778             : 
+     779             :   bool       _pirouette_enabled_ = false;
+     780             :   double     _pirouette_speed_;
+     781             :   double     _pirouette_timer_rate_;
+     782             :   std::mutex mutex_pirouette_;
+     783             :   double     pirouette_initial_heading_;
+     784             :   double     pirouette_iterator_;
+     785             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     786             : 
+     787             :   // | -------------------- joystick control -------------------- |
+     788             : 
+     789             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     790             : 
+     791             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     792             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     793             : 
+     794             :   // joystick buttons mappings
+     795             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     796             : 
+     797             :   // channel numbers and channel multipliers
+     798             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     799             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     800             : 
+     801             :   ros::Timer timer_joystick_;
+     802             :   void       timerJoystick(const ros::TimerEvent& event);
+     803             :   double     _joystick_timer_rate_ = 0;
+     804             : 
+     805             :   double _joystick_carrot_distance_ = 0;
+     806             : 
+     807             :   ros::Time joystick_start_press_time_;
+     808             :   bool      joystick_start_pressed_ = false;
+     809             : 
+     810             :   ros::Time joystick_back_press_time_;
+     811             :   bool      joystick_back_pressed_ = false;
+     812             :   bool      joystick_goto_enabled_ = false;
+     813             : 
+     814             :   bool      joystick_failsafe_pressed_ = false;
+     815             :   ros::Time joystick_failsafe_press_time_;
+     816             : 
+     817             :   bool      joystick_eland_pressed_ = false;
+     818             :   ros::Time joystick_eland_press_time_;
+     819             : 
+     820             :   // | ------------------- RC joystick control ------------------ |
+     821             : 
+     822             :   // listening to the RC channels as told by pixhawk
+     823             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     824             : 
+     825             :   // the RC channel mapping of the main 4 control signals
+     826             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     827             : 
+     828             :   bool              _rc_goto_enabled_               = false;
+     829             :   std::atomic<bool> rc_goto_active_                 = false;
+     830             :   double            rc_joystick_channel_last_value_ = 0.5;
+     831             :   bool              rc_joystick_channel_was_low_    = false;
+     832             :   int               _rc_joystick_channel_           = 0;
+     833             : 
+     834             :   double _rc_horizontal_speed_ = 0;
+     835             :   double _rc_vertical_speed_   = 0;
+     836             :   double _rc_heading_rate_     = 0;
+     837             : 
+     838             :   // | ------------------- trajectory loading ------------------- |
+     839             : 
+     840             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     841             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     842             : 
+     843             :   // | --------------------- other routines --------------------- |
+     844             : 
+     845             :   // this is called to update the trackers and to receive position control command from the active one
+     846             :   void updateTrackers(void);
+     847             : 
+     848             :   // this is called to update the controllers and to receive attitude control command from the active one
+     849             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     850             : 
+     851             :   // sets the reference to the active tracker
+     852             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     853             : 
+     854             :   // sets the velocity reference to the active tracker
+     855             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     856             : 
+     857             :   // sets the reference trajectory to the active tracker
+     858             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     859             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     860             : 
+     861             :   // publishes
+     862             :   void publish(void);
+     863             : 
+     864             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     865             : 
+     866             :   double getMass(void);
+     867             : 
+     868             :   // publishes rviz-visualizable control reference
+     869             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     870             : 
+     871             :   void initializeControlOutput(void);
+     872             : 
+     873             :   // tell the mrs_odometry to disable its callbacks
+     874             :   void odometryCallbacksSrv(const bool input);
+     875             : 
+     876             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     877             : 
+     878             :   void                          setCallbacks(bool in);
+     879             :   bool                          isOffboard(void);
+     880             :   bool                          elandSrv(void);
+     881             :   std::tuple<bool, std::string> arming(const bool input);
+     882             : 
+     883             :   // safety functions impl
+     884             :   std::tuple<bool, std::string> ehover(void);
+     885             :   std::tuple<bool, std::string> hover(void);
+     886             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     887             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     888             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     889             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     890             :   std::tuple<bool, std::string> eland(void);
+     891             :   std::tuple<bool, std::string> failsafe(void);
+     892             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     893             : 
+     894             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     895             : };
+     896             : 
+     897             : //}
+     898             : 
+     899             : /* //{ onInit() */
+     900             : 
+     901          62 : void ControlManager::onInit() {
+     902          62 :   preinitialize();
+     903          62 : }
+     904             : 
+     905             : //}
+     906             : 
+     907             : /* preinitialize() //{ */
+     908             : 
+     909          62 : void ControlManager::preinitialize(void) {
+     910             : 
+     911          62 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     912             : 
+     913          62 :   ros::Time::waitForValid();
+     914             : 
+     915          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     916          62 :   shopts.nh                 = nh_;
+     917          62 :   shopts.node_name          = "ControlManager";
+     918          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     919          62 :   shopts.threadsafe         = true;
+     920          62 :   shopts.autostart          = true;
+     921          62 :   shopts.queue_size         = 10;
+     922          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     923             : 
+     924          62 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     925             : 
+     926          62 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     927          62 : }
+     928             : 
+     929             : //}
+     930             : 
+     931             : /* initialize() //{ */
+     932             : 
+     933          62 : void ControlManager::initialize(void) {
+     934             : 
+     935          62 :   joystick_start_press_time_      = ros::Time(0);
+     936          62 :   joystick_failsafe_press_time_   = ros::Time(0);
+     937          62 :   joystick_eland_press_time_      = ros::Time(0);
+     938          62 :   escalating_failsafe_time_       = ros::Time(0);
+     939          62 :   controller_tracker_switch_time_ = ros::Time(0);
+     940             : 
+     941          62 :   ROS_INFO("[ControlManager]: initializing");
+     942             : 
+     943             :   // --------------------------------------------------------------
+     944             :   // |         common handler for trackers and controllers        |
+     945             :   // --------------------------------------------------------------
+     946             : 
+     947          62 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     948             : 
+     949             :   // --------------------------------------------------------------
+     950             :   // |                           params                           |
+     951             :   // --------------------------------------------------------------
+     952             : 
+     953         124 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     954             : 
+     955          62 :   param_loader.loadParam("custom_config", _custom_config_);
+     956          62 :   param_loader.loadParam("platform_config", _platform_config_);
+     957          62 :   param_loader.loadParam("world_config", _world_config_);
+     958          62 :   param_loader.loadParam("network_config", _network_config_);
+     959             : 
+     960          62 :   if (_custom_config_ != "") {
+     961          62 :     param_loader.addYamlFile(_custom_config_);
+     962             :   }
+     963             : 
+     964          62 :   if (_platform_config_ != "") {
+     965          62 :     param_loader.addYamlFile(_platform_config_);
+     966             :   }
+     967             : 
+     968          62 :   if (_world_config_ != "") {
+     969          62 :     param_loader.addYamlFile(_world_config_);
+     970             :   }
+     971             : 
+     972          62 :   if (_network_config_ != "") {
+     973          62 :     param_loader.addYamlFile(_network_config_);
+     974             :   }
+     975             : 
+     976          62 :   param_loader.addYamlFileFromParam("private_config");
+     977          62 :   param_loader.addYamlFileFromParam("public_config");
+     978          62 :   param_loader.addYamlFileFromParam("private_trackers");
+     979          62 :   param_loader.addYamlFileFromParam("private_controllers");
+     980          62 :   param_loader.addYamlFileFromParam("public_controllers");
+     981             : 
+     982             :   // params passed from the launch file are not prefixed
+     983          62 :   param_loader.loadParam("uav_name", _uav_name_);
+     984          62 :   param_loader.loadParam("body_frame", _body_frame_);
+     985          62 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     986          62 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     987          62 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     988          62 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     989          62 :   param_loader.loadParam("g", common_handlers_->g);
+     990             : 
+     991             :   // motor params are also not prefixed, since they are common to more nodes
+     992          62 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+     993          62 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+     994          62 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+     995             : 
+     996             :   // | ----------------------- safety area ---------------------- |
+     997             : 
+     998             :   bool use_safety_area;
+     999          62 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+    1000          62 :   use_safety_area_ = use_safety_area;
+    1001             : 
+    1002          62 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1003             : 
+    1004          62 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1005          62 :   param_loader.loadParam("safety_area/vertical/min_z", _safety_area_min_z_);
+    1006          62 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1007             : 
+    1008          62 :   if (use_safety_area_) {
+    1009             : 
+    1010         168 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1011             : 
+    1012             :     try {
+    1013             : 
+    1014         112 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1015          56 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1016             : 
+    1017          56 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1018             :     }
+    1019             : 
+    1020           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1021           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1022           0 :       ros::shutdown();
+    1023             :     }
+    1024           0 :     catch (...) {
+    1025           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1026           0 :       ros::shutdown();
+    1027             :     }
+    1028             : 
+    1029          56 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1030             :   }
+    1031             : 
+    1032          62 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1033             : 
+    1034          62 :   param_loader.loadParam("state_input", _state_input_);
+    1035             : 
+    1036          62 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1037           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1038           0 :     ros::shutdown();
+    1039             :   }
+    1040             : 
+    1041          62 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1042          62 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1043          62 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1044             : 
+    1045          62 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1046          62 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1047          62 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1048          62 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1049          62 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1050             : 
+    1051          62 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1052          62 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1053          62 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1054          62 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1055          62 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1056          62 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1057          62 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1058          62 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1059             : 
+    1060          62 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1061          62 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1062             : 
+    1063          62 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1064             : 
+    1065          62 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1066           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1067           0 :     ros::shutdown();
+    1068             :   }
+    1069             : 
+    1070          62 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1071          62 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1072             : 
+    1073          62 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1074             : 
+    1075          62 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1076           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1077           0 :     ros::shutdown();
+    1078             :   }
+    1079             : 
+    1080          62 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1081          62 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1082             : 
+    1083          62 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1084             : 
+    1085          62 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1086           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1087           0 :     ros::shutdown();
+    1088             :   }
+    1089             : 
+    1090          62 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1091          62 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1092          62 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1093          62 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1094             : 
+    1095          62 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1096          62 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1097             : 
+    1098          62 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1099          62 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1100          62 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1101             : 
+    1102          62 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1103             : 
+    1104          62 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1105           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1106           0 :     ros::shutdown();
+    1107             :   }
+    1108             : 
+    1109             :   // default constraints
+    1110             : 
+    1111          62 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1112          62 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1113          62 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1114          62 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1115             : 
+    1116          62 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1117          62 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1118          62 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1119          62 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1120             : 
+    1121          62 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1122          62 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1123          62 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1124          62 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1125             : 
+    1126          62 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1127          62 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1128          62 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1129          62 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1130             : 
+    1131          62 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1132          62 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1133          62 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1134             : 
+    1135          62 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1136             : 
+    1137          62 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1138             : 
+    1139             :   // joystick
+    1140             : 
+    1141          62 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1142          62 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1143          62 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1144          62 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1145          62 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1146          62 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1147          62 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1148          62 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1149             : 
+    1150          62 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1151          62 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1152          62 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1153          62 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1154          62 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1155          62 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1156          62 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1157          62 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1158          62 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1159          62 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1160             : 
+    1161             :   // load channels
+    1162          62 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1163          62 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1164          62 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1165          62 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1166             : 
+    1167             :   // load channel multipliers
+    1168          62 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1169          62 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1170          62 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1171          62 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1172             : 
+    1173             :   bool bumper_enabled;
+    1174          62 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1175          62 :   bumper_enabled_ = bumper_enabled;
+    1176             : 
+    1177          62 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1178          62 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1179          62 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1180          62 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1181          62 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1182             : 
+    1183          62 :   param_loader.loadParam("obstacle_bumper/horizontal/threshold_distance", _bumper_horizontal_distance_);
+    1184          62 :   param_loader.loadParam("obstacle_bumper/vertical/threshold_distance", _bumper_vertical_distance_);
+    1185             : 
+    1186          62 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1187          62 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1188             : 
+    1189          62 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1190             : 
+    1191          62 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1192             : 
+    1193             :   // check the values of tracker error action
+    1194          62 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1195           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1196             :               EHOVER_STR);
+    1197           0 :     ros::shutdown();
+    1198             :   }
+    1199             : 
+    1200          62 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1201          62 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1202          62 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1203          62 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1204          62 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1205             : 
+    1206          62 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1207          62 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1208          62 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1209          62 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1210             : 
+    1211          62 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1212          62 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1213             : 
+    1214          62 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1215             : 
+    1216             :   // --------------------------------------------------------------
+    1217             :   // |             initialize the last control output             |
+    1218             :   // --------------------------------------------------------------
+    1219             : 
+    1220          62 :   initializeControlOutput();
+    1221             : 
+    1222             :   // | --------------------- tf transformer --------------------- |
+    1223             : 
+    1224          62 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1225          62 :   transformer_->setDefaultPrefix(_uav_name_);
+    1226          62 :   transformer_->retryLookupNewest(true);
+    1227             : 
+    1228             :   // | ------------------- scope timer logger ------------------- |
+    1229             : 
+    1230          62 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1231         186 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1232          62 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1233             : 
+    1234             :   // bind transformer to trackers and controllers for use
+    1235          62 :   common_handlers_->transformer = transformer_;
+    1236             : 
+    1237             :   // bind scope timer to trackers and controllers for use
+    1238          62 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1239          62 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1240             : 
+    1241          62 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1242          62 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1243          62 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1244          62 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1245          62 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1246             : 
+    1247          62 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1248             : 
+    1249          62 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1250             : 
+    1251          62 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1252             : 
+    1253          62 :   common_handlers_->uav_name = _uav_name_;
+    1254             : 
+    1255          62 :   common_handlers_->parent_nh = nh_;
+    1256             : 
+    1257             :   // --------------------------------------------------------------
+    1258             :   // |                        load trackers                       |
+    1259             :   // --------------------------------------------------------------
+    1260             : 
+    1261         124 :   std::vector<std::string> custom_trackers;
+    1262             : 
+    1263          62 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1264          62 :   param_loader.loadParam("trackers", custom_trackers);
+    1265             : 
+    1266          62 :   if (!custom_trackers.empty()) {
+    1267           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1268             :   }
+    1269             : 
+    1270          62 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1271          62 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1272             : 
+    1273          62 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1274             : 
+    1275         435 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1276             : 
+    1277         746 :     std::string tracker_name = _tracker_names_[i];
+    1278             : 
+    1279             :     // load the controller parameters
+    1280         746 :     std::string address;
+    1281         746 :     std::string name_space;
+    1282             :     bool        human_switchable;
+    1283             : 
+    1284         373 :     param_loader.loadParam(tracker_name + "/address", address);
+    1285         373 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1286         373 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1287             : 
+    1288        1119 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1289         373 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1290             : 
+    1291             :     try {
+    1292         373 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1293         373 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1294             :     }
+    1295           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1296           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1297           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1298           0 :       ros::shutdown();
+    1299             :     }
+    1300           0 :     catch (pluginlib::PluginlibException& ex) {
+    1301           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1302           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1303           0 :       ros::shutdown();
+    1304             :     }
+    1305             :   }
+    1306             : 
+    1307          62 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1308             : 
+    1309         435 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1310             : 
+    1311         373 :     std::map<std::string, TrackerParams>::iterator it;
+    1312         373 :     it = trackers_.find(_tracker_names_[i]);
+    1313             : 
+    1314             :     // create private handlers
+    1315             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1316         746 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1317             : 
+    1318         373 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1319         373 :     private_handlers->name_space     = it->second.name_space;
+    1320         373 :     private_handlers->runtime_name   = _tracker_names_[i];
+    1321         373 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_[i]);
+    1322             : 
+    1323         373 :     if (_custom_config_ != "") {
+    1324         373 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1325             :     }
+    1326             : 
+    1327         373 :     if (_platform_config_ != "") {
+    1328         373 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1329             :     }
+    1330             : 
+    1331         373 :     if (_world_config_ != "") {
+    1332         373 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1333             :     }
+    1334             : 
+    1335         373 :     if (_network_config_ != "") {
+    1336         373 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1337             :     }
+    1338             : 
+    1339         373 :     bool success = false;
+    1340             : 
+    1341             :     try {
+    1342         373 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1343         373 :       success = tracker_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1344             :     }
+    1345           0 :     catch (std::runtime_error& ex) {
+    1346           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1347             :     }
+    1348             : 
+    1349         373 :     if (!success) {
+    1350           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1351           0 :       ros::shutdown();
+    1352             :     }
+    1353             :   }
+    1354             : 
+    1355          62 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1356             : 
+    1357             :   // --------------------------------------------------------------
+    1358             :   // |           check the existance of selected trackers         |
+    1359             :   // --------------------------------------------------------------
+    1360             : 
+    1361             :   // | ------ check for the existance of the hover tracker ------ |
+    1362             : 
+    1363             :   // check if the hover_tracker is within the loaded trackers
+    1364             :   {
+    1365          62 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1366             : 
+    1367          62 :     if (idx) {
+    1368          62 :       _ehover_tracker_idx_ = idx.value();
+    1369             :     } else {
+    1370           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1371           0 :       ros::shutdown();
+    1372             :     }
+    1373             :   }
+    1374             : 
+    1375             :   // | ----- check for the existence of the landoff tracker ----- |
+    1376             : 
+    1377             :   {
+    1378          62 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1379             : 
+    1380          62 :     if (idx) {
+    1381          62 :       _landoff_tracker_idx_ = idx.value();
+    1382             :     } else {
+    1383           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1384           0 :       ros::shutdown();
+    1385             :     }
+    1386             :   }
+    1387             : 
+    1388             :   // | ------- check for the existence of the null tracker ------ |
+    1389             : 
+    1390             :   {
+    1391          62 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1392             : 
+    1393          62 :     if (idx) {
+    1394          62 :       _null_tracker_idx_ = idx.value();
+    1395             :     } else {
+    1396           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1397           0 :       ros::shutdown();
+    1398             :     }
+    1399             :   }
+    1400             : 
+    1401             :   // --------------------------------------------------------------
+    1402             :   // |         check existance of trackers for joystick           |
+    1403             :   // --------------------------------------------------------------
+    1404             : 
+    1405          62 :   if (_joystick_enabled_) {
+    1406             : 
+    1407          62 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1408             : 
+    1409          62 :     if (idx) {
+    1410          62 :       _joystick_tracker_idx_ = idx.value();
+    1411             :     } else {
+    1412           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1413           0 :       ros::shutdown();
+    1414             :     }
+    1415             :   }
+    1416             : 
+    1417          62 :   if (_bumper_switch_tracker_) {
+    1418             : 
+    1419          62 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1420             : 
+    1421          62 :     if (!idx) {
+    1422           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1423           0 :       ros::shutdown();
+    1424             :     }
+    1425             :   }
+    1426             : 
+    1427             :   {
+    1428          62 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1429             : 
+    1430          62 :     if (idx) {
+    1431          62 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1432             :     } else {
+    1433           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1434           0 :       ros::shutdown();
+    1435             :     }
+    1436             :   }
+    1437             : 
+    1438             :   // --------------------------------------------------------------
+    1439             :   // |                    load the controllers                    |
+    1440             :   // --------------------------------------------------------------
+    1441             : 
+    1442         124 :   std::vector<std::string> custom_controllers;
+    1443             : 
+    1444          62 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1445          62 :   param_loader.loadParam("controllers", custom_controllers);
+    1446             : 
+    1447          62 :   if (!custom_controllers.empty()) {
+    1448           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1449             :   }
+    1450             : 
+    1451          62 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1452             : 
+    1453             :   // for each controller in the list
+    1454         372 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1455             : 
+    1456         620 :     std::string controller_name = _controller_names_[i];
+    1457             : 
+    1458             :     // load the controller parameters
+    1459         620 :     std::string address;
+    1460         620 :     std::string name_space;
+    1461             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1462             :     bool        human_switchable;
+    1463         310 :     param_loader.loadParam(controller_name + "/address", address);
+    1464         310 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1465         310 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1466         310 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1467         310 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1468         310 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1469             : 
+    1470             :     // check if the controller can output some of the required outputs
+    1471             :     {
+    1472             : 
+    1473         310 :       ControlOutputModalities_t outputs;
+    1474         310 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1475         310 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1476         310 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1477         310 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1478         310 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1479         310 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1480         310 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1481         310 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1482         310 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1483             : 
+    1484         310 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1485         310 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1486         310 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1487         310 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1488         310 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1489         310 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1490         310 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1491         310 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1492         310 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1493             : 
+    1494         295 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1495         605 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1496             : 
+    1497         310 :       if (!meets_requirements) {
+    1498             : 
+    1499           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1500             :                   controller_name.c_str());
+    1501             : 
+    1502           0 :         if (_hw_api_inputs_.actuators) {
+    1503           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1504             :         }
+    1505             : 
+    1506           0 :         if (_hw_api_inputs_.control_group) {
+    1507           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1508             :         }
+    1509             : 
+    1510           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1511           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1512             :         }
+    1513             : 
+    1514           0 :         if (_hw_api_inputs_.attitude) {
+    1515           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1516             :         }
+    1517             : 
+    1518           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1519           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1520             :         }
+    1521             : 
+    1522           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1523           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1524             :         }
+    1525             : 
+    1526           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1527           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1528             :         }
+    1529             : 
+    1530           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1531           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1532             :         }
+    1533             : 
+    1534           0 :         if (_hw_api_inputs_.position) {
+    1535           0 :           ROS_ERROR("[ControlManager]: - position");
+    1536             :         }
+    1537             : 
+    1538           0 :         ros::shutdown();
+    1539             :       }
+    1540             : 
+    1541         310 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1542           0 :         ROS_ERROR(
+    1543             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1544           0 :         ros::shutdown();
+    1545             :       }
+    1546             :     }
+    1547             : 
+    1548             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1549             : 
+    1550         310 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1551             : 
+    1552         310 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1553          30 :       _safety_timer_rate_     = 200.0;
+    1554          30 :       desired_uav_state_rate_ = 250.0;
+    1555         280 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1556         230 :       _safety_timer_rate_     = 100.0;
+    1557         230 :       desired_uav_state_rate_ = 100.0;
+    1558          50 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1559          20 :       _safety_timer_rate_     = 30.0;
+    1560          20 :       _status_timer_rate_     = 1.0;
+    1561          20 :       desired_uav_state_rate_ = 40.0;
+    1562             : 
+    1563          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1564           4 :         _uav_state_max_missing_time_ = 0.2;
+    1565             :       }
+    1566          30 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1567          30 :       _safety_timer_rate_     = 20.0;
+    1568          30 :       _status_timer_rate_     = 1.0;
+    1569          30 :       desired_uav_state_rate_ = 20.0;
+    1570             : 
+    1571          30 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1572           6 :         _uav_state_max_missing_time_ = 1.0;
+    1573             :       }
+    1574             :     }
+    1575             : 
+    1576         310 :     if (eland_threshold == 0) {
+    1577          63 :       eland_threshold = 1e6;
+    1578             :     }
+    1579             : 
+    1580         310 :     if (failsafe_threshold == 0) {
+    1581          63 :       failsafe_threshold = 1e6;
+    1582             :     }
+    1583             : 
+    1584         310 :     if (odometry_innovation_threshold == 0) {
+    1585          64 :       odometry_innovation_threshold = 1e6;
+    1586             :     }
+    1587             : 
+    1588         930 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1589         310 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1590             : 
+    1591             :     try {
+    1592         310 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1593         310 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1594             :     }
+    1595           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1596           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1597           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1598           0 :       ros::shutdown();
+    1599             :     }
+    1600           0 :     catch (pluginlib::PluginlibException& ex) {
+    1601           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1602           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1603           0 :       ros::shutdown();
+    1604             :     }
+    1605             :   }
+    1606             : 
+    1607          62 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1608             : 
+    1609         372 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1610             : 
+    1611         310 :     std::map<std::string, ControllerParams>::iterator it;
+    1612         310 :     it = controllers_.find(_controller_names_[i]);
+    1613             : 
+    1614             :     // create private handlers
+    1615             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1616         620 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1617             : 
+    1618         310 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1619         310 :     private_handlers->name_space     = it->second.name_space;
+    1620         310 :     private_handlers->runtime_name   = _controller_names_[i];
+    1621         310 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_[i]);
+    1622             : 
+    1623         310 :     if (_custom_config_ != "") {
+    1624         310 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1625             :     }
+    1626             : 
+    1627         310 :     if (_platform_config_ != "") {
+    1628         310 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1629             :     }
+    1630             : 
+    1631         310 :     if (_world_config_ != "") {
+    1632         310 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1633             :     }
+    1634             : 
+    1635         310 :     if (_network_config_ != "") {
+    1636         310 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1637             :     }
+    1638             : 
+    1639         310 :     bool success = false;
+    1640             : 
+    1641             :     try {
+    1642             : 
+    1643         310 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1644         310 :       success = controller_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1645             :     }
+    1646           0 :     catch (std::runtime_error& ex) {
+    1647           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1648             :     }
+    1649             : 
+    1650         310 :     if (!success) {
+    1651           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1652           0 :       ros::shutdown();
+    1653             :     }
+    1654             :   }
+    1655             : 
+    1656          62 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1657             : 
+    1658             :   {
+    1659          62 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1660             : 
+    1661          62 :     if (idx) {
+    1662          62 :       _failsafe_controller_idx_ = idx.value();
+    1663             :     } else {
+    1664           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1665           0 :       ros::shutdown();
+    1666             :     }
+    1667             :   }
+    1668             : 
+    1669             :   {
+    1670          62 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1671             : 
+    1672          62 :     if (idx) {
+    1673          62 :       _eland_controller_idx_ = idx.value();
+    1674             :     } else {
+    1675           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1676           0 :       ros::shutdown();
+    1677             :     }
+    1678             :   }
+    1679             : 
+    1680             :   {
+    1681          62 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1682             : 
+    1683          62 :     if (idx) {
+    1684          62 :       _joystick_controller_idx_ = idx.value();
+    1685             :     } else {
+    1686           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1687           0 :       ros::shutdown();
+    1688             :     }
+    1689             :   }
+    1690             : 
+    1691          62 :   if (_bumper_switch_controller_) {
+    1692             : 
+    1693          62 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1694             : 
+    1695          62 :     if (!idx) {
+    1696           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1697           0 :       ros::shutdown();
+    1698             :     }
+    1699             :   }
+    1700             : 
+    1701             :   {
+    1702          62 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1703             : 
+    1704          62 :     if (idx) {
+    1705          62 :       _joystick_fallback_controller_idx_ = idx.value();
+    1706             :     } else {
+    1707           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1708           0 :       ros::shutdown();
+    1709             :     }
+    1710             :   }
+    1711             : 
+    1712             :   // --------------------------------------------------------------
+    1713             :   // |                  activate the NullTracker                  |
+    1714             :   // --------------------------------------------------------------
+    1715             : 
+    1716          62 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1717             : 
+    1718          62 :   tracker_list_[_null_tracker_idx_]->activate(last_tracker_cmd_);
+    1719          62 :   active_tracker_idx_ = _null_tracker_idx_;
+    1720             : 
+    1721             :   // --------------------------------------------------------------
+    1722             :   // |    activate the eland controller as the first controller   |
+    1723             :   // --------------------------------------------------------------
+    1724             : 
+    1725          62 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_[_eland_controller_idx_].c_str());
+    1726             : 
+    1727          62 :   controller_list_[_eland_controller_idx_]->activate(last_control_output_);
+    1728          62 :   active_controller_idx_ = _eland_controller_idx_;
+    1729             : 
+    1730             :   // update the time
+    1731             :   {
+    1732         124 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1733             : 
+    1734          62 :     controller_tracker_switch_time_ = ros::Time::now();
+    1735             :   }
+    1736             : 
+    1737          62 :   output_enabled_ = false;
+    1738             : 
+    1739             :   // | --------------- set the default constraints -------------- |
+    1740             : 
+    1741          62 :   sanitized_constraints_ = current_constraints_;
+    1742          62 :   setConstraints(current_constraints_);
+    1743             : 
+    1744             :   // | ------------------------ profiler ------------------------ |
+    1745             : 
+    1746          62 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1747             : 
+    1748             :   // | ----------------------- publishers ----------------------- |
+    1749             : 
+    1750          62 :   control_output_publisher_ = OutputPublisher(nh_);
+    1751             : 
+    1752          62 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1753          62 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1754          62 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1755          62 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1756          62 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1757          62 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1758          62 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1759          62 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1760          62 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1761          62 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1762          62 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1763          62 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1764          62 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1765          62 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1766          62 :   ph_bumper_status_                      = mrs_lib::PublisherHandler<mrs_msgs::BumperStatus>(nh_, "bumper_status_out", 1);
+    1767          62 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1768          62 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1769          62 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1770          62 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1771          62 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1772             : 
+    1773             :   // | ----------------------- subscribers ---------------------- |
+    1774             : 
+    1775         124 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1776          62 :   shopts.nh                 = nh_;
+    1777          62 :   shopts.node_name          = "ControlManager";
+    1778          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1779          62 :   shopts.threadsafe         = true;
+    1780          62 :   shopts.autostart          = true;
+    1781          62 :   shopts.queue_size         = 10;
+    1782          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1783             : 
+    1784          62 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1785          62 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1786           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1787           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1788             :   }
+    1789             : 
+    1790          62 :   if (_odometry_innovation_check_enabled_) {
+    1791          62 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1792             :   }
+    1793             : 
+    1794          62 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1795          62 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1796          62 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1797          62 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1798          62 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1799             : 
+    1800          62 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1801             : 
+    1802             :   // | -------------------- general services -------------------- |
+    1803             : 
+    1804          62 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1805          62 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1806          62 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1807          62 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1808          62 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1809          62 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1810          62 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1811          62 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1812          62 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1813          62 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1814          62 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1815          62 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1816          62 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1817          62 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1818          62 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1819          62 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1820          62 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1821          62 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1822          62 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1823          62 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1824          62 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1825          62 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1826          62 :   service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceList, this);
+    1827          62 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1828          62 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1829          62 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1830          62 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1831             : 
+    1832          62 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1833          62 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1834          62 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1835          62 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1836          62 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1837          62 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1838             : 
+    1839             :   // | ---------------- setpoint command services --------------- |
+    1840             : 
+    1841             :   // human callable
+    1842          62 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1843          62 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1844          62 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1845          62 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1846          62 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1847          62 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1848             : 
+    1849          62 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1850          62 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1851             : 
+    1852          62 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1853             :   sh_velocity_reference_ =
+    1854          62 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1855             : 
+    1856          62 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1857             :   sh_trajectory_reference_ =
+    1858          62 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1859             : 
+    1860             :   // | --------------------- other services --------------------- |
+    1861             : 
+    1862          62 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1863          62 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1864             : 
+    1865             :   // | ------------------------- timers ------------------------- |
+    1866             : 
+    1867          62 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1868          62 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1869          62 :   timer_bumper_    = nh_.createTimer(ros::Rate(_bumper_timer_rate_), &ControlManager::timerBumper, this, false, bumper_enabled_);
+    1870          62 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1871          62 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1872          62 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1873          62 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1874             : 
+    1875             :   // | ----------------------- finish init ---------------------- |
+    1876             : 
+    1877          62 :   if (!param_loader.loadedSuccessfully()) {
+    1878           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1879           0 :     ros::shutdown();
+    1880             :   }
+    1881             : 
+    1882          62 :   is_initialized_ = true;
+    1883             : 
+    1884          62 :   ROS_INFO("[ControlManager]: initialized");
+    1885          62 : }
+    1886             : 
+    1887             : //}
+    1888             : 
+    1889             : // --------------------------------------------------------------
+    1890             : // |                           timers                           |
+    1891             : // --------------------------------------------------------------
+    1892             : 
+    1893             : /* timerHwApiCapabilities() //{ */
+    1894             : 
+    1895         104 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1896             : 
+    1897         208 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1898         208 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1899             : 
+    1900         104 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1901          42 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1902          42 :     return;
+    1903             :   }
+    1904             : 
+    1905         124 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1906             : 
+    1907          62 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1908             : 
+    1909          62 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1910           3 :     ROS_INFO("[ControlManager]: - actuator command");
+    1911           3 :     _hw_api_inputs_.actuators = true;
+    1912             :   }
+    1913             : 
+    1914          62 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1915           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1916           3 :     _hw_api_inputs_.control_group = true;
+    1917             :   }
+    1918             : 
+    1919          62 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1920          43 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1921          43 :     _hw_api_inputs_.attitude_rate = true;
+    1922             :   }
+    1923             : 
+    1924          62 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1925          43 :     ROS_INFO("[ControlManager]: - attitude command");
+    1926          43 :     _hw_api_inputs_.attitude = true;
+    1927             :   }
+    1928             : 
+    1929          62 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1930           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1931           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1932             :   }
+    1933             : 
+    1934          62 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1935           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1936           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1937             :   }
+    1938             : 
+    1939          62 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1940           2 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1941           2 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1942             :   }
+    1943             : 
+    1944          62 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1945           2 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1946           2 :     _hw_api_inputs_.velocity_hdg = true;
+    1947             :   }
+    1948             : 
+    1949          62 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1950           2 :     ROS_INFO("[ControlManager]: - position command");
+    1951           2 :     _hw_api_inputs_.position = true;
+    1952             :   }
+    1953             : 
+    1954          62 :   initialize();
+    1955             : 
+    1956          62 :   timer_hw_api_capabilities_.stop();
+    1957             : }
+    1958             : 
+    1959             : //}
+    1960             : 
+    1961             : /* //{ timerStatus() */
+    1962             : 
+    1963       10184 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1964             : 
+    1965       10184 :   if (!is_initialized_)
+    1966           0 :     return;
+    1967             : 
+    1968       30552 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1969       30552 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1970             : 
+    1971             :   // copy member variables
+    1972       20368 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1973       20368 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1974       20368 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    1975       10184 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    1976       10184 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    1977       10184 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    1978       10184 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    1979             : 
+    1980             :   double uav_x, uav_y, uav_z;
+    1981       10184 :   uav_x = uav_state.pose.position.x;
+    1982       10184 :   uav_y = uav_state.pose.position.y;
+    1983       10184 :   uav_z = uav_state.pose.position.z;
+    1984             : 
+    1985             :   // --------------------------------------------------------------
+    1986             :   // |                      print the status                      |
+    1987             :   // --------------------------------------------------------------
+    1988             : 
+    1989             :   {
+    1990       20368 :     std::string controller = _controller_names_[active_controller_idx];
+    1991       20368 :     std::string tracker    = _tracker_names_[active_tracker_idx];
+    1992       10184 :     double      mass       = last_control_output.diagnostics.total_mass;
+    1993       10184 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    1994       10184 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    1995       10184 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    1996       10184 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    1997             : 
+    1998       10184 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    1999             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2000             :   }
+    2001             : 
+    2002             :   // --------------------------------------------------------------
+    2003             :   // |                   publish the diagnostics                  |
+    2004             :   // --------------------------------------------------------------
+    2005             : 
+    2006       10184 :   publishDiagnostics();
+    2007             : 
+    2008             :   // --------------------------------------------------------------
+    2009             :   // |                publish if the offboard is on               |
+    2010             :   // --------------------------------------------------------------
+    2011             : 
+    2012       10184 :   if (offboard_mode_) {
+    2013             : 
+    2014        7629 :     std_msgs::Empty offboard_on_out;
+    2015             : 
+    2016        7629 :     ph_offboard_on_.publish(offboard_on_out);
+    2017             :   }
+    2018             : 
+    2019             :   // --------------------------------------------------------------
+    2020             :   // |                   publish the tilt error                   |
+    2021             :   // --------------------------------------------------------------
+    2022             :   {
+    2023       20368 :     std::scoped_lock lock(mutex_attitude_error_);
+    2024             : 
+    2025       10184 :     if (tilt_error_) {
+    2026             : 
+    2027       20368 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2028       10184 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2029       10184 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2030       10184 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2031             : 
+    2032       10184 :       ph_tilt_error_.publish(tilt_error_out);
+    2033             :     }
+    2034             :   }
+    2035             : 
+    2036             :   // --------------------------------------------------------------
+    2037             :   // |                  publish the control error                 |
+    2038             :   // --------------------------------------------------------------
+    2039             : 
+    2040       10184 :   if (position_error) {
+    2041             : 
+    2042        6986 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2043             : 
+    2044       13972 :     mrs_msgs::ControlError msg_out;
+    2045             : 
+    2046        6986 :     msg_out.header.stamp    = ros::Time::now();
+    2047        6986 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2048             : 
+    2049        6986 :     msg_out.position_errors.x    = pos_error_value[0];
+    2050        6986 :     msg_out.position_errors.y    = pos_error_value[1];
+    2051        6986 :     msg_out.position_errors.z    = pos_error_value[2];
+    2052        6986 :     msg_out.total_position_error = pos_error_value.norm();
+    2053             : 
+    2054        6986 :     if (yaw_error_) {
+    2055        6986 :       msg_out.yaw_error = yaw_error.value();
+    2056             :     }
+    2057             : 
+    2058        6986 :     std::map<std::string, ControllerParams>::iterator it;
+    2059             : 
+    2060        6986 :     it = controllers_.find(_controller_names_[active_controller_idx]);
+    2061             : 
+    2062        6986 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2063        6986 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2064             : 
+    2065        6986 :     ph_control_error_.publish(msg_out);
+    2066             :   }
+    2067             : 
+    2068             :   // --------------------------------------------------------------
+    2069             :   // |                  publish the mass estimate                 |
+    2070             :   // --------------------------------------------------------------
+    2071             : 
+    2072       10184 :   if (last_control_output.diagnostics.mass_estimator) {
+    2073             : 
+    2074        5850 :     std_msgs::Float64 mass_estimate_out;
+    2075        5850 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2076             : 
+    2077        5850 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2078             :   }
+    2079             : 
+    2080             :   // --------------------------------------------------------------
+    2081             :   // |                 publish the current heading                |
+    2082             :   // --------------------------------------------------------------
+    2083             : 
+    2084       10184 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2085             : 
+    2086             :     try {
+    2087             : 
+    2088             :       double heading;
+    2089             : 
+    2090        8575 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2091             : 
+    2092       17150 :       mrs_msgs::Float64Stamped heading_out;
+    2093        8575 :       heading_out.header = uav_state.header;
+    2094        8575 :       heading_out.value  = heading;
+    2095             : 
+    2096        8575 :       ph_heading_.publish(heading_out);
+    2097             :     }
+    2098           0 :     catch (...) {
+    2099           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2100             :     }
+    2101             :   }
+    2102             : 
+    2103             :   // --------------------------------------------------------------
+    2104             :   // |                  publish the current speed                 |
+    2105             :   // --------------------------------------------------------------
+    2106             : 
+    2107       10184 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2108             : 
+    2109        8575 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2110             : 
+    2111       17150 :     mrs_msgs::Float64Stamped speed_out;
+    2112        8575 :     speed_out.header = uav_state.header;
+    2113        8575 :     speed_out.value  = speed;
+    2114             : 
+    2115        8575 :     ph_speed_.publish(speed_out);
+    2116             :   }
+    2117             : 
+    2118             :   // --------------------------------------------------------------
+    2119             :   // |               publish the safety area markers              |
+    2120             :   // --------------------------------------------------------------
+    2121             : 
+    2122       10184 :   if (use_safety_area_) {
+    2123             : 
+    2124       17422 :     mrs_msgs::ReferenceStamped temp_ref;
+    2125        8711 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2126             : 
+    2127       17422 :     geometry_msgs::TransformStamped tf;
+    2128             : 
+    2129       26133 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2130             : 
+    2131        8711 :     if (ret) {
+    2132             : 
+    2133        7263 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2134             : 
+    2135       14526 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2136       14526 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2137             : 
+    2138       14526 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2139             : 
+    2140       14526 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2141       14526 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2142             : 
+    2143       14526 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2144       14526 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2145             : 
+    2146             :       // if we fail in transforming the area at some point
+    2147             :       // do not publish it at all
+    2148        7263 :       bool tf_success = true;
+    2149             : 
+    2150       14526 :       geometry_msgs::TransformStamped tf = ret.value();
+    2151             : 
+    2152             :       /* transform area points to local origin //{ */
+    2153             : 
+    2154             :       // transform border bottom points to local origin
+    2155       36315 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2156             : 
+    2157       29052 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2158       29052 :         temp_ref.header.stamp         = ros::Time(0);
+    2159       29052 :         temp_ref.reference.position.x = border_points_bot_original[i].x;
+    2160       29052 :         temp_ref.reference.position.y = border_points_bot_original[i].y;
+    2161       29052 :         temp_ref.reference.position.z = border_points_bot_original[i].z;
+    2162             : 
+    2163       58104 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2164             : 
+    2165       29052 :           temp_ref = ret.value();
+    2166             : 
+    2167       29052 :           border_points_bot_transformed[i].x = temp_ref.reference.position.x;
+    2168       29052 :           border_points_bot_transformed[i].y = temp_ref.reference.position.y;
+    2169       29052 :           border_points_bot_transformed[i].z = temp_ref.reference.position.z;
+    2170             : 
+    2171             :         } else {
+    2172           0 :           tf_success = false;
+    2173             :         }
+    2174             :       }
+    2175             : 
+    2176             :       // transform border top points to local origin
+    2177       36315 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2178             : 
+    2179       29052 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2180       29052 :         temp_ref.header.stamp         = ros::Time(0);
+    2181       29052 :         temp_ref.reference.position.x = border_points_top_original[i].x;
+    2182       29052 :         temp_ref.reference.position.y = border_points_top_original[i].y;
+    2183       29052 :         temp_ref.reference.position.z = border_points_top_original[i].z;
+    2184             : 
+    2185       58104 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2186             : 
+    2187       29052 :           temp_ref = ret.value();
+    2188             : 
+    2189       29052 :           border_points_top_transformed[i].x = temp_ref.reference.position.x;
+    2190       29052 :           border_points_top_transformed[i].y = temp_ref.reference.position.y;
+    2191       29052 :           border_points_top_transformed[i].z = temp_ref.reference.position.z;
+    2192             : 
+    2193             :         } else {
+    2194           0 :           tf_success = false;
+    2195             :         }
+    2196             :       }
+    2197             : 
+    2198             :       //}
+    2199             : 
+    2200       14526 :       visualization_msgs::Marker safety_area_marker;
+    2201             : 
+    2202        7263 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2203        7263 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2204        7263 :       safety_area_marker.color.a         = 0.15;
+    2205        7263 :       safety_area_marker.scale.x         = 0.2;
+    2206        7263 :       safety_area_marker.color.r         = 1;
+    2207        7263 :       safety_area_marker.color.g         = 0;
+    2208        7263 :       safety_area_marker.color.b         = 0;
+    2209             : 
+    2210        7263 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2211             : 
+    2212       14526 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2213             : 
+    2214        7263 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2215        7263 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2216        7263 :       safety_area_coordinates_marker.color.a         = 1;
+    2217        7263 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2218        7263 :       safety_area_coordinates_marker.color.r         = 0;
+    2219        7263 :       safety_area_coordinates_marker.color.g         = 0;
+    2220        7263 :       safety_area_coordinates_marker.color.b         = 0;
+    2221             : 
+    2222        7263 :       safety_area_coordinates_marker.id = 0;
+    2223             : 
+    2224        7263 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2225             : 
+    2226             :       /* adding safety area points //{ */
+    2227             : 
+    2228             :       // bottom border
+    2229       36315 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2230             : 
+    2231       29052 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2232       29052 :         safety_area_marker.points.push_back(border_points_bot_transformed[(i + 1) % border_points_bot_transformed.size()]);
+    2233             : 
+    2234       58104 :         std::stringstream ss;
+    2235             : 
+    2236       29052 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2237           0 :           ss << "idx: " << i << std::endl
+    2238           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2239           0 :              << "lon: " << border_points_bot_original[i].y;
+    2240             :         } else {
+    2241       29052 :           ss << "idx: " << i << std::endl
+    2242       29052 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2243       29052 :              << "y: " << border_points_bot_original[i].y;
+    2244             :         }
+    2245             : 
+    2246       29052 :         safety_area_coordinates_marker.color.r = 0;
+    2247       29052 :         safety_area_coordinates_marker.color.g = 0;
+    2248       29052 :         safety_area_coordinates_marker.color.b = 0;
+    2249             : 
+    2250       29052 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed[i];
+    2251       29052 :         safety_area_coordinates_marker.text          = ss.str();
+    2252       29052 :         safety_area_coordinates_marker.id++;
+    2253             : 
+    2254       29052 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2255             :       }
+    2256             : 
+    2257             :       // top border + top/bot edges
+    2258       36315 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2259             : 
+    2260       29052 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2261       29052 :         safety_area_marker.points.push_back(border_points_top_transformed[(i + 1) % border_points_top_transformed.size()]);
+    2262             : 
+    2263       29052 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2264       29052 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2265             : 
+    2266       58104 :         std::stringstream ss;
+    2267             : 
+    2268       29052 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2269           0 :           ss << "idx: " << i << std::endl
+    2270           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2271           0 :              << "lon: " << border_points_bot_original[i].y;
+    2272             :         } else {
+    2273       29052 :           ss << "idx: " << i << std::endl
+    2274       29052 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2275       29052 :              << "y: " << border_points_bot_original[i].y;
+    2276             :         }
+    2277             : 
+    2278       29052 :         safety_area_coordinates_marker.color.r = 1;
+    2279       29052 :         safety_area_coordinates_marker.color.g = 1;
+    2280       29052 :         safety_area_coordinates_marker.color.b = 1;
+    2281             : 
+    2282       29052 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed[i];
+    2283       29052 :         safety_area_coordinates_marker.text          = ss.str();
+    2284       29052 :         safety_area_coordinates_marker.id++;
+    2285             : 
+    2286       29052 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2287             :       }
+    2288             : 
+    2289             :       //}
+    2290             : 
+    2291        7263 :       if (tf_success) {
+    2292             : 
+    2293        7263 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2294             : 
+    2295        7263 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2296             : 
+    2297        7263 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2298             :       }
+    2299             : 
+    2300             :     } else {
+    2301        1448 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2302             :     }
+    2303             :   }
+    2304             : 
+    2305             :   // --------------------------------------------------------------
+    2306             :   // |              publish the disturbances markers              |
+    2307             :   // --------------------------------------------------------------
+    2308             : 
+    2309       10184 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2310             : 
+    2311       11802 :     visualization_msgs::MarkerArray msg_out;
+    2312             : 
+    2313        5901 :     double id = 0;
+    2314             : 
+    2315        5901 :     double multiplier = 1.0;
+    2316             : 
+    2317        5901 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2318             : 
+    2319        5901 :     Eigen::Vector3d      vec3d;
+    2320        5901 :     geometry_msgs::Point point;
+    2321             : 
+    2322             :     /* world disturbance //{ */
+    2323             :     {
+    2324             : 
+    2325       11802 :       visualization_msgs::Marker marker;
+    2326             : 
+    2327        5901 :       marker.header.frame_id = uav_state.header.frame_id;
+    2328        5901 :       marker.header.stamp    = ros::Time::now();
+    2329        5901 :       marker.ns              = "control_manager";
+    2330        5901 :       marker.id              = id++;
+    2331        5901 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2332        5901 :       marker.action          = visualization_msgs::Marker::ADD;
+    2333             : 
+    2334             :       /* position //{ */
+    2335             : 
+    2336        5901 :       marker.pose.position.x = 0.0;
+    2337        5901 :       marker.pose.position.y = 0.0;
+    2338        5901 :       marker.pose.position.z = 0.0;
+    2339             : 
+    2340             :       //}
+    2341             : 
+    2342             :       /* orientation //{ */
+    2343             : 
+    2344        5901 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2345             : 
+    2346             :       //}
+    2347             : 
+    2348             :       /* origin //{ */
+    2349        5901 :       point.x = uav_x;
+    2350        5901 :       point.y = uav_y;
+    2351        5901 :       point.z = uav_z;
+    2352             : 
+    2353        5901 :       marker.points.push_back(point);
+    2354             : 
+    2355             :       //}
+    2356             : 
+    2357             :       /* tip //{ */
+    2358             : 
+    2359        5901 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2360        5901 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2361        5901 :       point.z = uav_z;
+    2362             : 
+    2363        5901 :       marker.points.push_back(point);
+    2364             : 
+    2365             :       //}
+    2366             : 
+    2367        5901 :       marker.scale.x = 0.05;
+    2368        5901 :       marker.scale.y = 0.05;
+    2369        5901 :       marker.scale.z = 0.05;
+    2370             : 
+    2371        5901 :       marker.color.a = 0.5;
+    2372        5901 :       marker.color.r = 1.0;
+    2373        5901 :       marker.color.g = 0.0;
+    2374        5901 :       marker.color.b = 0.0;
+    2375             : 
+    2376        5901 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2377             : 
+    2378        5901 :       msg_out.markers.push_back(marker);
+    2379             :     }
+    2380             : 
+    2381             :     //}
+    2382             : 
+    2383             :     /* body disturbance //{ */
+    2384             :     {
+    2385             : 
+    2386       11802 :       visualization_msgs::Marker marker;
+    2387             : 
+    2388        5901 :       marker.header.frame_id = uav_state.header.frame_id;
+    2389        5901 :       marker.header.stamp    = ros::Time::now();
+    2390        5901 :       marker.ns              = "control_manager";
+    2391        5901 :       marker.id              = id++;
+    2392        5901 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2393        5901 :       marker.action          = visualization_msgs::Marker::ADD;
+    2394             : 
+    2395             :       /* position //{ */
+    2396             : 
+    2397        5901 :       marker.pose.position.x = 0.0;
+    2398        5901 :       marker.pose.position.y = 0.0;
+    2399        5901 :       marker.pose.position.z = 0.0;
+    2400             : 
+    2401             :       //}
+    2402             : 
+    2403             :       /* orientation //{ */
+    2404             : 
+    2405        5901 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2406             : 
+    2407             :       //}
+    2408             : 
+    2409             :       /* origin //{ */
+    2410             : 
+    2411        5901 :       point.x = uav_x;
+    2412        5901 :       point.y = uav_y;
+    2413        5901 :       point.z = uav_z;
+    2414             : 
+    2415        5901 :       marker.points.push_back(point);
+    2416             : 
+    2417             :       //}
+    2418             : 
+    2419             :       /* tip //{ */
+    2420             : 
+    2421        5901 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2422        5901 :       vec3d = quat_eigen * vec3d;
+    2423             : 
+    2424        5901 :       point.x = uav_x + vec3d[0];
+    2425        5901 :       point.y = uav_y + vec3d[1];
+    2426        5901 :       point.z = uav_z + vec3d[2];
+    2427             : 
+    2428        5901 :       marker.points.push_back(point);
+    2429             : 
+    2430             :       //}
+    2431             : 
+    2432        5901 :       marker.scale.x = 0.05;
+    2433        5901 :       marker.scale.y = 0.05;
+    2434        5901 :       marker.scale.z = 0.05;
+    2435             : 
+    2436        5901 :       marker.color.a = 0.5;
+    2437        5901 :       marker.color.r = 0.0;
+    2438        5901 :       marker.color.g = 1.0;
+    2439        5901 :       marker.color.b = 0.0;
+    2440             : 
+    2441        5901 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2442             : 
+    2443        5901 :       msg_out.markers.push_back(marker);
+    2444             :     }
+    2445             : 
+    2446             :     //}
+    2447             : 
+    2448        5901 :     ph_disturbances_markers_.publish(msg_out);
+    2449             :   }
+    2450             : 
+    2451             :   // --------------------------------------------------------------
+    2452             :   // |               publish the current constraints              |
+    2453             :   // --------------------------------------------------------------
+    2454             : 
+    2455       10184 :   if (got_constraints_) {
+    2456             : 
+    2457        8532 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2458             : 
+    2459        8532 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2460             : 
+    2461        8532 :     ph_current_constraints_.publish(constraints);
+    2462             :   }
+    2463             : }
+    2464             : 
+    2465             : //}
+    2466             : 
+    2467             : /* //{ timerSafety() */
+    2468             : 
+    2469      185004 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2470             : 
+    2471      185007 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2472             : 
+    2473      185005 :   if (!is_initialized_)
+    2474           0 :     return;
+    2475             : 
+    2476      370013 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2477      370013 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2478             : 
+    2479             :   // copy member variables
+    2480      185008 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2481      185008 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2482      185008 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2483      185005 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2484      185005 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2485             : 
+    2486      351263 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2487      166258 :       active_tracker_idx == _null_tracker_idx_) {
+    2488       50100 :     return;
+    2489             :   }
+    2490             : 
+    2491      134904 :   if (odometry_switch_in_progress_) {
+    2492           4 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2493           4 :     return;
+    2494             :   }
+    2495             : 
+    2496             :   // | ------------------------ timeouts ------------------------ |
+    2497             : 
+    2498      134901 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2499      134901 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2500             : 
+    2501      134901 :     if (missing_for > _uav_state_max_missing_time_) {
+    2502           0 :       timeoutUavState(missing_for);
+    2503             :     }
+    2504             :   }
+    2505             : 
+    2506      134901 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2507           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2508             : 
+    2509           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2510           0 :       timeoutUavState(missing_for);
+    2511             :     }
+    2512             :   }
+    2513             : 
+    2514             :   // | -------------- eland and failsafe thresholds ------------- |
+    2515             : 
+    2516      134901 :   std::map<std::string, ControllerParams>::iterator it;
+    2517      134901 :   it = controllers_.find(_controller_names_[active_controller_idx]);
+    2518             : 
+    2519      134900 :   _eland_threshold_               = it->second.eland_threshold;
+    2520      134900 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2521      134900 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2522             : 
+    2523             :   // | --------- calculate control errors and tilt angle -------- |
+    2524             : 
+    2525             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2526             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2527      134900 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2528         122 :     return;
+    2529             :   }
+    2530             : 
+    2531             :   {
+    2532      134778 :     std::scoped_lock lock(mutex_attitude_error_);
+    2533             : 
+    2534      134779 :     tilt_error_ = 0;
+    2535      134779 :     yaw_error_  = 0;
+    2536             :   }
+    2537             : 
+    2538             :   {
+    2539             :     // TODO this whole scope is very clumsy
+    2540             : 
+    2541      134779 :     position_error_ = {};
+    2542             : 
+    2543      134779 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2544             : 
+    2545      133817 :       std::scoped_lock lock(mutex_position_error_);
+    2546             : 
+    2547      133815 :       if (!position_error_) {
+    2548      133797 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2549             :       }
+    2550             : 
+    2551      133815 :       position_error_.value()[0] = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2552      133814 :       position_error_.value()[1] = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2553             :     }
+    2554             : 
+    2555      134776 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2556             : 
+    2557      133812 :       std::scoped_lock lock(mutex_position_error_);
+    2558             : 
+    2559      133812 :       if (!position_error_) {
+    2560           2 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2561             :       }
+    2562             : 
+    2563      133812 :       position_error_.value()[2] = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2564             :     }
+    2565             :   }
+    2566             : 
+    2567             :   // rotate the drone's z axis
+    2568      134776 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2569      134776 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2570             : 
+    2571             :   // calculate the angle between the drone's z axis and the world's z axis
+    2572      134776 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2573             : 
+    2574             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2575             : 
+    2576             :   // | --------------------- the tilt error --------------------- |
+    2577             : 
+    2578      134776 :   if (last_control_output.desired_orientation) {
+    2579             : 
+    2580             :     // calculate the desired drone's z axis in the world frame
+    2581      115472 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2582      115472 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2583             : 
+    2584             :     {
+    2585      115472 :       std::scoped_lock lock(mutex_attitude_error_);
+    2586             : 
+    2587             :       // calculate the angle between the drone's z axis and the world's z axis
+    2588      115472 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2589             : 
+    2590             :       // calculate the yaw error
+    2591      115472 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2592      115472 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2593             :     }
+    2594             :   }
+    2595             : 
+    2596      134776 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2597      134776 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2598             : 
+    2599             :   // --------------------------------------------------------------
+    2600             :   // |   activate the failsafe controller in case of large error  |
+    2601             :   // --------------------------------------------------------------
+    2602             : 
+    2603      134776 :   if (position_error) {
+    2604             : 
+    2605      133810 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2606             : 
+    2607          13 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2608             : 
+    2609          13 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2610             : 
+    2611           1 :         if (!failsafe_triggered_) {
+    2612             : 
+    2613           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2614             :                     _failsafe_threshold_, position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2615             : 
+    2616           1 :           failsafe();
+    2617             :         }
+    2618             :       }
+    2619             :     }
+    2620             :   }
+    2621             : 
+    2622             :   // --------------------------------------------------------------
+    2623             :   // |     activate emergency land in case of large innovation    |
+    2624             :   // --------------------------------------------------------------
+    2625             : 
+    2626      134776 :   if (_odometry_innovation_check_enabled_) {
+    2627             :     {
+    2628      134776 :       auto [x, y, z] = mrs_lib::getPosition(sh_odometry_innovation_.getMsg());
+    2629             : 
+    2630      134776 :       double heading = 0;
+    2631             :       try {
+    2632      134776 :         heading = mrs_lib::getHeading(sh_odometry_innovation_.getMsg());
+    2633             :       }
+    2634           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2635           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2636             :       }
+    2637             : 
+    2638      134776 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2639             : 
+    2640      134776 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2641             : 
+    2642           2 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2643             : 
+    2644           2 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2645             : 
+    2646           1 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2647             : 
+    2648           1 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2649             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2650             : 
+    2651           1 :             eland();
+    2652             :           }
+    2653             :         }
+    2654             :       }
+    2655             :     }
+    2656             :   }
+    2657             : 
+    2658             :   // --------------------------------------------------------------
+    2659             :   // |   activate emergency land in case of medium control error  |
+    2660             :   // --------------------------------------------------------------
+    2661             : 
+    2662             :   // | ------------------- tilt control error ------------------- |
+    2663             : 
+    2664      134775 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2665             : 
+    2666           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2667             : 
+    2668           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2669             : 
+    2670           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2671             : 
+    2672           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2673             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2674             : 
+    2675           0 :         eland();
+    2676             :       }
+    2677             :     }
+    2678             :   }
+    2679             : 
+    2680             :   // | ----------------- position control error ----------------- |
+    2681             : 
+    2682      134775 :   if (position_error) {
+    2683             : 
+    2684      133810 :     double error_size = position_error->norm();
+    2685             : 
+    2686      133810 :     if (error_size > _eland_threshold_ / 2.0) {
+    2687             : 
+    2688         790 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2689             : 
+    2690         790 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2691             : 
+    2692         595 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2693             : 
+    2694         426 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2695             : 
+    2696         426 :           ungripSrv();
+    2697             :         }
+    2698             :       }
+    2699             :     }
+    2700             : 
+    2701      133810 :     if (error_size > _eland_threshold_) {
+    2702             : 
+    2703         241 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2704             : 
+    2705         241 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2706             : 
+    2707          59 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2708             : 
+    2709           1 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2710             :                     position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2711             : 
+    2712           1 :           eland();
+    2713             :         }
+    2714             :       }
+    2715             :     }
+    2716             :   }
+    2717             : 
+    2718             :   // | -------------------- yaw control error ------------------- |
+    2719             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2720             : 
+    2721      134774 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2722             : 
+    2723      134776 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2724             : 
+    2725           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2726             : 
+    2727           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2728             : 
+    2729           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2730             : 
+    2731           0 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2732             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2733             : 
+    2734           0 :           ungripSrv();
+    2735             :         }
+    2736             :       }
+    2737             :     }
+    2738             : 
+    2739      134774 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2740             : 
+    2741           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2742             : 
+    2743           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2744             : 
+    2745           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2746             : 
+    2747           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2748             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2749             : 
+    2750           0 :           eland();
+    2751             :         }
+    2752             :       }
+    2753             :     }
+    2754             :   }
+    2755             : 
+    2756             :   // --------------------------------------------------------------
+    2757             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2758             :   // --------------------------------------------------------------
+    2759      134776 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2760             : 
+    2761           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_);
+    2762             : 
+    2763           0 :     arming(false);
+    2764             :   }
+    2765             : 
+    2766             :   // --------------------------------------------------------------
+    2767             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2768             :   // --------------------------------------------------------------
+    2769             : 
+    2770      134776 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2771             : 
+    2772      134772 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2773             : 
+    2774             :     // the time from the last controller/tracker switch
+    2775             :     // fyi: we should not
+    2776      134776 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2777             : 
+    2778             :     // if the tile error is over the threshold
+    2779             :     // && we are not ramping up during takeoff
+    2780      134776 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2781             : 
+    2782             :       // only account for the error if some time passed from the last tracker/controller switch
+    2783          63 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2784             : 
+    2785             :         // if the threshold was not exceeded before
+    2786          63 :         if (!tilt_error_disarm_over_thr_) {
+    2787             : 
+    2788           1 :           tilt_error_disarm_over_thr_ = true;
+    2789           1 :           tilt_error_disarm_time_     = ros::Time::now();
+    2790             : 
+    2791           1 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2792             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2793             : 
+    2794             :           // if it was exceeded before, just keep it
+    2795             :         } else {
+    2796             : 
+    2797          62 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2798             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2799             :         }
+    2800             : 
+    2801             :         // if the tile error is bad, but the controller just switched,
+    2802             :         // don't think its bad anymore
+    2803             :       } else {
+    2804             : 
+    2805           0 :         tilt_error_disarm_over_thr_ = false;
+    2806           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2807             :       }
+    2808             : 
+    2809             :       // if the tilt error is fine
+    2810             :     } else {
+    2811             : 
+    2812             :       // make it fine
+    2813      134713 :       tilt_error_disarm_over_thr_ = false;
+    2814      134713 :       tilt_error_disarm_time_     = ros::Time::now();
+    2815             :     }
+    2816             : 
+    2817             :     // calculate the time over the threshold
+    2818      134775 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2819             : 
+    2820             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2821      134776 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2822             : 
+    2823           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2824             : 
+    2825             :       // only when flying and not in failsafe
+    2826           0 :       if (is_flying) {
+    2827             : 
+    2828           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2829             : 
+    2830           0 :         toggleOutput(false);
+    2831           0 :         arming(false);
+    2832             :       }
+    2833             :     }
+    2834             :   }
+    2835             : 
+    2836             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2837             : 
+    2838             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2839      134780 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2840             : 
+    2841           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2842             : 
+    2843           0 :     toggleOutput(false);
+    2844             :   }
+    2845             : }  // namespace control_manager
+    2846             : 
+    2847             : //}
+    2848             : 
+    2849             : /* //{ timerEland() */
+    2850             : 
+    2851         292 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2852             : 
+    2853         292 :   if (!is_initialized_)
+    2854           0 :     return;
+    2855             : 
+    2856         584 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2857         584 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2858             : 
+    2859             :   // copy member variables
+    2860         292 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2861             : 
+    2862         292 :   if (!last_control_output.control_output) {
+    2863           0 :     return;
+    2864             :   }
+    2865             : 
+    2866         292 :   auto throttle = extractThrottle(last_control_output);
+    2867             : 
+    2868         292 :   if (!throttle) {
+    2869           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2870           0 :     return;
+    2871             :   }
+    2872             : 
+    2873         292 :   if (current_state_landing_ == IDLE_STATE) {
+    2874             : 
+    2875           0 :     return;
+    2876             : 
+    2877         292 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2878             : 
+    2879             :     // --------------------------------------------------------------
+    2880             :     // |                            TODO                            |
+    2881             :     // This section needs work. The throttle landing detection      |
+    2882             :     // mechanism should be extracted and other mechanisms, such     |
+    2883             :     // as velocity-based detection should be used for high          |
+    2884             :     // modalities                                                   |
+    2885             :     // --------------------------------------------------------------
+    2886             : 
+    2887         292 :     if (!last_control_output.control_output) {
+    2888           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2889           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2890           0 :       return;
+    2891             :     }
+    2892             : 
+    2893             :     // recalculate the mass based on the throttle
+    2894         292 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2895         292 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2896             : 
+    2897             :     // condition for automatic motor turn off
+    2898         292 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2899          66 :       if (!throttle_under_threshold_) {
+    2900             : 
+    2901           3 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2902           3 :         throttle_under_threshold_          = true;
+    2903             :       }
+    2904             : 
+    2905          66 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2906             : 
+    2907             :     } else {
+    2908         226 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2909         226 :       throttle_under_threshold_          = false;
+    2910             :     }
+    2911             : 
+    2912         292 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2913             :       // enable callbacks? ... NO
+    2914             : 
+    2915           3 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2916           3 :       toggleOutput(false);
+    2917             : 
+    2918             :       // disarm the drone
+    2919           3 :       if (_eland_disarm_enabled_) {
+    2920             : 
+    2921           3 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2922           3 :         arming(false);
+    2923             :       }
+    2924             : 
+    2925           3 :       changeLandingState(IDLE_STATE);
+    2926             : 
+    2927           3 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2928             : 
+    2929           3 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2930           3 :       timer_eland_.stop();
+    2931           3 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2932             : 
+    2933             :       // we should NOT set eland_triggered_=true
+    2934             :     }
+    2935             :   }
+    2936             : }
+    2937             : 
+    2938             : //}
+    2939             : 
+    2940             : /* //{ timerFailsafe() */
+    2941             : 
+    2942        9712 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2943             : 
+    2944        9712 :   if (!is_initialized_) {
+    2945           0 :     return;
+    2946             :   }
+    2947             : 
+    2948        9712 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2949             : 
+    2950       19424 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2951       19424 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2952             : 
+    2953             :   // copy member variables
+    2954        9712 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2955             : 
+    2956        9712 :   updateControllers(uav_state);
+    2957             : 
+    2958        9712 :   publish();
+    2959             : 
+    2960        9712 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2961             : 
+    2962        9712 :   if (!last_control_output.control_output) {
+    2963           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    2964           0 :     return;
+    2965             :   }
+    2966             : 
+    2967        9712 :   auto throttle = extractThrottle(last_control_output);
+    2968             : 
+    2969        9712 :   if (!throttle) {
+    2970           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    2971           0 :     return;
+    2972             :   }
+    2973             : 
+    2974             :   // --------------------------------------------------------------
+    2975             :   // |                            TODO                            |
+    2976             :   // This section needs work. The throttle landing detection      |
+    2977             :   // mechanism should be extracted and other mechanisms, such     |
+    2978             :   // as velocity-based detection should be used for high          |
+    2979             :   // modalities                                                   |
+    2980             :   // --------------------------------------------------------------
+    2981             : 
+    2982        9712 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2983        9712 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2984             : 
+    2985             :   // condition for automatic motor turn off
+    2986        9712 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    2987             : 
+    2988        1414 :     if (!throttle_under_threshold_) {
+    2989             : 
+    2990           7 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2991           7 :       throttle_under_threshold_          = true;
+    2992             :     }
+    2993             : 
+    2994        1414 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2995             : 
+    2996             :   } else {
+    2997             : 
+    2998        8298 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    2999        8298 :     throttle_under_threshold_          = false;
+    3000             :   }
+    3001             : 
+    3002             :   // condition for automatic motor turn off
+    3003        9712 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3004             : 
+    3005           7 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3006             : 
+    3007           7 :     arming(false);
+    3008             :   }
+    3009             : }
+    3010             : 
+    3011             : //}
+    3012             : 
+    3013             : /* //{ timerJoystick() */
+    3014             : 
+    3015       35423 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3016             : 
+    3017       35423 :   if (!is_initialized_) {
+    3018           0 :     return;
+    3019             :   }
+    3020             : 
+    3021      106269 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3022      106269 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3023             : 
+    3024       70846 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3025             : 
+    3026             :   // if start was pressed and held for > 3.0 s
+    3027       35423 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3028             : 
+    3029           0 :     joystick_start_press_time_ = ros::Time(0);
+    3030             : 
+    3031           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3032             :              _joystick_controller_name_.c_str());
+    3033             : 
+    3034           0 :     joystick_start_pressed_ = false;
+    3035             : 
+    3036           0 :     switchTracker(_joystick_tracker_name_);
+    3037           0 :     switchController(_joystick_controller_name_);
+    3038             :   }
+    3039             : 
+    3040             :   // if RT+LT were pressed and held for > 0.1 s
+    3041       35423 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3042             : 
+    3043           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3044             : 
+    3045           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3046             : 
+    3047           0 :     joystick_failsafe_pressed_ = false;
+    3048             : 
+    3049           0 :     failsafe();
+    3050             :   }
+    3051             : 
+    3052             :   // if joypads were pressed and held for > 0.1 s
+    3053       35423 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3054             : 
+    3055           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3056             : 
+    3057           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3058             : 
+    3059           0 :     joystick_failsafe_pressed_ = false;
+    3060             : 
+    3061           0 :     eland();
+    3062             :   }
+    3063             : 
+    3064             :   // if back was pressed and held for > 0.1 s
+    3065       35423 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3066             : 
+    3067           0 :     joystick_back_press_time_ = ros::Time(0);
+    3068             : 
+    3069             :     // activate/deactivate the joystick goto functionality
+    3070           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3071             : 
+    3072           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3073             :   }
+    3074             : 
+    3075             :   // if the GOTO functionality is enabled...
+    3076       35423 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3077             : 
+    3078           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3079             : 
+    3080             :     // create the reference
+    3081             : 
+    3082           0 :     mrs_msgs::Vec4::Request request;
+    3083             : 
+    3084           0 :     if (fabs(joystick_data->axes[_channel_pitch_]) >= 0.05 || fabs(joystick_data->axes[_channel_roll_]) >= 0.05 ||
+    3085           0 :         fabs(joystick_data->axes[_channel_heading_]) >= 0.05 || fabs(joystick_data->axes[_channel_throttle_]) >= 0.05) {
+    3086             : 
+    3087           0 :       if (_joystick_mode_ == 0) {
+    3088             : 
+    3089           0 :         request.goal[REF_X]       = _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * _joystick_carrot_distance_;
+    3090           0 :         request.goal[REF_Y]       = _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * _joystick_carrot_distance_;
+    3091           0 :         request.goal[REF_Z]       = _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_];
+    3092           0 :         request.goal[REF_HEADING] = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3093             : 
+    3094           0 :         mrs_msgs::Vec4::Response response;
+    3095             : 
+    3096           0 :         callbackGotoFcu(request, response);
+    3097             : 
+    3098           0 :       } else if (_joystick_mode_ == 1) {
+    3099             : 
+    3100           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3101             : 
+    3102           0 :         double dt = 0.2;
+    3103             : 
+    3104           0 :         trajectory.fly_now         = true;
+    3105           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3106           0 :         trajectory.use_heading     = true;
+    3107           0 :         trajectory.dt              = dt;
+    3108             : 
+    3109           0 :         mrs_msgs::Reference point;
+    3110           0 :         point.position.x = 0;
+    3111           0 :         point.position.y = 0;
+    3112           0 :         point.position.z = 0;
+    3113           0 :         point.heading    = 0;
+    3114             : 
+    3115           0 :         trajectory.points.push_back(point);
+    3116             : 
+    3117           0 :         double speed = 1.0;
+    3118             : 
+    3119           0 :         for (int i = 0; i < 50; i++) {
+    3120             : 
+    3121           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * (speed * dt);
+    3122           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * (speed * dt);
+    3123           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_] * (speed * dt);
+    3124           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3125             : 
+    3126           0 :           trajectory.points.push_back(point);
+    3127             :         }
+    3128             : 
+    3129           0 :         setTrajectoryReference(trajectory);
+    3130             :       }
+    3131             :     }
+    3132             :   }
+    3133             : 
+    3134       35423 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3135             : 
+    3136             :     // create the reference
+    3137        1084 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3138             : 
+    3139         542 :     double des_x       = 0;
+    3140         542 :     double des_y       = 0;
+    3141         542 :     double des_z       = 0;
+    3142         542 :     double des_heading = 0;
+    3143             : 
+    3144         542 :     bool nothing_to_do = true;
+    3145             : 
+    3146             :     // copy member variables
+    3147        1084 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3148             : 
+    3149         542 :     if (rc_channels->channels.size() < 4) {
+    3150             : 
+    3151           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3152             :                          int(rc_channels->channels.size()));
+    3153           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3154             : 
+    3155             :     } else {
+    3156             : 
+    3157         542 :       double tmp_x       = RCChannelToRange(rc_channels->channels[_rc_channel_pitch_], _rc_horizontal_speed_, 0.1);
+    3158         542 :       double tmp_y       = -RCChannelToRange(rc_channels->channels[_rc_channel_roll_], _rc_horizontal_speed_, 0.1);
+    3159         542 :       double tmp_z       = RCChannelToRange(rc_channels->channels[_rc_channel_throttle_], _rc_vertical_speed_, 0.3);
+    3160         542 :       double tmp_heading = -RCChannelToRange(rc_channels->channels[_rc_channel_heading_], _rc_heading_rate_, 0.1);
+    3161             : 
+    3162         542 :       if (abs(tmp_x) > 1e-3) {
+    3163          90 :         des_x         = tmp_x;
+    3164          90 :         nothing_to_do = false;
+    3165             :       }
+    3166             : 
+    3167         542 :       if (abs(tmp_y) > 1e-3) {
+    3168         114 :         des_y         = tmp_y;
+    3169         114 :         nothing_to_do = false;
+    3170             :       }
+    3171             : 
+    3172         542 :       if (abs(tmp_z) > 1e-3) {
+    3173         216 :         des_z         = tmp_z;
+    3174         216 :         nothing_to_do = false;
+    3175             :       }
+    3176             : 
+    3177         542 :       if (abs(tmp_heading) > 1e-3) {
+    3178          48 :         des_heading   = tmp_heading;
+    3179          48 :         nothing_to_do = false;
+    3180             :       }
+    3181             :     }
+    3182             : 
+    3183         542 :     if (!nothing_to_do) {
+    3184             : 
+    3185         468 :       request.reference.header.frame_id = "fcu_untilted";
+    3186             : 
+    3187         468 :       request.reference.reference.use_heading_rate = true;
+    3188             : 
+    3189         468 :       request.reference.reference.velocity.x   = des_x;
+    3190         468 :       request.reference.reference.velocity.y   = des_y;
+    3191         468 :       request.reference.reference.velocity.z   = des_z;
+    3192         468 :       request.reference.reference.heading_rate = des_heading;
+    3193             : 
+    3194         936 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3195             : 
+    3196             :       // disable callbacks of all trackers
+    3197         468 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3198             : 
+    3199             :       // enable the callbacks for the active tracker
+    3200         468 :       req_enable_callbacks.data = true;
+    3201             :       {
+    3202         468 :         std::scoped_lock lock(mutex_tracker_list_);
+    3203             : 
+    3204         936 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3205         936 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3206             :       }
+    3207             : 
+    3208         468 :       callbacks_enabled_ = true;
+    3209             : 
+    3210         468 :       callbackVelocityReferenceService(request, response);
+    3211             : 
+    3212         468 :       callbacks_enabled_ = false;
+    3213             : 
+    3214         468 :       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);
+    3215             : 
+    3216             :       // disable the callbacks back again
+    3217         468 :       req_enable_callbacks.data = false;
+    3218             :       {
+    3219         468 :         std::scoped_lock lock(mutex_tracker_list_);
+    3220             : 
+    3221         936 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3222         936 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3223             :       }
+    3224             :     }
+    3225             :   }
+    3226             : }
+    3227             : 
+    3228             : //}
+    3229             : 
+    3230             : /* //{ timerBumper() */
+    3231             : 
+    3232           0 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3233             : 
+    3234           0 :   if (!is_initialized_)
+    3235           0 :     return;
+    3236             : 
+    3237           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3238           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3239             : 
+    3240           0 :   if (!bumper_enabled_) {
+    3241           0 :     return;
+    3242             :   }
+    3243             : 
+    3244           0 :   if (!isFlyingNormally()) {
+    3245           0 :     return;
+    3246             :   }
+    3247             : 
+    3248           0 :   if (!got_uav_state_) {
+    3249           0 :     return;
+    3250             :   }
+    3251             : 
+    3252           0 :   if ((ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3253           0 :     return;
+    3254             :   }
+    3255             : 
+    3256             :   // --------------------------------------------------------------
+    3257             :   // |                      bumper repulsion                      |
+    3258             :   // --------------------------------------------------------------
+    3259             : 
+    3260           0 :   bumperPushFromObstacle();
+    3261             : }
+    3262             : 
+    3263             : //}
+    3264             : 
+    3265             : /* //{ timerPirouette() */
+    3266             : 
+    3267           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3268             : 
+    3269           0 :   if (!is_initialized_)
+    3270           0 :     return;
+    3271             : 
+    3272           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3273           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3274             : 
+    3275           0 :   pirouette_iterator_++;
+    3276             : 
+    3277           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3278           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3279           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3280             : 
+    3281           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3282             : 
+    3283           0 :     _pirouette_enabled_ = false;
+    3284           0 :     timer_pirouette_.stop();
+    3285             : 
+    3286           0 :     setCallbacks(true);
+    3287             : 
+    3288           0 :     return;
+    3289             :   }
+    3290             : 
+    3291             :   // set the reference
+    3292           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3293             : 
+    3294           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3295             : 
+    3296           0 :   reference_request.header.frame_id      = "";
+    3297           0 :   reference_request.header.stamp         = ros::Time(0);
+    3298           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3299           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3300           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3301           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3302             : 
+    3303             :   // enable the callbacks for the active tracker
+    3304             :   {
+    3305           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3306             : 
+    3307           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3308           0 :     req_enable_callbacks.data = true;
+    3309             : 
+    3310           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3311             : 
+    3312           0 :     callbacks_enabled_ = true;
+    3313             :   }
+    3314             : 
+    3315           0 :   setReference(reference_request);
+    3316             : 
+    3317             :   {
+    3318           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3319             : 
+    3320             :     // disable the callbacks for the active tracker
+    3321           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3322           0 :     req_enable_callbacks.data = false;
+    3323             : 
+    3324           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3325             : 
+    3326           0 :     callbacks_enabled_ = false;
+    3327             :   }
+    3328             : }
+    3329             : 
+    3330             : //}
+    3331             : 
+    3332             : // --------------------------------------------------------------
+    3333             : // |                           asyncs                           |
+    3334             : // --------------------------------------------------------------
+    3335             : 
+    3336             : /* asyncControl() //{ */
+    3337             : 
+    3338       79498 : void ControlManager::asyncControl(void) {
+    3339             : 
+    3340       79498 :   if (!is_initialized_)
+    3341           0 :     return;
+    3342             : 
+    3343      158996 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3344             : 
+    3345      238494 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3346      238494 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3347             : 
+    3348             :   // copy member variables
+    3349      158996 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3350       79498 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3351             : 
+    3352       79498 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3353             : 
+    3354             :     // run the safety timer
+    3355             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3356       70263 :     while (running_safety_timer_) {
+    3357             : 
+    3358         660 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3359         660 :       ros::Duration wait(0.001);
+    3360         660 :       wait.sleep();
+    3361             : 
+    3362         660 :       if (!running_safety_timer_) {
+    3363         650 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3364         650 :         break;
+    3365             :       }
+    3366             :     }
+    3367             : 
+    3368       70253 :     ros::TimerEvent safety_timer_event;
+    3369       70253 :     timerSafety(safety_timer_event);
+    3370             : 
+    3371       70250 :     updateTrackers();
+    3372             : 
+    3373       70250 :     updateControllers(uav_state);
+    3374             : 
+    3375       70250 :     if (got_constraints_) {
+    3376             : 
+    3377             :       // update the constraints to trackers, if need to
+    3378       69831 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3379             : 
+    3380       69831 :       if (enforce && !constraints_being_enforced_) {
+    3381             : 
+    3382          41 :         setConstraintsToTrackers(enforce.value());
+    3383          41 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3384             : 
+    3385          41 :         constraints_being_enforced_ = true;
+    3386             : 
+    3387          41 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3388             : 
+    3389          41 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3390             :                           _controller_names_[active_controller_idx].c_str());
+    3391             : 
+    3392       69790 :       } else if (!enforce && constraints_being_enforced_) {
+    3393             : 
+    3394          38 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3395             : 
+    3396          38 :         constraints_being_enforced_ = false;
+    3397             : 
+    3398          38 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3399             : 
+    3400          38 :         setConstraintsToTrackers(current_constraints);
+    3401             :       }
+    3402             :     }
+    3403             : 
+    3404       70250 :     publish();
+    3405             :   }
+    3406             : 
+    3407             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3408       79495 :   if (odometry_switch_in_progress_) {
+    3409             : 
+    3410           4 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3411           4 :     timer_safety_.start();
+    3412           4 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3413           4 :     odometry_switch_in_progress_ = false;
+    3414             : 
+    3415             :     {
+    3416           8 :       std::scoped_lock lock(mutex_uav_state_);
+    3417             : 
+    3418           4 :       ROS_INFO("[ControlManager]: odometry after switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state.pose.position.x, uav_state.pose.position.y,
+    3419             :                uav_state.pose.position.z, uav_heading_);
+    3420             :     }
+    3421             :   }
+    3422             : }
+    3423             : 
+    3424             : //}
+    3425             : 
+    3426             : // --------------------------------------------------------------
+    3427             : // |                          callbacks                         |
+    3428             : // --------------------------------------------------------------
+    3429             : 
+    3430             : // | --------------------- topic callbacks -------------------- |
+    3431             : 
+    3432             : /* //{ callbackOdometry() */
+    3433             : 
+    3434           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3435             : 
+    3436           0 :   if (!is_initialized_)
+    3437           0 :     return;
+    3438             : 
+    3439           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3440           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3441             : 
+    3442           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3443             : 
+    3444             :   // | ------------------ check for time stamp ------------------ |
+    3445             : 
+    3446             :   {
+    3447           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3448             : 
+    3449           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3450           0 :       return;
+    3451             :     }
+    3452             :   }
+    3453             : 
+    3454             :   // | --------------------- check for nans --------------------- |
+    3455             : 
+    3456           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3457           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3458           0 :     return;
+    3459             :   }
+    3460             : 
+    3461             :   // | ---------------------- frame switch ---------------------- |
+    3462             : 
+    3463             :   /* Odometry frame switch //{ */
+    3464             : 
+    3465             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3466             : 
+    3467           0 :   mrs_msgs::UavState uav_state_odom;
+    3468             : 
+    3469           0 :   uav_state_odom.header   = odom->header;
+    3470           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3471           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3472             : 
+    3473             :   // | ----- check for change in odometry frame of reference ---- |
+    3474             : 
+    3475           0 :   if (got_uav_state_) {
+    3476             : 
+    3477           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3478             : 
+    3479           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3480             :       {
+    3481           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3482             : 
+    3483           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,
+    3484             :                  uav_state_.pose.position.z, uav_heading_);
+    3485             :       }
+    3486             : 
+    3487           0 :       odometry_switch_in_progress_ = true;
+    3488             : 
+    3489             :       // we have to stop safety timer, otherwise it will interfere
+    3490           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3491           0 :       timer_safety_.stop();
+    3492           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3493             : 
+    3494             :       // wait for the safety timer to stop if its running
+    3495           0 :       while (running_safety_timer_) {
+    3496             : 
+    3497           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3498           0 :         ros::Duration wait(0.001);
+    3499           0 :         wait.sleep();
+    3500             : 
+    3501           0 :         if (!running_safety_timer_) {
+    3502           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3503           0 :           break;
+    3504             :         }
+    3505             :       }
+    3506             : 
+    3507             :       // we have to also for the oneshot control timer to finish
+    3508           0 :       while (running_async_control_) {
+    3509             : 
+    3510           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3511           0 :         ros::Duration wait(0.001);
+    3512           0 :         wait.sleep();
+    3513             : 
+    3514           0 :         if (!running_async_control_) {
+    3515           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3516           0 :           break;
+    3517             :         }
+    3518             :       }
+    3519             : 
+    3520             :       {
+    3521           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3522             : 
+    3523           0 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(uav_state_odom);
+    3524           0 :         controller_list_[active_controller_idx_]->switchOdometrySource(uav_state_odom);
+    3525             :       }
+    3526             :     }
+    3527             :   }
+    3528             : 
+    3529             :   //}
+    3530             : 
+    3531             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3532             : 
+    3533             :   {
+    3534           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3535             : 
+    3536           0 :     previous_uav_state_ = uav_state_;
+    3537             : 
+    3538           0 :     uav_state_ = mrs_msgs::UavState();
+    3539             : 
+    3540           0 :     uav_state_.header           = odom->header;
+    3541           0 :     uav_state_.pose             = odom->pose.pose;
+    3542           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3543             : 
+    3544             :     // transform the twist into the header's frame
+    3545             :     {
+    3546             :       // the velocity from the odometry
+    3547           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3548           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3549           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3550           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3551           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3552           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3553             : 
+    3554           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3555             : 
+    3556           0 :       if (res) {
+    3557           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3558           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3559           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3560             :       } else {
+    3561           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3562             :                            odom->header.frame_id.c_str());
+    3563           0 :         return;
+    3564             :       }
+    3565             :     }
+    3566             : 
+    3567             :     // calculate the euler angles
+    3568           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3569             : 
+    3570             :     try {
+    3571           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3572             :     }
+    3573           0 :     catch (...) {
+    3574           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3575             :     }
+    3576             : 
+    3577           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3578             : 
+    3579           0 :     got_uav_state_ = true;
+    3580             :   }
+    3581             : 
+    3582             :   // run the control loop asynchronously in an OneShotTimer
+    3583             :   // but only if its not already running
+    3584           0 :   if (!running_async_control_) {
+    3585             : 
+    3586           0 :     running_async_control_ = true;
+    3587             : 
+    3588           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3589             :   }
+    3590             : }
+    3591             : 
+    3592             : //}
+    3593             : 
+    3594             : /* //{ callbackUavState() */
+    3595             : 
+    3596      100828 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3597             : 
+    3598      100828 :   if (!is_initialized_)
+    3599       20801 :     return;
+    3600             : 
+    3601      201656 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3602      201656 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3603             : 
+    3604      100828 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3605             : 
+    3606             :   // | ------------------ check for time stamp ------------------ |
+    3607             : 
+    3608             :   {
+    3609      100828 :     std::scoped_lock lock(mutex_uav_state_);
+    3610             : 
+    3611      100828 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3612       20801 :       return;
+    3613             :     }
+    3614             :   }
+    3615             : 
+    3616             :   // | --------------------- check for nans --------------------- |
+    3617             : 
+    3618       80027 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3619           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3620           0 :     return;
+    3621             :   }
+    3622             : 
+    3623             :   // | -------------------- check for hiccups ------------------- |
+    3624             : 
+    3625             :   /* hickup detection //{ */
+    3626             : 
+    3627       80027 :   double alpha               = 0.99;
+    3628       80027 :   double alpha2              = 0.666;
+    3629       80027 :   double uav_state_count_lim = 1000;
+    3630             : 
+    3631       80027 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3632             : 
+    3633             :   // belive only reasonable numbers
+    3634       80027 :   if (uav_state_dt <= 1.0) {
+    3635             : 
+    3636       79903 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3637             : 
+    3638       79903 :     if (uav_state_count_ < uav_state_count_lim) {
+    3639       50035 :       uav_state_count_++;
+    3640             :     }
+    3641             :   }
+    3642             : 
+    3643       80027 :   if (uav_state_count_ == uav_state_count_lim) {
+    3644             : 
+    3645             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3646             : 
+    3647       29908 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3648             : 
+    3649       13340 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3650             : 
+    3651       16568 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3652             : 
+    3653       16568 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3654             :     }
+    3655             : 
+    3656       29908 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3657             : 
+    3658             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3659             : 
+    3660           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3661           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3662           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3663           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3664           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3665           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3666           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3667           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3668           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3669           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3670             :     }
+    3671             :   }
+    3672             : 
+    3673             :   //}
+    3674             : 
+    3675             :   // | ---------------------- frame switch ---------------------- |
+    3676             : 
+    3677             :   /* frame switch //{ */
+    3678             : 
+    3679             :   // | ----- check for change in odometry frame of reference ---- |
+    3680             : 
+    3681       80027 :   if (got_uav_state_) {
+    3682             : 
+    3683       79965 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3684             : 
+    3685           4 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3686             :       {
+    3687           8 :         std::scoped_lock lock(mutex_uav_state_);
+    3688             : 
+    3689           4 :         ROS_INFO("[ControlManager]: odometry before switch: x=%.2f, y=%.2f, z=%.2f, heading=%.2f", uav_state_.pose.position.x, uav_state_.pose.position.y,
+    3690             :                  uav_state_.pose.position.z, uav_heading_);
+    3691             :       }
+    3692             : 
+    3693           4 :       odometry_switch_in_progress_ = true;
+    3694             : 
+    3695             :       // we have to stop safety timer, otherwise it will interfere
+    3696           4 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3697           4 :       timer_safety_.stop();
+    3698           4 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3699             : 
+    3700             :       // wait for the safety timer to stop if its running
+    3701           4 :       while (running_safety_timer_) {
+    3702             : 
+    3703           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3704           0 :         ros::Duration wait(0.001);
+    3705           0 :         wait.sleep();
+    3706             : 
+    3707           0 :         if (!running_safety_timer_) {
+    3708           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3709           0 :           break;
+    3710             :         }
+    3711             :       }
+    3712             : 
+    3713             :       // we have to also for the oneshot control timer to finish
+    3714           4 :       while (running_async_control_) {
+    3715             : 
+    3716           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3717           0 :         ros::Duration wait(0.001);
+    3718           0 :         wait.sleep();
+    3719             : 
+    3720           0 :         if (!running_async_control_) {
+    3721           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3722           0 :           break;
+    3723             :         }
+    3724             :       }
+    3725             : 
+    3726             :       {
+    3727           8 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3728             : 
+    3729           4 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(*uav_state);
+    3730           4 :         controller_list_[active_controller_idx_]->switchOdometrySource(*uav_state);
+    3731             :       }
+    3732             :     }
+    3733             :   }
+    3734             : 
+    3735             :   //}
+    3736             : 
+    3737             :   // --------------------------------------------------------------
+    3738             :   // |           copy the UavState message for later use          |
+    3739             :   // --------------------------------------------------------------
+    3740             : 
+    3741             :   {
+    3742       80027 :     std::scoped_lock lock(mutex_uav_state_);
+    3743             : 
+    3744       80027 :     previous_uav_state_ = uav_state_;
+    3745             : 
+    3746       80027 :     uav_state_ = *uav_state;
+    3747             : 
+    3748       80027 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3749             : 
+    3750             :     try {
+    3751       80027 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3752             :     }
+    3753           0 :     catch (...) {
+    3754           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3755             :     }
+    3756             : 
+    3757       80027 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3758             : 
+    3759       80027 :     got_uav_state_ = true;
+    3760             :   }
+    3761             : 
+    3762             :   // run the control loop asynchronously in an OneShotTimer
+    3763             :   // but only if its not already running
+    3764       80027 :   if (!running_async_control_) {
+    3765             : 
+    3766       79498 :     running_async_control_ = true;
+    3767             : 
+    3768       79498 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3769             :   }
+    3770             : }
+    3771             : 
+    3772             : //}
+    3773             : 
+    3774             : /* //{ callbackGNSS() */
+    3775             : 
+    3776       56750 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3777             : 
+    3778       56750 :   if (!is_initialized_)
+    3779          89 :     return;
+    3780             : 
+    3781      169983 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3782      169983 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3783             : 
+    3784       56661 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3785             : }
+    3786             : 
+    3787             : //}
+    3788             : 
+    3789             : /* callbackJoystick() //{ */
+    3790             : 
+    3791           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3792             : 
+    3793           0 :   if (!is_initialized_)
+    3794           0 :     return;
+    3795             : 
+    3796           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3797           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3798             : 
+    3799             :   // copy member variables
+    3800           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3801           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3802             : 
+    3803           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3804             : 
+    3805             :   // TODO check if the array is smaller than the largest idx
+    3806           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3807           0 :     return;
+    3808             :   }
+    3809             : 
+    3810             :   // | ---- switching back to fallback tracker and controller --- |
+    3811             : 
+    3812             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3813           0 :   if ((joystick_data->buttons[_channel_A_] == 1 || joystick_data->buttons[_channel_B_] == 1 || joystick_data->buttons[_channel_X_] == 1 ||
+    3814           0 :        joystick_data->buttons[_channel_Y_] == 1) &&
+    3815           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3816             : 
+    3817           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3818             : 
+    3819           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3820           0 :     switchController(_joystick_fallback_controller_name_);
+    3821             : 
+    3822           0 :     joystick_goto_enabled_ = false;
+    3823             :   }
+    3824             : 
+    3825             :   // | ------- joystick control activation ------- |
+    3826             : 
+    3827             :   // if start button was pressed
+    3828           0 :   if (joystick_data->buttons[_channel_start_] == 1) {
+    3829             : 
+    3830           0 :     if (!joystick_start_pressed_) {
+    3831             : 
+    3832           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3833             : 
+    3834           0 :       joystick_start_pressed_    = true;
+    3835           0 :       joystick_start_press_time_ = ros::Time::now();
+    3836             :     }
+    3837             : 
+    3838           0 :   } else if (joystick_start_pressed_) {
+    3839             : 
+    3840           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3841             : 
+    3842           0 :     joystick_start_pressed_    = false;
+    3843           0 :     joystick_start_press_time_ = ros::Time(0);
+    3844             :   }
+    3845             : 
+    3846             :   // | ---------------- Joystick goto activation ---------------- |
+    3847             : 
+    3848             :   // if back button was pressed
+    3849           0 :   if (joystick_data->buttons[_channel_back_] == 1) {
+    3850             : 
+    3851           0 :     if (!joystick_back_pressed_) {
+    3852             : 
+    3853           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3854             : 
+    3855           0 :       joystick_back_pressed_    = true;
+    3856           0 :       joystick_back_press_time_ = ros::Time::now();
+    3857             :     }
+    3858             : 
+    3859           0 :   } else if (joystick_back_pressed_) {
+    3860             : 
+    3861           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3862             : 
+    3863           0 :     joystick_back_pressed_    = false;
+    3864           0 :     joystick_back_press_time_ = ros::Time(0);
+    3865             :   }
+    3866             : 
+    3867             :   // | ------------------------ Failsafes ----------------------- |
+    3868             : 
+    3869             :   // if LT and RT buttons are both pressed down
+    3870           0 :   if (joystick_data->axes[_channel_LT_] < -0.99 && joystick_data->axes[_channel_RT_] < -0.99) {
+    3871             : 
+    3872           0 :     if (!joystick_failsafe_pressed_) {
+    3873             : 
+    3874           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3875             : 
+    3876           0 :       joystick_failsafe_pressed_    = true;
+    3877           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3878             :     }
+    3879             : 
+    3880           0 :   } else if (joystick_failsafe_pressed_) {
+    3881             : 
+    3882           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3883             : 
+    3884           0 :     joystick_failsafe_pressed_    = false;
+    3885           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3886             :   }
+    3887             : 
+    3888             :   // if left and right joypads are both pressed down
+    3889           0 :   if (joystick_data->buttons[_channel_L_joy_] == 1 && joystick_data->buttons[_channel_R_joy_] == 1) {
+    3890             : 
+    3891           0 :     if (!joystick_eland_pressed_) {
+    3892             : 
+    3893           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3894             : 
+    3895           0 :       joystick_eland_pressed_    = true;
+    3896           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3897             :     }
+    3898             : 
+    3899           0 :   } else if (joystick_eland_pressed_) {
+    3900             : 
+    3901           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3902             : 
+    3903           0 :     joystick_eland_pressed_    = false;
+    3904           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3905             :   }
+    3906             : }
+    3907             : 
+    3908             : //}
+    3909             : 
+    3910             : /* //{ callbackHwApiStatus() */
+    3911             : 
+    3912      236095 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3913             : 
+    3914      236095 :   if (!is_initialized_)
+    3915         227 :     return;
+    3916             : 
+    3917      707604 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3918      707604 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3919             : 
+    3920      471736 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3921             : 
+    3922             :   // | ------ detect and print the changes in offboard mode ----- |
+    3923      235868 :   if (state->offboard) {
+    3924             : 
+    3925      175717 :     if (!offboard_mode_) {
+    3926          57 :       offboard_mode_          = true;
+    3927          57 :       offboard_mode_was_true_ = true;
+    3928          57 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3929             :     }
+    3930             : 
+    3931             :   } else {
+    3932             : 
+    3933       60151 :     if (offboard_mode_) {
+    3934           0 :       offboard_mode_ = false;
+    3935           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3936             :     }
+    3937             :   }
+    3938             : 
+    3939             :   // | --------- detect and print the changes in arming --------- |
+    3940      235868 :   if (state->armed == true) {
+    3941             : 
+    3942      181793 :     if (!armed_) {
+    3943          62 :       armed_ = true;
+    3944          62 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    3945             :     }
+    3946             : 
+    3947             :   } else {
+    3948             : 
+    3949       54075 :     if (armed_) {
+    3950          19 :       armed_ = false;
+    3951          19 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    3952             :     }
+    3953             :   }
+    3954             : }
+    3955             : 
+    3956             : //}
+    3957             : 
+    3958             : /* //{ callbackRC() */
+    3959             : 
+    3960       16249 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    3961             : 
+    3962       16249 :   if (!is_initialized_)
+    3963           0 :     return;
+    3964             : 
+    3965       48747 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    3966       48747 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    3967             : 
+    3968       32498 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    3969             : 
+    3970       16249 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    3971             : 
+    3972             :   // | ------------------- rc joystic control ------------------- |
+    3973             : 
+    3974             :   // when the switch change its position
+    3975       16249 :   if (_rc_goto_enabled_) {
+    3976             : 
+    3977       16249 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    3978             : 
+    3979           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    3980             :                          int(rc->channels.size()));
+    3981             : 
+    3982             :     } else {
+    3983             : 
+    3984       16249 :       bool channel_low  = rc->channels[_rc_joystick_channel_] < (0.5 - RC_DEADBAND) ? true : false;
+    3985       16249 :       bool channel_high = rc->channels[_rc_joystick_channel_] > (0.5 + RC_DEADBAND) ? true : false;
+    3986             : 
+    3987       16249 :       if (channel_low) {
+    3988       14468 :         rc_joystick_channel_was_low_ = true;
+    3989             :       }
+    3990             : 
+    3991             :       // rc control activation
+    3992       16249 :       if (!rc_goto_active_) {
+    3993             : 
+    3994       14469 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    3995             : 
+    3996           2 :           if (isFlyingNormally()) {
+    3997             : 
+    3998           2 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    3999             : 
+    4000           2 :             callbacks_enabled_ = false;
+    4001             : 
+    4002           2 :             std_srvs::SetBoolRequest req_goto_out;
+    4003           2 :             req_goto_out.data = false;
+    4004             : 
+    4005           2 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4006           2 :             req_enable_callbacks.data = callbacks_enabled_;
+    4007             : 
+    4008             :             {
+    4009           4 :               std::scoped_lock lock(mutex_tracker_list_);
+    4010             : 
+    4011             :               // disable callbacks of all trackers
+    4012          14 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4013          12 :                 tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4014             :               }
+    4015             :             }
+    4016             : 
+    4017           2 :             rc_goto_active_ = true;
+    4018             : 
+    4019             :           } else {
+    4020             : 
+    4021           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4022           2 :           }
+    4023             : 
+    4024       14467 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4025             : 
+    4026           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4027             :         }
+    4028             :       }
+    4029             : 
+    4030             :       // rc control deactivation
+    4031       16249 :       if (rc_goto_active_ && channel_low) {
+    4032             : 
+    4033           1 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4034             : 
+    4035           1 :         callbacks_enabled_ = true;
+    4036             : 
+    4037           1 :         std_srvs::SetBoolRequest req_goto_out;
+    4038           1 :         req_goto_out.data = true;
+    4039             : 
+    4040           1 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4041           1 :         req_enable_callbacks.data = callbacks_enabled_;
+    4042             : 
+    4043             :         {
+    4044           2 :           std::scoped_lock lock(mutex_tracker_list_);
+    4045             : 
+    4046             :           // enable callbacks of all trackers
+    4047           7 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4048           6 :             tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4049             :           }
+    4050             :         }
+    4051             : 
+    4052           1 :         rc_goto_active_ = false;
+    4053             :       }
+    4054             : 
+    4055             :       // do not forget to update the last... variable
+    4056             :       // only do that if its out of the deadband
+    4057       16249 :       if (channel_high || channel_low) {
+    4058       16249 :         rc_joystick_channel_last_value_ = rc->channels[_rc_joystick_channel_];
+    4059             :       }
+    4060             :     }
+    4061             :   }
+    4062             : 
+    4063             :   // | ------------------------ rc eland ------------------------ |
+    4064       16249 :   if (_rc_escalating_failsafe_enabled_) {
+    4065             : 
+    4066       16249 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4067             : 
+    4068           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4069             :                          int(rc->channels.size()));
+    4070             : 
+    4071             :     } else {
+    4072             : 
+    4073       16249 :       if (rc->channels[_rc_escalating_failsafe_channel_] >= _rc_escalating_failsafe_threshold_) {
+    4074             : 
+    4075         141 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4076             : 
+    4077         282 :         auto [success, message] = escalatingFailsafe();
+    4078             : 
+    4079         141 :         if (success) {
+    4080           3 :           rc_escalating_failsafe_triggered_ = true;
+    4081             :         }
+    4082             :       }
+    4083             :     }
+    4084             :   }
+    4085             : }
+    4086             : 
+    4087             : //}
+    4088             : 
+    4089             : // | --------------------- topic timeouts --------------------- |
+    4090             : 
+    4091             : /* timeoutUavState() //{ */
+    4092             : 
+    4093           0 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4094             : 
+    4095           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4096             : 
+    4097           0 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4098             : 
+    4099             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4100             :     // in place of the callbackUavState/callbackOdometry().
+    4101             : 
+    4102           0 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4103             : 
+    4104           0 :     failsafe();
+    4105             :   }
+    4106           0 : }
+    4107             : 
+    4108             : //}
+    4109             : 
+    4110             : // | -------------------- service callbacks ------------------- |
+    4111             : 
+    4112             : /* //{ callbackSwitchTracker() */
+    4113             : 
+    4114         121 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4115             : 
+    4116         121 :   if (!is_initialized_)
+    4117           0 :     return false;
+    4118             : 
+    4119         121 :   if (failsafe_triggered_ || eland_triggered_) {
+    4120             : 
+    4121           0 :     std::stringstream ss;
+    4122           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4123             : 
+    4124           0 :     res.message = ss.str();
+    4125           0 :     res.success = false;
+    4126             : 
+    4127           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4128             : 
+    4129           0 :     return true;
+    4130             :   }
+    4131             : 
+    4132         121 :   auto [success, response] = switchTracker(req.value);
+    4133             : 
+    4134         121 :   res.success = success;
+    4135         121 :   res.message = response;
+    4136             : 
+    4137         121 :   return true;
+    4138             : }
+    4139             : 
+    4140             : //}
+    4141             : 
+    4142             : /* callbackSwitchController() //{ */
+    4143             : 
+    4144         120 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4145             : 
+    4146         120 :   if (!is_initialized_)
+    4147           0 :     return false;
+    4148             : 
+    4149         120 :   if (failsafe_triggered_ || eland_triggered_) {
+    4150             : 
+    4151           0 :     std::stringstream ss;
+    4152           0 :     ss << "can not switch controller, eland or failsafe active";
+    4153             : 
+    4154           0 :     res.message = ss.str();
+    4155           0 :     res.success = false;
+    4156             : 
+    4157           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4158             : 
+    4159           0 :     return true;
+    4160             :   }
+    4161             : 
+    4162         120 :   auto [success, response] = switchController(req.value);
+    4163             : 
+    4164         120 :   res.success = success;
+    4165         120 :   res.message = response;
+    4166             : 
+    4167         120 :   return true;
+    4168             : }
+    4169             : 
+    4170             : //}
+    4171             : 
+    4172             : /* //{ callbackSwitchTracker() */
+    4173             : 
+    4174           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4175             : 
+    4176           0 :   if (!is_initialized_)
+    4177           0 :     return false;
+    4178             : 
+    4179           0 :   std::stringstream message;
+    4180             : 
+    4181           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4182             : 
+    4183           0 :     message << "can not reset tracker, eland or failsafe active";
+    4184             : 
+    4185           0 :     res.message = message.str();
+    4186           0 :     res.success = false;
+    4187             : 
+    4188           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4189             : 
+    4190           0 :     return true;
+    4191             :   }
+    4192             : 
+    4193             :   // reactivate the current tracker
+    4194             :   {
+    4195           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4196             : 
+    4197           0 :     std::string tracker_name = _tracker_names_[active_tracker_idx_];
+    4198             : 
+    4199           0 :     bool succ = tracker_list_[active_tracker_idx_]->resetStatic();
+    4200             : 
+    4201           0 :     if (succ) {
+    4202           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4203           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4204             :     } else {
+    4205           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4206           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4207             :     }
+    4208             :   }
+    4209             : 
+    4210           0 :   res.message = message.str();
+    4211           0 :   res.success = true;
+    4212             : 
+    4213           0 :   return true;
+    4214             : }
+    4215             : 
+    4216             : //}
+    4217             : 
+    4218             : /* //{ callbackEHover() */
+    4219             : 
+    4220           0 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4221             : 
+    4222           0 :   if (!is_initialized_)
+    4223           0 :     return false;
+    4224             : 
+    4225           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4226             : 
+    4227           0 :     std::stringstream ss;
+    4228           0 :     ss << "can not switch controller, eland or failsafe active";
+    4229             : 
+    4230           0 :     res.message = ss.str();
+    4231           0 :     res.success = false;
+    4232             : 
+    4233           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4234             : 
+    4235           0 :     return true;
+    4236             :   }
+    4237             : 
+    4238           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4239             : 
+    4240           0 :   auto [success, message] = ehover();
+    4241             : 
+    4242           0 :   res.success = success;
+    4243           0 :   res.message = message;
+    4244             : 
+    4245           0 :   return true;
+    4246             : }
+    4247             : 
+    4248             : //}
+    4249             : 
+    4250             : /* callbackFailsafe() //{ */
+    4251             : 
+    4252           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4253             : 
+    4254           4 :   if (!is_initialized_)
+    4255           0 :     return false;
+    4256             : 
+    4257           4 :   if (failsafe_triggered_) {
+    4258             : 
+    4259           0 :     std::stringstream ss;
+    4260           0 :     ss << "can not activate failsafe, it is already active";
+    4261             : 
+    4262           0 :     res.message = ss.str();
+    4263           0 :     res.success = false;
+    4264             : 
+    4265           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4266             : 
+    4267           0 :     return true;
+    4268             :   }
+    4269             : 
+    4270           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4271             : 
+    4272           4 :   auto [success, message] = failsafe();
+    4273             : 
+    4274           4 :   res.success = success;
+    4275           4 :   res.message = message;
+    4276             : 
+    4277           4 :   return true;
+    4278             : }
+    4279             : 
+    4280             : //}
+    4281             : 
+    4282             : /* callbackFailsafeEscalating() //{ */
+    4283             : 
+    4284           7 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4285             : 
+    4286           7 :   if (!is_initialized_)
+    4287           0 :     return false;
+    4288             : 
+    4289           7 :   if (_service_escalating_failsafe_enabled_) {
+    4290             : 
+    4291           7 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4292             : 
+    4293          14 :     auto [success, message] = escalatingFailsafe();
+    4294             : 
+    4295           7 :     res.success = success;
+    4296           7 :     res.message = message;
+    4297             : 
+    4298             :   } else {
+    4299             : 
+    4300           0 :     std::stringstream ss;
+    4301           0 :     ss << "escalating failsafe is disabled";
+    4302             : 
+    4303           0 :     res.success = false;
+    4304           0 :     res.message = ss.str();
+    4305             : 
+    4306           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4307             :   }
+    4308             : 
+    4309           7 :   return true;
+    4310             : }
+    4311             : 
+    4312             : //}
+    4313             : 
+    4314             : /* //{ callbackELand() */
+    4315             : 
+    4316           1 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4317             : 
+    4318           1 :   if (!is_initialized_)
+    4319           0 :     return false;
+    4320             : 
+    4321           1 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4322             : 
+    4323           1 :   auto [success, message] = eland();
+    4324             : 
+    4325           1 :   res.success = success;
+    4326           1 :   res.message = message;
+    4327             : 
+    4328           1 :   return true;
+    4329             : }
+    4330             : 
+    4331             : //}
+    4332             : 
+    4333             : /* //{ callbackParachute() */
+    4334             : 
+    4335           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4336             : 
+    4337           0 :   if (!is_initialized_)
+    4338           0 :     return false;
+    4339             : 
+    4340           0 :   if (!_parachute_enabled_) {
+    4341             : 
+    4342           0 :     std::stringstream ss;
+    4343           0 :     ss << "parachute disabled";
+    4344           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4345           0 :     res.message = ss.str();
+    4346           0 :     res.success = false;
+    4347             :   }
+    4348             : 
+    4349           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4350             : 
+    4351           0 :   auto [success, message] = deployParachute();
+    4352             : 
+    4353           0 :   res.success = success;
+    4354           0 :   res.message = message;
+    4355             : 
+    4356           0 :   return true;
+    4357             : }
+    4358             : 
+    4359             : //}
+    4360             : 
+    4361             : /* //{ callbackToggleOutput() */
+    4362             : 
+    4363          62 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4364             : 
+    4365          62 :   if (!is_initialized_)
+    4366           0 :     return false;
+    4367             : 
+    4368          62 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4369             : 
+    4370             :   // copy member variables
+    4371         124 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4372             : 
+    4373         124 :   std::stringstream ss;
+    4374             : 
+    4375          62 :   bool prereq_check = true;
+    4376             : 
+    4377             :   {
+    4378         124 :     mrs_msgs::ReferenceStamped current_coord;
+    4379          62 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4380          62 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4381          62 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4382             : 
+    4383          62 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4384           1 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4385           1 :       prereq_check = false;
+    4386             :     }
+    4387             :   }
+    4388             : 
+    4389          62 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4390           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4391           0 :     prereq_check = false;
+    4392             :   }
+    4393             : 
+    4394          62 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4395           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4396           0 :     prereq_check = false;
+    4397             :   }
+    4398             : 
+    4399          62 :   if (bumper_enabled_ && !sh_bumper_.hasMsg()) {
+    4400           0 :     ss << "cannot toggle output ON, missing bumper data!";
+    4401           0 :     prereq_check = false;
+    4402             :   }
+    4403             : 
+    4404          62 :   if (!prereq_check) {
+    4405             : 
+    4406           1 :     res.message = ss.str();
+    4407           1 :     res.success = false;
+    4408             : 
+    4409           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4410             : 
+    4411           1 :     return false;
+    4412             : 
+    4413             :   } else {
+    4414             : 
+    4415          61 :     toggleOutput(req.data);
+    4416             : 
+    4417          61 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4418          61 :     res.message = ss.str();
+    4419          61 :     res.success = true;
+    4420             : 
+    4421          61 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4422             : 
+    4423          61 :     publishDiagnostics();
+    4424             : 
+    4425          61 :     return true;
+    4426             :   }
+    4427             : }
+    4428             : 
+    4429             : //}
+    4430             : 
+    4431             : /* callbackArm() //{ */
+    4432             : 
+    4433           6 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4434             : 
+    4435           6 :   if (!is_initialized_)
+    4436           0 :     return false;
+    4437             : 
+    4438           6 :   ROS_INFO("[ControlManager]: arming by service");
+    4439             : 
+    4440          12 :   std::stringstream ss;
+    4441             : 
+    4442           6 :   if (failsafe_triggered_ || eland_triggered_) {
+    4443             : 
+    4444           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4445             : 
+    4446           0 :     res.message = ss.str();
+    4447           0 :     res.success = false;
+    4448             : 
+    4449           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4450             : 
+    4451           0 :     return true;
+    4452             :   }
+    4453             : 
+    4454           6 :   if (req.data) {
+    4455             : 
+    4456           0 :     ss << "this service is not allowed to arm the UAV";
+    4457           0 :     res.success = false;
+    4458           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4459             : 
+    4460             :   } else {
+    4461             : 
+    4462          12 :     auto [success, message] = arming(false);
+    4463             : 
+    4464           6 :     if (success) {
+    4465             : 
+    4466           6 :       ss << "disarmed";
+    4467           6 :       res.success = true;
+    4468           6 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4469             : 
+    4470             :     } else {
+    4471             : 
+    4472           0 :       ss << "could not disarm: " << message;
+    4473           0 :       res.success = false;
+    4474           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4475             :     }
+    4476             :   }
+    4477             : 
+    4478           6 :   res.message = ss.str();
+    4479             : 
+    4480           6 :   return true;
+    4481             : }
+    4482             : 
+    4483             : //}
+    4484             : 
+    4485             : /* //{ callbackEnableCallbacks() */
+    4486             : 
+    4487          84 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4488             : 
+    4489          84 :   if (!is_initialized_)
+    4490           0 :     return false;
+    4491             : 
+    4492          84 :   setCallbacks(req.data);
+    4493             : 
+    4494          84 :   std::stringstream ss;
+    4495             : 
+    4496          84 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4497             : 
+    4498          84 :   res.message = ss.str();
+    4499          84 :   res.success = true;
+    4500             : 
+    4501          84 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4502             : 
+    4503          84 :   return true;
+    4504             : }
+    4505             : 
+    4506             : //}
+    4507             : 
+    4508             : /* callbackSetConstraints() //{ */
+    4509             : 
+    4510          62 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4511             : 
+    4512          62 :   if (!is_initialized_) {
+    4513           0 :     res.message = "not initialized";
+    4514           0 :     res.success = false;
+    4515           0 :     return true;
+    4516             :   }
+    4517             : 
+    4518             :   {
+    4519         124 :     std::scoped_lock lock(mutex_constraints_);
+    4520             : 
+    4521          62 :     current_constraints_ = req;
+    4522             : 
+    4523          62 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4524             : 
+    4525          62 :     if (enforced) {
+    4526           0 :       sanitized_constraints_      = enforced.value();
+    4527           0 :       constraints_being_enforced_ = true;
+    4528             :     } else {
+    4529          62 :       sanitized_constraints_      = req;
+    4530          62 :       constraints_being_enforced_ = false;
+    4531             :     }
+    4532             : 
+    4533          62 :     got_constraints_ = true;
+    4534             : 
+    4535          62 :     setConstraintsToControllers(current_constraints_);
+    4536          62 :     setConstraintsToTrackers(sanitized_constraints_);
+    4537             :   }
+    4538             : 
+    4539          62 :   res.message = "setting constraints";
+    4540          62 :   res.success = true;
+    4541             : 
+    4542          62 :   return true;
+    4543             : }
+    4544             : 
+    4545             : //}
+    4546             : 
+    4547             : /* //{ callbackEmergencyReference() */
+    4548             : 
+    4549          85 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4550             : 
+    4551          85 :   if (!is_initialized_)
+    4552           0 :     return false;
+    4553             : 
+    4554         170 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4555             : 
+    4556          85 :   callbacks_enabled_ = false;
+    4557             : 
+    4558          85 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4559             : 
+    4560         170 :   std::stringstream ss;
+    4561             : 
+    4562             :   // transform the reference to the current frame
+    4563         170 :   mrs_msgs::ReferenceStamped original_reference;
+    4564          85 :   original_reference.header    = req.header;
+    4565          85 :   original_reference.reference = req.reference;
+    4566             : 
+    4567         170 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4568             : 
+    4569          85 :   if (!ret) {
+    4570             : 
+    4571           0 :     ss << "the emergency reference could not be transformed";
+    4572             : 
+    4573           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4574           0 :     res.message = ss.str();
+    4575           0 :     res.success = false;
+    4576           0 :     return true;
+    4577             :   }
+    4578             : 
+    4579          85 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4580             : 
+    4581          85 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4582             : 
+    4583          85 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4584          85 :   req_goto_out.reference = transformed_reference.reference;
+    4585             : 
+    4586             :   {
+    4587         170 :     std::scoped_lock lock(mutex_tracker_list_);
+    4588             : 
+    4589             :     // disable callbacks of all trackers
+    4590          85 :     req_enable_callbacks.data = false;
+    4591         595 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4592         510 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4593             :     }
+    4594             : 
+    4595             :     // enable the callbacks for the active tracker
+    4596          85 :     req_enable_callbacks.data = true;
+    4597          85 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4598             : 
+    4599             :     // call the setReference()
+    4600         255 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    4601         255 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4602             : 
+    4603             :     // disable the callbacks back again
+    4604          85 :     req_enable_callbacks.data = false;
+    4605          85 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4606             : 
+    4607          85 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4608          85 :       res.message = tracker_response->message;
+    4609          85 :       res.success = tracker_response->success;
+    4610             :     } else {
+    4611           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    4612           0 :       res.message = ss.str();
+    4613           0 :       res.success = false;
+    4614             :     }
+    4615             :   }
+    4616             : 
+    4617          85 :   return true;
+    4618             : }
+    4619             : 
+    4620             : //}
+    4621             : 
+    4622             : /* callbackPirouette() //{ */
+    4623             : 
+    4624           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4625             : 
+    4626           0 :   if (!is_initialized_)
+    4627           0 :     return false;
+    4628             : 
+    4629             :   // copy member variables
+    4630           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4631             : 
+    4632             :   double uav_heading;
+    4633             :   try {
+    4634           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4635             :   }
+    4636           0 :   catch (...) {
+    4637           0 :     std::stringstream ss;
+    4638           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4639             : 
+    4640           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4641             : 
+    4642           0 :     res.message = ss.str();
+    4643           0 :     res.success = false;
+    4644             : 
+    4645           0 :     return false;
+    4646             :   }
+    4647             : 
+    4648           0 :   if (_pirouette_enabled_) {
+    4649           0 :     res.success = false;
+    4650           0 :     res.message = "already active";
+    4651           0 :     return true;
+    4652             :   }
+    4653             : 
+    4654           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4655             : 
+    4656           0 :     std::stringstream ss;
+    4657           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4658             : 
+    4659           0 :     res.message = ss.str();
+    4660           0 :     res.success = false;
+    4661             : 
+    4662           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4663             : 
+    4664           0 :     return true;
+    4665             :   }
+    4666             : 
+    4667           0 :   _pirouette_enabled_ = true;
+    4668             : 
+    4669           0 :   setCallbacks(false);
+    4670             : 
+    4671           0 :   pirouette_initial_heading_ = uav_heading;
+    4672           0 :   pirouette_iterator_        = 0;
+    4673           0 :   timer_pirouette_.start();
+    4674             : 
+    4675           0 :   res.success = true;
+    4676           0 :   res.message = "activated";
+    4677             : 
+    4678           0 :   return true;
+    4679             : }
+    4680             : 
+    4681             : //}
+    4682             : 
+    4683             : /* callbackUseJoystick() //{ */
+    4684             : 
+    4685           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4686             : 
+    4687           0 :   if (!is_initialized_) {
+    4688           0 :     return false;
+    4689             :   }
+    4690             : 
+    4691           0 :   std::stringstream ss;
+    4692             : 
+    4693             :   {
+    4694           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4695             : 
+    4696           0 :     if (!success) {
+    4697             : 
+    4698           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4699           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4700             : 
+    4701           0 :       res.success = false;
+    4702           0 :       res.message = ss.str();
+    4703             : 
+    4704           0 :       return true;
+    4705             :     }
+    4706             :   }
+    4707             : 
+    4708           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4709             : 
+    4710           0 :   if (!success) {
+    4711             : 
+    4712           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4713           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4714             : 
+    4715           0 :     res.success = false;
+    4716           0 :     res.message = ss.str();
+    4717             : 
+    4718             :     // switch back to hover tracker
+    4719           0 :     switchTracker(_ehover_tracker_name_);
+    4720             : 
+    4721             :     // switch back to safety controller
+    4722           0 :     switchController(_eland_controller_name_);
+    4723             : 
+    4724           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4725             : 
+    4726           0 :     return true;
+    4727             :   }
+    4728             : 
+    4729           0 :   ss << "switched to joystick control";
+    4730             : 
+    4731           0 :   res.success = true;
+    4732           0 :   res.message = ss.str();
+    4733             : 
+    4734           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4735             : 
+    4736           0 :   return true;
+    4737             : }
+    4738             : 
+    4739             : //}
+    4740             : 
+    4741             : /* //{ callbackHover() */
+    4742             : 
+    4743           0 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4744             : 
+    4745           0 :   if (!is_initialized_)
+    4746           0 :     return false;
+    4747             : 
+    4748           0 :   auto [success, message] = hover();
+    4749             : 
+    4750           0 :   res.success = success;
+    4751           0 :   res.message = message;
+    4752             : 
+    4753           0 :   return true;
+    4754             : }
+    4755             : 
+    4756             : //}
+    4757             : 
+    4758             : /* //{ callbackStartTrajectoryTracking() */
+    4759             : 
+    4760           0 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4761             : 
+    4762           0 :   if (!is_initialized_)
+    4763           0 :     return false;
+    4764             : 
+    4765           0 :   auto [success, message] = startTrajectoryTracking();
+    4766             : 
+    4767           0 :   res.success = success;
+    4768           0 :   res.message = message;
+    4769             : 
+    4770           0 :   return true;
+    4771             : }
+    4772             : 
+    4773             : //}
+    4774             : 
+    4775             : /* //{ callbackStopTrajectoryTracking() */
+    4776             : 
+    4777           0 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4778             : 
+    4779           0 :   if (!is_initialized_)
+    4780           0 :     return false;
+    4781             : 
+    4782           0 :   auto [success, message] = stopTrajectoryTracking();
+    4783             : 
+    4784           0 :   res.success = success;
+    4785           0 :   res.message = message;
+    4786             : 
+    4787           0 :   return true;
+    4788             : }
+    4789             : 
+    4790             : //}
+    4791             : 
+    4792             : /* //{ callbackResumeTrajectoryTracking() */
+    4793             : 
+    4794           0 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4795             : 
+    4796           0 :   if (!is_initialized_)
+    4797           0 :     return false;
+    4798             : 
+    4799           0 :   auto [success, message] = resumeTrajectoryTracking();
+    4800             : 
+    4801           0 :   res.success = success;
+    4802           0 :   res.message = message;
+    4803             : 
+    4804           0 :   return true;
+    4805             : }
+    4806             : 
+    4807             : //}
+    4808             : 
+    4809             : /* //{ callbackGotoTrajectoryStart() */
+    4810             : 
+    4811           0 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4812             : 
+    4813           0 :   if (!is_initialized_)
+    4814           0 :     return false;
+    4815             : 
+    4816           0 :   auto [success, message] = gotoTrajectoryStart();
+    4817             : 
+    4818           0 :   res.success = success;
+    4819           0 :   res.message = message;
+    4820             : 
+    4821           0 :   return true;
+    4822             : }
+    4823             : 
+    4824             : //}
+    4825             : 
+    4826             : /* //{ callbackTransformReference() */
+    4827             : 
+    4828           0 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4829             : 
+    4830           0 :   if (!is_initialized_)
+    4831           0 :     return false;
+    4832             : 
+    4833             :   // transform the reference to the current frame
+    4834           0 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4835             : 
+    4836           0 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4837             : 
+    4838           0 :     res.reference = ret.value();
+    4839           0 :     res.message   = "transformation successful";
+    4840           0 :     res.success   = true;
+    4841           0 :     return true;
+    4842             : 
+    4843             :   } else {
+    4844             : 
+    4845           0 :     res.message = "the reference could not be transformed";
+    4846           0 :     res.success = false;
+    4847           0 :     return true;
+    4848             :   }
+    4849             : 
+    4850             :   return true;
+    4851             : }
+    4852             : 
+    4853             : //}
+    4854             : 
+    4855             : /* //{ callbackTransformPose() */
+    4856             : 
+    4857           0 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    4858             : 
+    4859           0 :   if (!is_initialized_)
+    4860           0 :     return false;
+    4861             : 
+    4862             :   // transform the reference to the current frame
+    4863           0 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    4864             : 
+    4865           0 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    4866             : 
+    4867           0 :     res.pose    = ret.value();
+    4868           0 :     res.message = "transformation successful";
+    4869           0 :     res.success = true;
+    4870           0 :     return true;
+    4871             : 
+    4872             :   } else {
+    4873             : 
+    4874           0 :     res.message = "the pose could not be transformed";
+    4875           0 :     res.success = false;
+    4876           0 :     return true;
+    4877             :   }
+    4878             : 
+    4879             :   return true;
+    4880             : }
+    4881             : 
+    4882             : //}
+    4883             : 
+    4884             : /* //{ callbackTransformVector3() */
+    4885             : 
+    4886           0 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    4887             : 
+    4888           0 :   if (!is_initialized_)
+    4889           0 :     return false;
+    4890             : 
+    4891             :   // transform the reference to the current frame
+    4892           0 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    4893             : 
+    4894           0 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    4895             : 
+    4896           0 :     res.vector  = ret.value();
+    4897           0 :     res.message = "transformation successful";
+    4898           0 :     res.success = true;
+    4899           0 :     return true;
+    4900             : 
+    4901             :   } else {
+    4902             : 
+    4903           0 :     res.message = "the twist could not be transformed";
+    4904           0 :     res.success = false;
+    4905           0 :     return true;
+    4906             :   }
+    4907             : 
+    4908             :   return true;
+    4909             : }
+    4910             : 
+    4911             : //}
+    4912             : 
+    4913             : /* //{ callbackEnableBumper() */
+    4914             : 
+    4915           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4916             : 
+    4917           0 :   if (!is_initialized_)
+    4918           0 :     return false;
+    4919             : 
+    4920           0 :   bumper_enabled_ = req.data;
+    4921             : 
+    4922           0 :   std::stringstream ss;
+    4923             : 
+    4924           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    4925             : 
+    4926           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4927             : 
+    4928           0 :   res.success = true;
+    4929           0 :   res.message = ss.str();
+    4930             : 
+    4931           0 :   return true;
+    4932             : }
+    4933             : 
+    4934             : //}
+    4935             : 
+    4936             : /* //{ callbackUseSafetyArea() */
+    4937             : 
+    4938           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4939             : 
+    4940           0 :   if (!is_initialized_)
+    4941           0 :     return false;
+    4942             : 
+    4943           0 :   use_safety_area_ = req.data;
+    4944             : 
+    4945           0 :   std::stringstream ss;
+    4946             : 
+    4947           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    4948             : 
+    4949           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4950             : 
+    4951           0 :   res.success = true;
+    4952           0 :   res.message = ss.str();
+    4953             : 
+    4954           0 :   return true;
+    4955             : }
+    4956             : 
+    4957             : //}
+    4958             : 
+    4959             : /* //{ callbackGetMinZ() */
+    4960             : 
+    4961           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    4962             : 
+    4963           0 :   if (!is_initialized_) {
+    4964           0 :     return false;
+    4965             :   }
+    4966             : 
+    4967           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4968             : 
+    4969           0 :   res.success = true;
+    4970           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    4971             : 
+    4972           0 :   return true;
+    4973             : }
+    4974             : 
+    4975             : //}
+    4976             : 
+    4977             : /* //{ callbackValidateReference() */
+    4978             : 
+    4979           0 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    4980             : 
+    4981           0 :   if (!is_initialized_) {
+    4982           0 :     res.message = "not initialized";
+    4983           0 :     res.success = false;
+    4984           0 :     return true;
+    4985             :   }
+    4986             : 
+    4987           0 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    4988           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    4989           0 :     res.message = "NaNs/infs in input!";
+    4990           0 :     res.success = false;
+    4991           0 :     return true;
+    4992             :   }
+    4993             : 
+    4994             :   // copy member variables
+    4995           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4996           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    4997             : 
+    4998             :   // transform the reference to the current frame
+    4999           0 :   mrs_msgs::ReferenceStamped original_reference;
+    5000           0 :   original_reference.header    = req.reference.header;
+    5001           0 :   original_reference.reference = req.reference.reference;
+    5002             : 
+    5003           0 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5004             : 
+    5005           0 :   if (!ret) {
+    5006             : 
+    5007           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5008           0 :     res.message = "the reference could not be transformed";
+    5009           0 :     res.success = false;
+    5010           0 :     return true;
+    5011             :   }
+    5012             : 
+    5013           0 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5014             : 
+    5015           0 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5016           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5017           0 :     res.message = "the point is outside of the safety area";
+    5018           0 :     res.success = false;
+    5019           0 :     return true;
+    5020             :   }
+    5021             : 
+    5022           0 :   if (last_tracker_cmd) {
+    5023             : 
+    5024           0 :     mrs_msgs::ReferenceStamped from_point;
+    5025           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5026           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5027           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5028           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5029             : 
+    5030           0 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5031           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5032           0 :       res.message = "the path is going outside the safety area";
+    5033           0 :       res.success = false;
+    5034           0 :       return true;
+    5035             :     }
+    5036             :   }
+    5037             : 
+    5038           0 :   res.message = "the reference is ok";
+    5039           0 :   res.success = true;
+    5040           0 :   return true;
+    5041             : }
+    5042             : 
+    5043             : //}
+    5044             : 
+    5045             : /* //{ callbackValidateReference2d() */
+    5046             : 
+    5047        3521 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5048             : 
+    5049        3521 :   if (!is_initialized_) {
+    5050           0 :     res.message = "not initialized";
+    5051           0 :     res.success = false;
+    5052           0 :     return true;
+    5053             :   }
+    5054             : 
+    5055        3521 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5056           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5057           0 :     res.message = "NaNs/infs in input!";
+    5058           0 :     res.success = false;
+    5059           0 :     return true;
+    5060             :   }
+    5061             : 
+    5062             :   // copy member variables
+    5063        7042 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5064        7042 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5065             : 
+    5066             :   // transform the reference to the current frame
+    5067        7042 :   mrs_msgs::ReferenceStamped original_reference;
+    5068        3521 :   original_reference.header    = req.reference.header;
+    5069        3521 :   original_reference.reference = req.reference.reference;
+    5070             : 
+    5071        7042 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5072             : 
+    5073        3521 :   if (!ret) {
+    5074             : 
+    5075           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5076           0 :     res.message = "the reference could not be transformed";
+    5077           0 :     res.success = false;
+    5078           0 :     return true;
+    5079             :   }
+    5080             : 
+    5081        7042 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5082             : 
+    5083        3521 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5084          76 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5085          76 :     res.message = "the point is outside of the safety area";
+    5086          76 :     res.success = false;
+    5087          76 :     return true;
+    5088             :   }
+    5089             : 
+    5090        3445 :   if (last_tracker_cmd) {
+    5091             : 
+    5092          31 :     mrs_msgs::ReferenceStamped from_point;
+    5093          31 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5094          31 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5095          31 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5096          31 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5097             : 
+    5098          31 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5099           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5100           0 :       res.message = "the path is going outside the safety area";
+    5101           0 :       res.success = false;
+    5102           0 :       return true;
+    5103             :     }
+    5104             :   }
+    5105             : 
+    5106        3445 :   res.message = "the reference is ok";
+    5107        3445 :   res.success = true;
+    5108        3445 :   return true;
+    5109             : }
+    5110             : 
+    5111             : //}
+    5112             : 
+    5113             : /* //{ callbackValidateReferenceList() */
+    5114             : 
+    5115           0 : bool ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res) {
+    5116             : 
+    5117           0 :   if (!is_initialized_) {
+    5118           0 :     res.message = "not initialized";
+    5119           0 :     return false;
+    5120             :   }
+    5121             : 
+    5122             :   // copy member variables
+    5123           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5124           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5125             : 
+    5126             :   // get the transformer
+    5127           0 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.list.header.frame_id, req.list.header.stamp);
+    5128             : 
+    5129           0 :   if (!ret) {
+    5130             : 
+    5131           0 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5132           0 :     res.message = "could not find transform";
+    5133           0 :     return false;
+    5134             :   }
+    5135             : 
+    5136           0 :   geometry_msgs::TransformStamped tf = ret.value();
+    5137             : 
+    5138           0 :   for (int i = 0; i < int(req.list.list.size()); i++) {
+    5139             : 
+    5140           0 :     res.success.push_back(true);
+    5141             : 
+    5142           0 :     mrs_msgs::ReferenceStamped original_reference;
+    5143           0 :     original_reference.header    = req.list.header;
+    5144           0 :     original_reference.reference = req.list.list[i];
+    5145             : 
+    5146           0 :     res.success[i] = validateReference(original_reference.reference, "ControlManager", "reference_list");
+    5147             : 
+    5148           0 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5149             : 
+    5150           0 :     if (!ret) {
+    5151             : 
+    5152           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5153           0 :       res.success[i] = false;
+    5154             :     }
+    5155             : 
+    5156           0 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5157             : 
+    5158           0 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5159           0 :       res.success[i] = false;
+    5160             :     }
+    5161             : 
+    5162           0 :     if (last_tracker_cmd) {
+    5163             : 
+    5164           0 :       mrs_msgs::ReferenceStamped from_point;
+    5165           0 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5166           0 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5167           0 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5168           0 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5169             : 
+    5170           0 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5171           0 :         res.success[i] = false;
+    5172             :       }
+    5173             :     }
+    5174             :   }
+    5175             : 
+    5176           0 :   res.message = "references were checked";
+    5177           0 :   return true;
+    5178             : }
+    5179             : 
+    5180             : //}
+    5181             : 
+    5182             : // | -------------- setpoint topics and services -------------- |
+    5183             : 
+    5184             : /* //{ callbackReferenceService() */
+    5185             : 
+    5186           0 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5187             : 
+    5188           0 :   if (!is_initialized_) {
+    5189           0 :     res.message = "not initialized";
+    5190           0 :     res.success = false;
+    5191           0 :     return true;
+    5192             :   }
+    5193             : 
+    5194           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5195           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5196             : 
+    5197           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5198           0 :   des_reference.header    = req.header;
+    5199           0 :   des_reference.reference = req.reference;
+    5200             : 
+    5201           0 :   auto [success, message] = setReference(des_reference);
+    5202             : 
+    5203           0 :   res.success = success;
+    5204           0 :   res.message = message;
+    5205             : 
+    5206           0 :   return true;
+    5207             : }
+    5208             : 
+    5209             : //}
+    5210             : 
+    5211             : /* //{ callbackReferenceTopic() */
+    5212             : 
+    5213           0 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5214             : 
+    5215           0 :   if (!is_initialized_)
+    5216           0 :     return;
+    5217             : 
+    5218           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5219           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5220             : 
+    5221           0 :   setReference(*msg);
+    5222             : }
+    5223             : 
+    5224             : //}
+    5225             : 
+    5226             : /* //{ callbackVelocityReferenceService() */
+    5227             : 
+    5228         468 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5229             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5230             : 
+    5231         468 :   if (!is_initialized_) {
+    5232           0 :     res.message = "not initialized";
+    5233           0 :     res.success = false;
+    5234           0 :     return true;
+    5235             :   }
+    5236             : 
+    5237        1404 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5238        1404 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5239             : 
+    5240         936 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5241         468 :   des_reference = req.reference;
+    5242             : 
+    5243         468 :   auto [success, message] = setVelocityReference(des_reference);
+    5244             : 
+    5245         468 :   res.success = success;
+    5246         468 :   res.message = message;
+    5247             : 
+    5248         468 :   return true;
+    5249             : }
+    5250             : 
+    5251             : //}
+    5252             : 
+    5253             : /* //{ callbackVelocityReferenceTopic() */
+    5254             : 
+    5255           0 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5256             : 
+    5257           0 :   if (!is_initialized_)
+    5258           0 :     return;
+    5259             : 
+    5260           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5261           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5262             : 
+    5263           0 :   setVelocityReference(*msg);
+    5264             : }
+    5265             : 
+    5266             : //}
+    5267             : 
+    5268             : /* //{ callbackTrajectoryReferenceService() */
+    5269             : 
+    5270           3 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5271             : 
+    5272           3 :   if (!is_initialized_) {
+    5273           0 :     res.message = "not initialized";
+    5274           0 :     res.success = false;
+    5275           0 :     return true;
+    5276             :   }
+    5277             : 
+    5278           9 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5279           9 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5280             : 
+    5281           6 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5282             : 
+    5283           3 :   res.success          = success;
+    5284           3 :   res.message          = message;
+    5285           3 :   res.modified         = modified;
+    5286           3 :   res.tracker_names    = tracker_names;
+    5287           3 :   res.tracker_messages = tracker_messages;
+    5288             : 
+    5289          21 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5290          18 :     res.tracker_successes.push_back(tracker_successes[i]);
+    5291             :   }
+    5292             : 
+    5293           3 :   return true;
+    5294             : }
+    5295             : 
+    5296             : //}
+    5297             : 
+    5298             : /* //{ callbackTrajectoryReferenceTopic() */
+    5299             : 
+    5300           0 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5301             : 
+    5302           0 :   if (!is_initialized_)
+    5303           0 :     return;
+    5304             : 
+    5305           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5306           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5307             : 
+    5308           0 :   setTrajectoryReference(*msg);
+    5309             : }
+    5310             : 
+    5311             : //}
+    5312             : 
+    5313             : // | ------------- human-callable "goto" services ------------- |
+    5314             : 
+    5315             : /* //{ callbackGoto() */
+    5316             : 
+    5317          25 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5318             : 
+    5319          25 :   if (!is_initialized_) {
+    5320           0 :     res.message = "not initialized";
+    5321           0 :     res.success = false;
+    5322           0 :     return true;
+    5323             :   }
+    5324             : 
+    5325          75 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5326          75 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5327             : 
+    5328          50 :   mrs_msgs::ReferenceStamped des_reference;
+    5329          25 :   des_reference.header.frame_id      = "";
+    5330          25 :   des_reference.header.stamp         = ros::Time(0);
+    5331          25 :   des_reference.reference.position.x = req.goal[REF_X];
+    5332          25 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5333          25 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5334          25 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5335             : 
+    5336          50 :   auto [success, message] = setReference(des_reference);
+    5337             : 
+    5338          25 :   res.success = success;
+    5339          25 :   res.message = message;
+    5340             : 
+    5341          25 :   return true;
+    5342             : }
+    5343             : 
+    5344             : //}
+    5345             : 
+    5346             : /* //{ callbackGotoFcu() */
+    5347             : 
+    5348           0 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5349             : 
+    5350           0 :   if (!is_initialized_) {
+    5351           0 :     res.message = "not initialized";
+    5352           0 :     res.success = false;
+    5353           0 :     return true;
+    5354             :   }
+    5355             : 
+    5356           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5357           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5358             : 
+    5359           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5360           0 :   des_reference.header.frame_id      = "fcu_untilted";
+    5361           0 :   des_reference.header.stamp         = ros::Time(0);
+    5362           0 :   des_reference.reference.position.x = req.goal[REF_X];
+    5363           0 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5364           0 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5365           0 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5366             : 
+    5367           0 :   auto [success, message] = setReference(des_reference);
+    5368             : 
+    5369           0 :   res.success = success;
+    5370           0 :   res.message = message;
+    5371             : 
+    5372           0 :   return true;
+    5373             : }
+    5374             : 
+    5375             : //}
+    5376             : 
+    5377             : /* //{ callbackGotoRelative() */
+    5378             : 
+    5379          16 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5380             : 
+    5381          16 :   if (!is_initialized_) {
+    5382           0 :     res.message = "not initialized";
+    5383           0 :     res.success = false;
+    5384           0 :     return true;
+    5385             :   }
+    5386             : 
+    5387          48 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5388          48 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5389             : 
+    5390          32 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5391             : 
+    5392          16 :   if (!last_tracker_cmd) {
+    5393           0 :     res.message = "not flying";
+    5394           0 :     res.success = false;
+    5395           0 :     return true;
+    5396             :   }
+    5397             : 
+    5398          32 :   mrs_msgs::ReferenceStamped des_reference;
+    5399          16 :   des_reference.header.frame_id      = "";
+    5400          16 :   des_reference.header.stamp         = ros::Time(0);
+    5401          16 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal[REF_X];
+    5402          16 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal[REF_Y];
+    5403          16 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal[REF_Z];
+    5404          16 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal[REF_HEADING];
+    5405             : 
+    5406          32 :   auto [success, message] = setReference(des_reference);
+    5407             : 
+    5408          16 :   res.success = success;
+    5409          16 :   res.message = message;
+    5410             : 
+    5411          16 :   return true;
+    5412             : }
+    5413             : 
+    5414             : //}
+    5415             : 
+    5416             : /* //{ callbackGotoAltitude() */
+    5417             : 
+    5418           0 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5419             : 
+    5420           0 :   if (!is_initialized_) {
+    5421           0 :     res.message = "not initialized";
+    5422           0 :     res.success = false;
+    5423           0 :     return true;
+    5424             :   }
+    5425             : 
+    5426           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5427           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5428             : 
+    5429           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5430             : 
+    5431           0 :   if (!last_tracker_cmd) {
+    5432           0 :     res.message = "not flying";
+    5433           0 :     res.success = false;
+    5434           0 :     return true;
+    5435             :   }
+    5436             : 
+    5437           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5438           0 :   des_reference.header.frame_id      = "";
+    5439           0 :   des_reference.header.stamp         = ros::Time(0);
+    5440           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5441           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5442           0 :   des_reference.reference.position.z = req.goal;
+    5443           0 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5444             : 
+    5445           0 :   auto [success, message] = setReference(des_reference);
+    5446             : 
+    5447           0 :   res.success = success;
+    5448           0 :   res.message = message;
+    5449             : 
+    5450           0 :   return true;
+    5451             : }
+    5452             : 
+    5453             : //}
+    5454             : 
+    5455             : /* //{ callbackSetHeading() */
+    5456             : 
+    5457           0 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5458             : 
+    5459           0 :   if (!is_initialized_) {
+    5460           0 :     res.message = "not initialized";
+    5461           0 :     res.success = false;
+    5462           0 :     return true;
+    5463             :   }
+    5464             : 
+    5465           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5466           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5467             : 
+    5468           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5469             : 
+    5470           0 :   if (!last_tracker_cmd) {
+    5471           0 :     res.message = "not flying";
+    5472           0 :     res.success = false;
+    5473           0 :     return true;
+    5474             :   }
+    5475             : 
+    5476           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5477           0 :   des_reference.header.frame_id      = "";
+    5478           0 :   des_reference.header.stamp         = ros::Time(0);
+    5479           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5480           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5481           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5482           0 :   des_reference.reference.heading    = req.goal;
+    5483             : 
+    5484           0 :   auto [success, message] = setReference(des_reference);
+    5485             : 
+    5486           0 :   res.success = success;
+    5487           0 :   res.message = message;
+    5488             : 
+    5489           0 :   return true;
+    5490             : }
+    5491             : 
+    5492             : //}
+    5493             : 
+    5494             : /* //{ callbackSetHeadingRelative() */
+    5495             : 
+    5496           0 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5497             : 
+    5498           0 :   if (!is_initialized_) {
+    5499           0 :     res.message = "not initialized";
+    5500           0 :     res.success = false;
+    5501           0 :     return true;
+    5502             :   }
+    5503             : 
+    5504           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5505           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5506             : 
+    5507           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5508             : 
+    5509           0 :   if (!last_tracker_cmd) {
+    5510           0 :     res.message = "not flying";
+    5511           0 :     res.success = false;
+    5512           0 :     return true;
+    5513             :   }
+    5514             : 
+    5515           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5516           0 :   des_reference.header.frame_id      = "";
+    5517           0 :   des_reference.header.stamp         = ros::Time(0);
+    5518           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5519           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5520           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5521           0 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5522             : 
+    5523           0 :   auto [success, message] = setReference(des_reference);
+    5524             : 
+    5525           0 :   res.success = success;
+    5526           0 :   res.message = message;
+    5527             : 
+    5528           0 :   return true;
+    5529             : }
+    5530             : 
+    5531             : //}
+    5532             : 
+    5533             : // --------------------------------------------------------------
+    5534             : // |                          routines                          |
+    5535             : // --------------------------------------------------------------
+    5536             : 
+    5537             : /* setReference() //{ */
+    5538             : 
+    5539          41 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5540             : 
+    5541          82 :   std::stringstream ss;
+    5542             : 
+    5543          41 :   if (!callbacks_enabled_) {
+    5544           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5545           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5546           0 :     return std::tuple(false, ss.str());
+    5547             :   }
+    5548             : 
+    5549          41 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5550           0 :     ss << "incoming reference is not finite!!!";
+    5551           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5552           0 :     return std::tuple(false, ss.str());
+    5553             :   }
+    5554             : 
+    5555             :   // copy member variables
+    5556          82 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5557          82 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5558             : 
+    5559             :   // transform the reference to the current frame
+    5560          82 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5561             : 
+    5562          41 :   if (!ret) {
+    5563             : 
+    5564           0 :     ss << "the reference could not be transformed";
+    5565           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5566           0 :     return std::tuple(false, ss.str());
+    5567             :   }
+    5568             : 
+    5569          82 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5570             : 
+    5571             :   // safety area check
+    5572          41 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5573           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5574           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5575           0 :     return std::tuple(false, ss.str());
+    5576             :   }
+    5577             : 
+    5578          41 :   if (last_tracker_cmd) {
+    5579             : 
+    5580          41 :     mrs_msgs::ReferenceStamped from_point;
+    5581          41 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5582          41 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5583          41 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5584          41 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5585             : 
+    5586          41 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5587           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5588           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5589           0 :       return std::tuple(false, ss.str());
+    5590             :     }
+    5591             :   }
+    5592             : 
+    5593          41 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5594             : 
+    5595             :   // prepare the message for current tracker
+    5596          41 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5597          41 :   reference_request.reference = transformed_reference.reference;
+    5598             : 
+    5599             :   {
+    5600          82 :     std::scoped_lock lock(mutex_tracker_list_);
+    5601             : 
+    5602         123 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    5603         123 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5604             : 
+    5605          41 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5606             : 
+    5607          82 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5608             : 
+    5609             :     } else {
+    5610             : 
+    5611           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    5612           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5613           0 :       return std::tuple(false, ss.str());
+    5614             :     }
+    5615             :   }
+    5616             : }
+    5617             : 
+    5618             : //}
+    5619             : 
+    5620             : /* setVelocityReference() //{ */
+    5621             : 
+    5622         468 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5623             : 
+    5624         936 :   std::stringstream ss;
+    5625             : 
+    5626         468 :   if (!callbacks_enabled_) {
+    5627           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5628           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5629           0 :     return std::tuple(false, ss.str());
+    5630             :   }
+    5631             : 
+    5632         468 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5633           0 :     ss << "velocity command is not valid!";
+    5634           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5635           0 :     return std::tuple(false, ss.str());
+    5636             :   }
+    5637             : 
+    5638             :   {
+    5639         468 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5640             : 
+    5641         468 :     if (!last_tracker_cmd_) {
+    5642           0 :       ss << "could not set velocity command, not flying!";
+    5643           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5644           0 :       return std::tuple(false, ss.str());
+    5645             :     }
+    5646             :   }
+    5647             : 
+    5648             :   // copy member variables
+    5649         936 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5650         936 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5651             : 
+    5652             :   // | -- transform the velocity reference to the current frame - |
+    5653             : 
+    5654         936 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5655             : 
+    5656         936 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5657             : 
+    5658         936 :   geometry_msgs::TransformStamped tf;
+    5659             : 
+    5660         468 :   if (!ret) {
+    5661           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5662           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5663           0 :     return std::tuple(false, ss.str());
+    5664             :   } else {
+    5665         468 :     tf = ret.value();
+    5666             :   }
+    5667             : 
+    5668             :   // transform the velocity
+    5669             :   {
+    5670         468 :     geometry_msgs::Vector3Stamped velocity;
+    5671         468 :     velocity.header   = reference_in.header;
+    5672         468 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5673         468 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5674         468 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5675             : 
+    5676         468 :     auto ret = transformer_->transform(velocity, tf);
+    5677             : 
+    5678         468 :     if (!ret) {
+    5679             : 
+    5680           0 :       ss << "the velocity reference could not be transformed";
+    5681           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5682           0 :       return std::tuple(false, ss.str());
+    5683             : 
+    5684             :     } else {
+    5685         468 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5686         468 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5687         468 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5688             :     }
+    5689             :   }
+    5690             : 
+    5691             :   // transform the z and the heading
+    5692             :   {
+    5693         468 :     geometry_msgs::PoseStamped pose;
+    5694         468 :     pose.header           = reference_in.header;
+    5695         468 :     pose.pose.position.x  = 0;
+    5696         468 :     pose.pose.position.y  = 0;
+    5697         468 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5698         468 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5699             : 
+    5700         468 :     auto ret = transformer_->transform(pose, tf);
+    5701             : 
+    5702         468 :     if (!ret) {
+    5703             : 
+    5704           0 :       ss << "the velocity reference could not be transformed";
+    5705           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5706           0 :       return std::tuple(false, ss.str());
+    5707             : 
+    5708             :     } else {
+    5709         468 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5710         468 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5711             :     }
+    5712             :   }
+    5713             : 
+    5714             :   // the heading rate doees not need to be transformed
+    5715         468 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5716             : 
+    5717         468 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5718         468 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5719             : 
+    5720         936 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5721             : 
+    5722         468 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5723             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5724             : 
+    5725             :   // safety area check
+    5726         468 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5727           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5728           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5729           0 :     return std::tuple(false, ss.str());
+    5730             :   }
+    5731             : 
+    5732         468 :   if (last_tracker_cmd) {
+    5733             : 
+    5734         468 :     mrs_msgs::ReferenceStamped from_point;
+    5735         468 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5736         468 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5737         468 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5738         468 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5739             : 
+    5740         468 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5741           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5742           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5743           0 :       return std::tuple(false, ss.str());
+    5744             :     }
+    5745             :   }
+    5746             : 
+    5747         468 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5748             : 
+    5749             :   // prepare the message for current tracker
+    5750         468 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5751         468 :   reference_request.reference = transformed_reference.reference;
+    5752             : 
+    5753             :   {
+    5754         936 :     std::scoped_lock lock(mutex_tracker_list_);
+    5755             : 
+    5756        1404 :     tracker_response = tracker_list_[active_tracker_idx_]->setVelocityReference(
+    5757        1404 :         mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5758             : 
+    5759         468 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5760             : 
+    5761         936 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5762             : 
+    5763             :     } else {
+    5764             : 
+    5765           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setVelocityReference()' function!";
+    5766           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5767           0 :       return std::tuple(false, ss.str());
+    5768             :     }
+    5769             :   }
+    5770             : }
+    5771             : 
+    5772             : //}
+    5773             : 
+    5774             : /* setTrajectoryReference() //{ */
+    5775             : 
+    5776           3 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5777             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5778             : 
+    5779           6 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5780           6 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5781             : 
+    5782           6 :   std::stringstream ss;
+    5783             : 
+    5784           3 :   if (!callbacks_enabled_) {
+    5785           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5786           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5787           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5788             :   }
+    5789             : 
+    5790             :   /* validate the size and check for NaNs //{ */
+    5791             : 
+    5792             :   // check for the size 0, which is invalid
+    5793           3 :   if (trajectory_in.points.size() == 0) {
+    5794             : 
+    5795           0 :     ss << "can not load trajectory with size 0";
+    5796           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5797           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5798             :   }
+    5799             : 
+    5800         431 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5801             : 
+    5802             :     // check the point for NaN/inf
+    5803         428 :     bool valid = validateReference(trajectory_in.points[i], "ControlManager", "trajectory_in.points[]");
+    5804             : 
+    5805         428 :     if (!valid) {
+    5806             : 
+    5807           0 :       ss << "trajectory contains NaNs/infs.";
+    5808           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5809           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5810             :     }
+    5811             :   }
+    5812             : 
+    5813             :   //}
+    5814             : 
+    5815             :   /* publish the debugging topics of the original trajectory //{ */
+    5816             : 
+    5817             :   {
+    5818             : 
+    5819           6 :     geometry_msgs::PoseArray debug_trajectory_out;
+    5820           3 :     debug_trajectory_out.header = trajectory_in.header;
+    5821             : 
+    5822           3 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    5823             : 
+    5824           3 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    5825           0 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    5826             :     }
+    5827             : 
+    5828         428 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5829             : 
+    5830         425 :       geometry_msgs::Pose new_pose;
+    5831             : 
+    5832         425 :       new_pose.position.x = trajectory_in.points[i].position.x;
+    5833         425 :       new_pose.position.y = trajectory_in.points[i].position.y;
+    5834         425 :       new_pose.position.z = trajectory_in.points[i].position.z;
+    5835             : 
+    5836         425 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points[i].heading);
+    5837             : 
+    5838         425 :       debug_trajectory_out.poses.push_back(new_pose);
+    5839             :     }
+    5840             : 
+    5841           3 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    5842             : 
+    5843           6 :     visualization_msgs::MarkerArray msg_out;
+    5844             : 
+    5845           6 :     visualization_msgs::Marker marker;
+    5846             : 
+    5847           3 :     marker.header = trajectory_in.header;
+    5848             : 
+    5849           3 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    5850             : 
+    5851           3 :     if (marker.header.frame_id == "") {
+    5852           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    5853             :     }
+    5854             : 
+    5855           3 :     if (marker.header.stamp == ros::Time(0)) {
+    5856           0 :       marker.header.stamp = ros::Time::now();
+    5857             :     }
+    5858             : 
+    5859           3 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    5860           3 :     marker.color.a          = 1;
+    5861           3 :     marker.scale.x          = 0.05;
+    5862           3 :     marker.color.r          = 0;
+    5863           3 :     marker.color.g          = 1;
+    5864           3 :     marker.color.b          = 0;
+    5865           3 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    5866             : 
+    5867         428 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5868             : 
+    5869         425 :       geometry_msgs::Point point1;
+    5870             : 
+    5871         425 :       point1.x = trajectory_in.points[i].position.x;
+    5872         425 :       point1.y = trajectory_in.points[i].position.y;
+    5873         425 :       point1.z = trajectory_in.points[i].position.z;
+    5874             : 
+    5875         425 :       marker.points.push_back(point1);
+    5876             : 
+    5877         425 :       geometry_msgs::Point point2;
+    5878             : 
+    5879         425 :       point2.x = trajectory_in.points[i + 1].position.x;
+    5880         425 :       point2.y = trajectory_in.points[i + 1].position.y;
+    5881         425 :       point2.z = trajectory_in.points[i + 1].position.z;
+    5882             : 
+    5883         425 :       marker.points.push_back(point2);
+    5884             :     }
+    5885             : 
+    5886           3 :     msg_out.markers.push_back(marker);
+    5887             : 
+    5888           3 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    5889             :   }
+    5890             : 
+    5891             :   //}
+    5892             : 
+    5893           6 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    5894             : 
+    5895           3 :   int trajectory_size = int(processed_trajectory.points.size());
+    5896             : 
+    5897           3 :   bool trajectory_modified = false;
+    5898             : 
+    5899             :   /* safety area check //{ */
+    5900             : 
+    5901           3 :   if (use_safety_area_) {
+    5902             : 
+    5903           3 :     int last_valid_idx    = 0;
+    5904           3 :     int first_invalid_idx = -1;
+    5905             : 
+    5906           3 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    5907           3 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    5908             : 
+    5909         431 :     for (int i = 0; i < trajectory_size; i++) {
+    5910             : 
+    5911         428 :       if (_snap_trajectory_to_safety_area_) {
+    5912             : 
+    5913             :         // saturate the trajectory to min and max Z
+    5914           0 :         if (processed_trajectory.points[i].position.z < min_z) {
+    5915             : 
+    5916           0 :           processed_trajectory.points[i].position.z = min_z;
+    5917           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    5918           0 :           trajectory_modified = true;
+    5919             :         }
+    5920             : 
+    5921           0 :         if (processed_trajectory.points[i].position.z > max_z) {
+    5922             : 
+    5923           0 :           processed_trajectory.points[i].position.z = max_z;
+    5924           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    5925           0 :           trajectory_modified = true;
+    5926             :         }
+    5927             :       }
+    5928             : 
+    5929             :       // check the point against the safety area
+    5930         428 :       mrs_msgs::ReferenceStamped des_reference;
+    5931         428 :       des_reference.header    = processed_trajectory.header;
+    5932         428 :       des_reference.reference = processed_trajectory.points[i];
+    5933             : 
+    5934         428 :       if (!isPointInSafetyArea3d(des_reference)) {
+    5935             : 
+    5936           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    5937           0 :         trajectory_modified = true;
+    5938             : 
+    5939             :         // the first invalid point
+    5940           0 :         if (first_invalid_idx == -1) {
+    5941             : 
+    5942           0 :           first_invalid_idx = i;
+    5943             : 
+    5944           0 :           last_valid_idx = i - 1;
+    5945             :         }
+    5946             : 
+    5947             :         // the point is ok
+    5948             :       } else {
+    5949             : 
+    5950             :         // we found a point, which is ok, after finding a point which was not ok
+    5951         428 :         if (first_invalid_idx != -1) {
+    5952             : 
+    5953             :           // special case, we had no valid point so far
+    5954           0 :           if (last_valid_idx == -1) {
+    5955             : 
+    5956           0 :             ss << "the trajectory starts outside of the safety area!";
+    5957           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5958           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5959             : 
+    5960             :             // we have a valid point in the past
+    5961             :           } else {
+    5962             : 
+    5963           0 :             if (!_snap_trajectory_to_safety_area_) {
+    5964           0 :               break;
+    5965             :             }
+    5966             : 
+    5967           0 :             bool interpolation_success = true;
+    5968             : 
+    5969             :             // iterpolate between the last valid point and this new valid point
+    5970           0 :             double angle = atan2((processed_trajectory.points[i].position.y - processed_trajectory.points[last_valid_idx].position.y),
+    5971           0 :                                  (processed_trajectory.points[i].position.x - processed_trajectory.points[last_valid_idx].position.x));
+    5972             : 
+    5973             :             double dist_two_points =
+    5974           0 :                 mrs_lib::geometry::dist(vec2_t(processed_trajectory.points[i].position.x, processed_trajectory.points[i].position.y),
+    5975           0 :                                         vec2_t(processed_trajectory.points[last_valid_idx].position.x, processed_trajectory.points[last_valid_idx].position.y));
+    5976           0 :             double step = dist_two_points / (i - last_valid_idx);
+    5977             : 
+    5978           0 :             for (int j = last_valid_idx; j < i; j++) {
+    5979             : 
+    5980           0 :               mrs_msgs::ReferenceStamped temp_point;
+    5981           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    5982           0 :               temp_point.reference.position.x = processed_trajectory.points[last_valid_idx].position.x + (j - last_valid_idx) * cos(angle) * step;
+    5983           0 :               temp_point.reference.position.y = processed_trajectory.points[last_valid_idx].position.y + (j - last_valid_idx) * sin(angle) * step;
+    5984             : 
+    5985           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    5986             : 
+    5987           0 :                 interpolation_success = false;
+    5988           0 :                 break;
+    5989             : 
+    5990             :               } else {
+    5991             : 
+    5992           0 :                 processed_trajectory.points[j].position.x = temp_point.reference.position.x;
+    5993           0 :                 processed_trajectory.points[j].position.y = temp_point.reference.position.y;
+    5994             :               }
+    5995             :             }
+    5996             : 
+    5997           0 :             if (!interpolation_success) {
+    5998           0 :               break;
+    5999             :             }
+    6000             :           }
+    6001             : 
+    6002           0 :           first_invalid_idx = -1;
+    6003             :         }
+    6004             :       }
+    6005             :     }
+    6006             : 
+    6007             :     // special case, the trajectory does not end with a valid point
+    6008           3 :     if (first_invalid_idx != -1) {
+    6009             : 
+    6010             :       // super special case, the whole trajectory is invalid
+    6011           0 :       if (first_invalid_idx == 0) {
+    6012             : 
+    6013           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6014           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6015           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6016             : 
+    6017             :         // there is a good portion of the trajectory in the beginning
+    6018             :       } else {
+    6019             : 
+    6020           0 :         trajectory_size = last_valid_idx + 1;
+    6021           0 :         processed_trajectory.points.resize(trajectory_size);
+    6022           0 :         trajectory_modified = true;
+    6023             :       }
+    6024             :     }
+    6025             :   }
+    6026             : 
+    6027           3 :   if (trajectory_size == 0) {
+    6028             : 
+    6029           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6030           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6031           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6032             :   }
+    6033             : 
+    6034             :   //}
+    6035             : 
+    6036             :   /* transform the trajectory to the current control frame //{ */
+    6037             : 
+    6038           3 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6039             : 
+    6040           3 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6041           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6042             :   } else {
+    6043           3 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6044             :   }
+    6045             : 
+    6046           3 :   if (!tf_traj_state) {
+    6047           0 :     ss << "could not create TF transformer for the trajectory";
+    6048           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6049           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6050             :   }
+    6051             : 
+    6052           3 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6053             : 
+    6054         431 :   for (int i = 0; i < trajectory_size; i++) {
+    6055             : 
+    6056         428 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6057         428 :     trajectory_point.header    = processed_trajectory.header;
+    6058         428 :     trajectory_point.reference = processed_trajectory.points[i];
+    6059             : 
+    6060         428 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6061             : 
+    6062         428 :     if (!ret) {
+    6063             : 
+    6064           0 :       ss << "trajectory cannnot be transformed";
+    6065           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6066           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6067             : 
+    6068             :     } else {
+    6069             : 
+    6070             :       // transform the points in the trajectory to the current frame
+    6071         428 :       processed_trajectory.points[i] = ret.value().reference;
+    6072             :     }
+    6073             :   }
+    6074             : 
+    6075             :   //}
+    6076             : 
+    6077           3 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6078           6 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6079             : 
+    6080             :   // check for empty trajectory
+    6081           3 :   if (processed_trajectory.points.size() == 0) {
+    6082           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6083           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6084           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6085             :   }
+    6086             : 
+    6087             :   // prepare the message for current tracker
+    6088           3 :   request.trajectory = processed_trajectory;
+    6089             : 
+    6090             :   bool                     success;
+    6091           6 :   std::string              message;
+    6092             :   bool                     modified;
+    6093           6 :   std::vector<std::string> tracker_names;
+    6094           6 :   std::vector<bool>        tracker_successes;
+    6095           6 :   std::vector<std::string> tracker_messages;
+    6096             : 
+    6097             :   {
+    6098           6 :     std::scoped_lock lock(mutex_tracker_list_);
+    6099             : 
+    6100             :     // set the trajectory to the currently active tracker
+    6101           9 :     response = tracker_list_[active_tracker_idx_]->setTrajectoryReference(
+    6102           9 :         mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6103             : 
+    6104           3 :     tracker_names.push_back(_tracker_names_[active_tracker_idx_]);
+    6105             : 
+    6106           3 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6107             : 
+    6108           3 :       success  = response->success;
+    6109           3 :       message  = response->message;
+    6110           3 :       modified = response->modified || trajectory_modified;
+    6111           3 :       tracker_successes.push_back(response->success);
+    6112           3 :       tracker_messages.push_back(response->message);
+    6113             : 
+    6114             :     } else {
+    6115             : 
+    6116           0 :       ss << "the active tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setTrajectoryReference()' function!";
+    6117           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the trajectory: " << ss.str());
+    6118             : 
+    6119           0 :       success  = false;
+    6120           0 :       message  = ss.str();
+    6121           0 :       modified = false;
+    6122           0 :       tracker_successes.push_back(false);
+    6123           0 :       tracker_messages.push_back(ss.str());
+    6124             :     }
+    6125             : 
+    6126             :     // set the trajectory to the non-active trackers
+    6127          21 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6128             : 
+    6129          18 :       if (i != active_tracker_idx_) {
+    6130             : 
+    6131          15 :         tracker_names.push_back(_tracker_names_[i]);
+    6132             : 
+    6133          45 :         response = tracker_list_[i]->setTrajectoryReference(
+    6134          45 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6135             : 
+    6136          15 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6137             : 
+    6138           0 :           tracker_successes.push_back(response->success);
+    6139           0 :           tracker_messages.push_back(response->message);
+    6140             : 
+    6141           0 :           if (response->success) {
+    6142           0 :             std::stringstream ss;
+    6143           0 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_[i];
+    6144           0 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6145             :           }
+    6146             : 
+    6147             :         } else {
+    6148             : 
+    6149          15 :           std::stringstream ss;
+    6150          15 :           ss << "the tracker \"" << _tracker_names_[i] << "\" does not implement setTrajectoryReference()";
+    6151          15 :           tracker_successes.push_back(false);
+    6152          15 :           tracker_messages.push_back(ss.str());
+    6153             :         }
+    6154             :       }
+    6155             :     }
+    6156             :   }
+    6157             : 
+    6158           3 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6159             : }
+    6160             : 
+    6161             : //}
+    6162             : 
+    6163             : /* isOffboard() //{ */
+    6164             : 
+    6165          16 : bool ControlManager::isOffboard(void) {
+    6166             : 
+    6167          16 :   if (!sh_hw_api_status_.hasMsg()) {
+    6168           0 :     return false;
+    6169             :   }
+    6170             : 
+    6171          16 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6172             : 
+    6173          16 :   return hw_api_status->connected && hw_api_status->offboard;
+    6174             : }
+    6175             : 
+    6176             : //}
+    6177             : 
+    6178             : /* setCallbacks() //{ */
+    6179             : 
+    6180          84 : void ControlManager::setCallbacks(bool in) {
+    6181             : 
+    6182          84 :   callbacks_enabled_ = in;
+    6183             : 
+    6184          84 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6185          84 :   req_enable_callbacks.data = callbacks_enabled_;
+    6186             : 
+    6187             :   {
+    6188         168 :     std::scoped_lock lock(mutex_tracker_list_);
+    6189             : 
+    6190             :     // set callbacks to all trackers
+    6191         588 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6192         504 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6193             :     }
+    6194             :   }
+    6195          84 : }
+    6196             : 
+    6197             : //}
+    6198             : 
+    6199             : /* publishDiagnostics() //{ */
+    6200             : 
+    6201       10245 : void ControlManager::publishDiagnostics(void) {
+    6202             : 
+    6203       10245 :   if (!is_initialized_) {
+    6204           0 :     return;
+    6205             :   }
+    6206             : 
+    6207       30735 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6208       30735 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6209             : 
+    6210       20490 :   std::scoped_lock lock(mutex_diagnostics_);
+    6211             : 
+    6212       20490 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6213             : 
+    6214       10245 :   diagnostics_msg.stamp    = ros::Time::now();
+    6215       10245 :   diagnostics_msg.uav_name = _uav_name_;
+    6216             : 
+    6217       10245 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6218             : 
+    6219       10245 :   diagnostics_msg.output_enabled = output_enabled_;
+    6220             : 
+    6221       10245 :   diagnostics_msg.rc_mode = rc_goto_active_;
+    6222             : 
+    6223             :   {
+    6224       10245 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6225             : 
+    6226       10245 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6227             :   }
+    6228             : 
+    6229             :   // | ----------------- fill the tracker status ---------------- |
+    6230             : 
+    6231             :   {
+    6232       20490 :     std::scoped_lock lock(mutex_tracker_list_);
+    6233             : 
+    6234       10245 :     mrs_msgs::TrackerStatus tracker_status;
+    6235             : 
+    6236       10245 :     diagnostics_msg.active_tracker = _tracker_names_[active_tracker_idx_];
+    6237       10245 :     diagnostics_msg.tracker_status = tracker_list_[active_tracker_idx_]->getStatus();
+    6238             :   }
+    6239             : 
+    6240             :   // | --------------- fill the controller status --------------- |
+    6241             : 
+    6242             :   {
+    6243       20490 :     std::scoped_lock lock(mutex_controller_list_);
+    6244             : 
+    6245       10245 :     mrs_msgs::ControllerStatus controller_status;
+    6246             : 
+    6247       10245 :     diagnostics_msg.active_controller = _controller_names_[active_controller_idx_];
+    6248       10245 :     diagnostics_msg.controller_status = controller_list_[active_controller_idx_]->getStatus();
+    6249             :   }
+    6250             : 
+    6251             :   // | ------------ fill in the available controllers ----------- |
+    6252             : 
+    6253       61470 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6254       51225 :     if ((_controller_names_[i] != _failsafe_controller_name_) && (_controller_names_[i] != _eland_controller_name_)) {
+    6255       30735 :       diagnostics_msg.available_controllers.push_back(_controller_names_[i]);
+    6256       30735 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_[i]).human_switchable);
+    6257             :     }
+    6258             :   }
+    6259             : 
+    6260             :   // | ------------- fill in the available trackers ------------- |
+    6261             : 
+    6262       71945 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6263       61700 :     if (_tracker_names_[i] != _null_tracker_name_) {
+    6264       51455 :       diagnostics_msg.available_trackers.push_back(_tracker_names_[i]);
+    6265       51455 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_[i]).human_switchable);
+    6266             :     }
+    6267             :   }
+    6268             : 
+    6269             :   // | ------------------------- publish ------------------------ |
+    6270             : 
+    6271       10245 :   ph_diagnostics_.publish(diagnostics_msg);
+    6272             : }
+    6273             : 
+    6274             : //}
+    6275             : 
+    6276             : /* setConstraintsToTrackers() //{ */
+    6277             : 
+    6278         203 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6279             : 
+    6280         609 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6281         609 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6282             : 
+    6283         203 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6284             : 
+    6285             :   {
+    6286         406 :     std::scoped_lock lock(mutex_tracker_list_);
+    6287             : 
+    6288             :     // for each tracker
+    6289        1424 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6290             : 
+    6291             :       // if it is the active one, update and retrieve the command
+    6292        3663 :       response = tracker_list_[i]->setConstraints(
+    6293        3663 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6294             :     }
+    6295             :   }
+    6296         203 : }
+    6297             : 
+    6298             : //}
+    6299             : 
+    6300             : /* setConstraintsToControllers() //{ */
+    6301             : 
+    6302         245 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6303             : 
+    6304         735 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6305         735 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6306             : 
+    6307         245 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6308             : 
+    6309             :   {
+    6310         490 :     std::scoped_lock lock(mutex_controller_list_);
+    6311             : 
+    6312             :     // for each controller
+    6313        1470 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6314             : 
+    6315             :       // if it is the active one, update and retrieve the command
+    6316        3675 :       response = controller_list_[i]->setConstraints(
+    6317        3675 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6318             :     }
+    6319             :   }
+    6320         245 : }
+    6321             : 
+    6322             : //}
+    6323             : 
+    6324             : /* setConstraints() //{ */
+    6325             : 
+    6326          62 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6327             : 
+    6328         186 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6329         186 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6330             : 
+    6331          62 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6332             : 
+    6333          62 :   setConstraintsToTrackers(constraints);
+    6334             : 
+    6335          62 :   setConstraintsToControllers(constraints);
+    6336          62 : }
+    6337             : 
+    6338             : //}
+    6339             : 
+    6340             : 
+    6341             : /* enforceControllerConstraints() //{ */
+    6342             : 
+    6343       69893 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6344             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6345             : 
+    6346             :   // copy member variables
+    6347      139786 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6348             : 
+    6349       69893 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6350       56974 :     return {};
+    6351             :   }
+    6352             : 
+    6353       12919 :   bool enforcing = false;
+    6354             : 
+    6355       12919 :   auto constraints_out = constraints;
+    6356             : 
+    6357       25838 :   std::scoped_lock lock(mutex_tracker_list_);
+    6358             : 
+    6359             :   // enforce horizontal speed
+    6360       12919 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6361        9696 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6362             : 
+    6363        9696 :     enforcing = true;
+    6364             :   }
+    6365             : 
+    6366             :   // enforce horizontal acceleration
+    6367       12919 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6368       12282 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6369             : 
+    6370       12282 :     enforcing = true;
+    6371             :   }
+    6372             : 
+    6373             :   // enforce vertical ascending speed
+    6374       12919 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6375        9696 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6376             : 
+    6377        9696 :     enforcing = true;
+    6378             :   }
+    6379             : 
+    6380             :   // enforce vertical ascending acceleration
+    6381       12919 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6382           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6383             : 
+    6384           0 :     enforcing = true;
+    6385             :   }
+    6386             : 
+    6387             :   // enforce vertical descending speed
+    6388       12919 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6389        9696 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6390             : 
+    6391        9696 :     enforcing = true;
+    6392             :   }
+    6393             : 
+    6394             :   // enforce vertical descending acceleration
+    6395       12919 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6396           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6397             : 
+    6398           0 :     enforcing = true;
+    6399             :   }
+    6400             : 
+    6401       12919 :   if (enforcing) {
+    6402       12282 :     return {constraints_out};
+    6403             :   } else {
+    6404         637 :     return {};
+    6405             :   }
+    6406             : }
+    6407             : 
+    6408             : //}
+    6409             : 
+    6410             : /* isFlyingNormally() //{ */
+    6411             : 
+    6412       10247 : bool ControlManager::isFlyingNormally(void) {
+    6413             : 
+    6414        8129 :   return callbacks_enabled_ && (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6415        5492 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6416        5492 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6417       19643 :           _controller_names_.size() == 1) &&
+    6418       14472 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6419             : }
+    6420             : 
+    6421             : //}
+    6422             : 
+    6423             : /* //{ getMass() */
+    6424             : 
+    6425         322 : double ControlManager::getMass(void) {
+    6426             : 
+    6427         644 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6428             : 
+    6429         322 :   if (last_control_output.diagnostics.mass_estimator) {
+    6430          12 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6431             :   } else {
+    6432         310 :     return _uav_mass_;
+    6433             :   }
+    6434             : }
+    6435             : 
+    6436             : //}
+    6437             : 
+    6438             : /* loadConfigFile() //{ */
+    6439             : 
+    6440           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6441             : 
+    6442           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6443             : 
+    6444           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6445             : 
+    6446             :   // load the user-requested file
+    6447             :   {
+    6448           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6449           0 :     int         result  = std::system(command.c_str());
+    6450             : 
+    6451           0 :     if (result != 0) {
+    6452           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6453           0 :       return false;
+    6454             :     }
+    6455             :   }
+    6456             : 
+    6457             :   // load the platform config
+    6458           0 :   if (_platform_config_ != "") {
+    6459           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6460           0 :     int         result  = std::system(command.c_str());
+    6461             : 
+    6462           0 :     if (result != 0) {
+    6463           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6464           0 :       return false;
+    6465             :     }
+    6466             :   }
+    6467             : 
+    6468             :   // load the custom config
+    6469           0 :   if (_custom_config_ != "") {
+    6470           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6471           0 :     int         result  = std::system(command.c_str());
+    6472             : 
+    6473           0 :     if (result != 0) {
+    6474           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6475           0 :       return false;
+    6476             :     }
+    6477             :   }
+    6478             : 
+    6479           0 :   return true;
+    6480             : }
+    6481             : 
+    6482             : //}
+    6483             : 
+    6484             : // | ----------------------- safety area ---------------------- |
+    6485             : 
+    6486             : /* //{ isPointInSafetyArea3d() */
+    6487             : 
+    6488        1003 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6489             : 
+    6490        1003 :   if (!use_safety_area_) {
+    6491         476 :     return true;
+    6492             :   }
+    6493             : 
+    6494        1054 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6495             : 
+    6496         527 :   if (!tfed_horizontal) {
+    6497           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6498           0 :     return false;
+    6499             :   }
+    6500             : 
+    6501         527 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6502           0 :     return false;
+    6503             :   }
+    6504             : 
+    6505         527 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6506           0 :     return false;
+    6507             :   }
+    6508             : 
+    6509         527 :   return true;
+    6510             : }
+    6511             : 
+    6512             : //}
+    6513             : 
+    6514             : /* //{ isPointInSafetyArea2d() */
+    6515             : 
+    6516        3645 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6517             : 
+    6518        3645 :   if (!use_safety_area_) {
+    6519         475 :     return true;
+    6520             :   }
+    6521             : 
+    6522        6340 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6523             : 
+    6524        3170 :   if (!tfed_horizontal) {
+    6525           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6526           0 :     return false;
+    6527             :   }
+    6528             : 
+    6529        3170 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6530          77 :     return false;
+    6531             :   }
+    6532             : 
+    6533        3093 :   return true;
+    6534             : }
+    6535             : 
+    6536             : //}
+    6537             : 
+    6538             : /* //{ isPathToPointInSafetyArea3d() */
+    6539             : 
+    6540         509 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6541             : 
+    6542         509 :   if (!use_safety_area_) {
+    6543         476 :     return true;
+    6544             :   }
+    6545             : 
+    6546          33 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6547           0 :     return false;
+    6548             :   }
+    6549             : 
+    6550          66 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6551             : 
+    6552             :   {
+    6553          33 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6554             : 
+    6555          33 :     if (!ret) {
+    6556             : 
+    6557           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6558             : 
+    6559           0 :       return false;
+    6560             :     }
+    6561             : 
+    6562          33 :     start_transformed = ret.value();
+    6563             :   }
+    6564             : 
+    6565             :   {
+    6566          33 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6567             : 
+    6568          33 :     if (!ret) {
+    6569             : 
+    6570           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6571             : 
+    6572           0 :       return false;
+    6573             :     }
+    6574             : 
+    6575          33 :     end_transformed = ret.value();
+    6576             :   }
+    6577             : 
+    6578          33 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6579          33 :                                    end_transformed.reference.position.y);
+    6580             : }
+    6581             : 
+    6582             : //}
+    6583             : 
+    6584             : /* //{ isPathToPointInSafetyArea2d() */
+    6585             : 
+    6586          31 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6587          31 :   if (!use_safety_area_) {
+    6588           0 :     return true;
+    6589             :   }
+    6590             : 
+    6591          62 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6592             : 
+    6593          31 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6594           0 :     return false;
+    6595             :   }
+    6596             : 
+    6597             :   {
+    6598          31 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6599             : 
+    6600          31 :     if (!ret) {
+    6601             : 
+    6602           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6603             : 
+    6604           0 :       return false;
+    6605             :     }
+    6606             : 
+    6607          31 :     start_transformed = ret.value();
+    6608             :   }
+    6609             : 
+    6610             :   {
+    6611          31 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6612             : 
+    6613          31 :     if (!ret) {
+    6614             : 
+    6615           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6616             : 
+    6617           0 :       return false;
+    6618             :     }
+    6619             : 
+    6620          31 :     end_transformed = ret.value();
+    6621             :   }
+    6622             : 
+    6623          31 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6624          31 :                                    end_transformed.reference.position.y);
+    6625             : }
+    6626             : 
+    6627             : //}
+    6628             : 
+    6629             : /* //{ getMaxZ() */
+    6630             : 
+    6631        7793 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6632             : 
+    6633             :   // | ------- first, calculate max_z from the safety area ------ |
+    6634             : 
+    6635        7793 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6636             : 
+    6637             :   {
+    6638             : 
+    6639       15586 :     geometry_msgs::PointStamped point;
+    6640             : 
+    6641        7793 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6642        7793 :     point.point.x         = 0;
+    6643        7793 :     point.point.y         = 0;
+    6644        7793 :     point.point.z         = _safety_area_max_z_;
+    6645             : 
+    6646        7793 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6647             : 
+    6648        7793 :     if (!ret) {
+    6649           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6650             :     }
+    6651             : 
+    6652        7793 :     safety_area_max_z = ret->point.z;
+    6653             :   }
+    6654             : 
+    6655             :   // | ------------ overwrite from estimation manager ----------- |
+    6656             : 
+    6657        7793 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6658             : 
+    6659             :   {
+    6660             :     // if possible, override it with max z from the estimation manager
+    6661        7793 :     if (sh_max_z_.hasMsg()) {
+    6662             : 
+    6663       15570 :       auto msg = sh_max_z_.getMsg();
+    6664             : 
+    6665             :       // transform it into the safety area frame
+    6666       15570 :       geometry_msgs::PointStamped point;
+    6667        7785 :       point.header  = msg->header;
+    6668        7785 :       point.point.x = 0;
+    6669        7785 :       point.point.y = 0;
+    6670        7785 :       point.point.z = msg->value;
+    6671             : 
+    6672        7785 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6673             : 
+    6674        7785 :       if (!ret) {
+    6675           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6676             :       }
+    6677             : 
+    6678        7785 :       estimation_manager_max_z = ret->point.z;
+    6679             :     }
+    6680             :   }
+    6681             : 
+    6682        7793 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6683        7414 :     return estimation_manager_max_z;
+    6684             :   } else {
+    6685         379 :     return safety_area_max_z;
+    6686             :   }
+    6687             : }
+    6688             : 
+    6689             : //}
+    6690             : 
+    6691             : /* //{ getMinZ() */
+    6692             : 
+    6693       56946 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6694             : 
+    6695       56946 :   if (!use_safety_area_) {
+    6696        7025 :     return std::numeric_limits<double>::lowest();
+    6697             :   }
+    6698             : 
+    6699       99842 :   geometry_msgs::PointStamped point;
+    6700             : 
+    6701       49921 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6702       49921 :   point.point.x         = 0;
+    6703       49921 :   point.point.y         = 0;
+    6704       49921 :   point.point.z         = _safety_area_min_z_;
+    6705             : 
+    6706       99842 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6707             : 
+    6708       49921 :   if (!ret) {
+    6709           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6710           0 :     return std::numeric_limits<double>::lowest();
+    6711             :   }
+    6712             : 
+    6713       49921 :   return ret->point.z;
+    6714             : }
+    6715             : 
+    6716             : //}
+    6717             : 
+    6718             : // | --------------------- obstacle bumper -------------------- |
+    6719             : 
+    6720             : /* bumperPushFromObstacle() //{ */
+    6721             : 
+    6722           0 : bool ControlManager::bumperPushFromObstacle(void) {
+    6723           0 :   if (!bumper_enabled_) {
+    6724           0 :     return true;
+    6725             :   }
+    6726             : 
+    6727           0 :   if (!sh_bumper_.hasMsg()) {
+    6728           0 :     return true;
+    6729             :   }
+    6730             : 
+    6731             :   // copy member variables
+    6732           0 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6733           0 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6734             : 
+    6735           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6736             : 
+    6737           0 :   double direction                     = 0;
+    6738           0 :   double repulsion_distance            = std::numeric_limits<double>::max();
+    6739           0 :   bool   horizontal_collision_detected = false;
+    6740             : 
+    6741           0 :   bool vertical_collision_detected = false;
+    6742             : 
+    6743           0 :   for (int i = 0; i < int(bumper_data->n_horizontal_sectors); i++) {
+    6744             : 
+    6745           0 :     if (bumper_data->sectors[i] < 0) {
+    6746           0 :       continue;
+    6747             :     }
+    6748             : 
+    6749           0 :     bool wall_locked_horizontal = false;
+    6750             : 
+    6751             :     // if the sector is under critical distance
+    6752           0 :     if (bumper_data->sectors[i] <= _bumper_horizontal_distance_ && bumper_data->sectors[i] < repulsion_distance) {
+    6753             : 
+    6754             :       // check for locking between the oposite walls
+    6755             :       // get the desired direction of motion
+    6756           0 :       double oposite_direction  = double(i) * sector_size + M_PI;
+    6757           0 :       int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6758             : 
+    6759           0 :       if (bumper_data->sectors[oposite_sector_idx] > 0 &&
+    6760           0 :           ((bumper_data->sectors[i] + bumper_data->sectors[oposite_sector_idx]) <= (2 * _bumper_horizontal_distance_ + 2 * _bumper_horizontal_overshoot_))) {
+    6761             : 
+    6762           0 :         wall_locked_horizontal = true;
+    6763             : 
+    6764           0 :         if (fabs(bumper_data->sectors[i] - bumper_data->sectors[oposite_sector_idx]) <= 2 * _bumper_horizontal_overshoot_) {
+    6765             : 
+    6766           0 :           ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between two walls");
+    6767           0 :           continue;
+    6768             :         }
+    6769             :       }
+    6770             : 
+    6771             :       // get the id of the oposite sector
+    6772           0 :       direction = oposite_direction;
+    6773             : 
+    6774             :       /* int oposite_sector_idx = (i + bumper_data->n_horizontal_sectors / 2) % bumper_data->n_horizontal_sectors; */
+    6775             : 
+    6776           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %d vs. %d), obstacle distance: %.2f, repulsing", i,
+    6777             :                         oposite_sector_idx, bumper_data->sectors[i]);
+    6778             : 
+    6779           0 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: oposite direction: %.2f", oposite_direction);
+    6780             : 
+    6781           0 :       if (wall_locked_horizontal) {
+    6782           0 :         if (bumper_data->sectors[i] < bumper_data->sectors[oposite_sector_idx]) {
+    6783           0 :           repulsion_distance = _bumper_horizontal_overshoot_;
+    6784             :         } else {
+    6785           0 :           repulsion_distance = -_bumper_horizontal_overshoot_;
+    6786             :         }
+    6787             :       } else {
+    6788           0 :         repulsion_distance = _bumper_horizontal_distance_ + _bumper_horizontal_overshoot_ - bumper_data->sectors[i];
+    6789             :       }
+    6790             : 
+    6791           0 :       horizontal_collision_detected = true;
+    6792             :     }
+    6793             :   }
+    6794             : 
+    6795           0 :   bool   collision_above             = false;
+    6796           0 :   bool   collision_below             = false;
+    6797           0 :   double vertical_repulsion_distance = 0;
+    6798             : 
+    6799             :   // check for vertical collision down
+    6800           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors] > 0 && bumper_data->sectors[bumper_data->n_horizontal_sectors] <= _bumper_vertical_distance_) {
+    6801             : 
+    6802           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    6803           0 :     collision_above             = true;
+    6804           0 :     vertical_collision_detected = true;
+    6805           0 :     vertical_repulsion_distance = _bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors];
+    6806             :   }
+    6807             : 
+    6808             :   // check for vertical collision up
+    6809           0 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] > 0 &&
+    6810           0 :       bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] <= _bumper_vertical_distance_) {
+    6811             : 
+    6812           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    6813           0 :     collision_below             = true;
+    6814           0 :     vertical_collision_detected = true;
+    6815           0 :     vertical_repulsion_distance = -(_bumper_vertical_distance_ - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]);
+    6816             :   }
+    6817             : 
+    6818             :   // check the up/down wall locking
+    6819           0 :   if (collision_above && collision_below) {
+    6820             : 
+    6821           0 :     if (((bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6822           0 :          (2 * _bumper_vertical_distance_ + 2 * _bumper_vertical_overshoot_))) {
+    6823             : 
+    6824           0 :       vertical_repulsion_distance =
+    6825           0 :           (-bumper_data->sectors[bumper_data->n_horizontal_sectors] + bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) / 2.0;
+    6826             : 
+    6827           0 :       if (fabs(bumper_data->sectors[bumper_data->n_horizontal_sectors] - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]) <=
+    6828           0 :           2 * _bumper_vertical_overshoot_) {
+    6829             : 
+    6830           0 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: locked between the floor and ceiling");
+    6831           0 :         vertical_collision_detected = false;
+    6832             :       }
+    6833             :     }
+    6834             :   }
+    6835             : 
+    6836             :   // if potential collision was detected and we should start the repulsing_
+    6837           0 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    6838             : 
+    6839           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was initiated");
+    6840             : 
+    6841           0 :     if (!repulsing_) {
+    6842             : 
+    6843           0 :       if (_bumper_switch_tracker_) {
+    6844             : 
+    6845           0 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6846           0 :         std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6847             : 
+    6848             :         // remember the previously active tracker
+    6849           0 :         bumper_previous_tracker_ = active_tracker_name;
+    6850             : 
+    6851           0 :         if (active_tracker_name != _bumper_tracker_name_) {
+    6852             : 
+    6853           0 :           switchTracker(_bumper_tracker_name_);
+    6854             :         }
+    6855             :       }
+    6856             : 
+    6857           0 :       if (_bumper_switch_controller_) {
+    6858             : 
+    6859           0 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6860           0 :         std::string active_controller_name = _controller_names_[active_controller_idx];
+    6861             : 
+    6862             :         // remember the previously active controller
+    6863           0 :         bumper_previous_controller_ = active_controller_name;
+    6864             : 
+    6865           0 :         if (active_controller_name != _bumper_controller_name_) {
+    6866             : 
+    6867           0 :           switchController(_bumper_controller_name_);
+    6868             :         }
+    6869             :       }
+    6870             :     }
+    6871             : 
+    6872           0 :     repulsing_ = true;
+    6873             : 
+    6874           0 :     mrs_msgs::BumperStatus bumper_status;
+    6875           0 :     bumper_status.repulsing = repulsing_;
+    6876             : 
+    6877           0 :     ph_bumper_status_.publish(bumper_status);
+    6878             : 
+    6879           0 :     callbacks_enabled_ = false;
+    6880             : 
+    6881           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    6882             : 
+    6883           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6884             : 
+    6885             :     // create the reference in the fcu_untilted frame
+    6886           0 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    6887             : 
+    6888           0 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    6889             : 
+    6890           0 :     if (horizontal_collision_detected) {
+    6891           0 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    6892           0 :       reference_fcu_untilted.reference.position.y = sin(direction) * repulsion_distance;
+    6893             :     } else {
+    6894           0 :       reference_fcu_untilted.reference.position.x = 0;
+    6895           0 :       reference_fcu_untilted.reference.position.y = 0;
+    6896             :     }
+    6897             : 
+    6898           0 :     reference_fcu_untilted.reference.heading = 0;
+    6899             : 
+    6900           0 :     if (vertical_collision_detected) {
+    6901           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    6902             :     } else {
+    6903           0 :       reference_fcu_untilted.reference.position.z = 0;
+    6904             :     }
+    6905             : 
+    6906             :     {
+    6907           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6908             : 
+    6909             :       // transform the reference into the currently used frame
+    6910             :       // this is under the mutex_tracker_list since we don't won't the odometry switch to happen
+    6911             :       // to the tracker before we actually call the goto service
+    6912             : 
+    6913           0 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    6914             : 
+    6915           0 :       if (!ret) {
+    6916             : 
+    6917           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    6918           0 :         return false;
+    6919             :       }
+    6920             : 
+    6921           0 :       reference_fcu_untilted = ret.value();
+    6922             : 
+    6923             :       // copy the reference into the service type message
+    6924           0 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    6925           0 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    6926             : 
+    6927             :       // disable callbacks of all trackers
+    6928           0 :       req_enable_callbacks.data = false;
+    6929           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6930           0 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6931             :       }
+    6932             : 
+    6933             :       // enable the callbacks for the active tracker
+    6934           0 :       req_enable_callbacks.data = true;
+    6935           0 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6936             : 
+    6937             :       // call the goto
+    6938           0 :       tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    6939           0 :           mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    6940             : 
+    6941             :       // disable the callbacks back again
+    6942           0 :       req_enable_callbacks.data = false;
+    6943           0 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6944             :     }
+    6945             :   }
+    6946             : 
+    6947             :   // if repulsing_ and the distance is safe once again
+    6948           0 :   if ((repulsing_ && !horizontal_collision_detected && !vertical_collision_detected)) {
+    6949             : 
+    6950           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: repulsion was stopped");
+    6951             : 
+    6952           0 :     if (_bumper_switch_tracker_) {
+    6953             : 
+    6954           0 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6955           0 :       std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6956             : 
+    6957           0 :       if (active_tracker_name != bumper_previous_tracker_) {
+    6958             : 
+    6959           0 :         switchTracker(bumper_previous_tracker_);
+    6960             :       }
+    6961             :     }
+    6962             : 
+    6963           0 :     if (_bumper_switch_controller_) {
+    6964             : 
+    6965           0 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6966           0 :       std::string active_controller_name = _controller_names_[active_controller_idx];
+    6967             : 
+    6968           0 :       if (active_controller_name != bumper_previous_controller_) {
+    6969             : 
+    6970           0 :         switchController(bumper_previous_controller_);
+    6971             :       }
+    6972             :     }
+    6973             : 
+    6974           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6975             : 
+    6976             :     {
+    6977           0 :       std::scoped_lock lock(mutex_tracker_list_);
+    6978             : 
+    6979             :       // enable callbacks of all trackers
+    6980           0 :       req_enable_callbacks.data = true;
+    6981           0 :       for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6982           0 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6983             :       }
+    6984             :     }
+    6985             : 
+    6986           0 :     callbacks_enabled_ = true;
+    6987             : 
+    6988           0 :     repulsing_ = false;
+    6989             :   }
+    6990             : 
+    6991           0 :   return false;
+    6992             : }
+    6993             : 
+    6994             : //}
+    6995             : 
+    6996             : /* bumperGetSectorId() //{ */
+    6997             : 
+    6998           0 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    6999             :   // copy member variables
+    7000           0 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    7001             : 
+    7002             :   // heading of the point in drone frame
+    7003           0 :   double point_heading_horizontal = atan2(y, x);
+    7004             : 
+    7005           0 :   point_heading_horizontal += TAU;
+    7006             : 
+    7007             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7008           0 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7009           0 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7010             :   }
+    7011             : 
+    7012             :   // heading of the right edge of the first sector
+    7013           0 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7014             : 
+    7015             :   // calculate the idx
+    7016           0 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7017             : 
+    7018           0 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7019           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7020             :   }
+    7021             : 
+    7022           0 :   return idx;
+    7023             : }
+    7024             : 
+    7025             : //}
+    7026             : 
+    7027             : // | ------------------------- safety ------------------------- |
+    7028             : 
+    7029             : /* //{ changeLandingState() */
+    7030             : 
+    7031           8 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7032             :   // copy member variables
+    7033          16 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7034             : 
+    7035             :   {
+    7036           8 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7037             : 
+    7038           8 :     previous_state_landing_ = current_state_landing_;
+    7039           8 :     current_state_landing_  = new_state;
+    7040             :   }
+    7041             : 
+    7042           8 :   switch (current_state_landing_) {
+    7043             : 
+    7044           3 :     case IDLE_STATE:
+    7045           3 :       break;
+    7046           5 :     case LANDING_STATE: {
+    7047             : 
+    7048           5 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7049           5 :       timer_eland_.start();
+    7050           5 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7051           5 :       eland_triggered_ = true;
+    7052           5 :       bumper_enabled_  = false;
+    7053             : 
+    7054           5 :       landing_uav_mass_ = getMass();
+    7055             :     }
+    7056             : 
+    7057           5 :     break;
+    7058             :   }
+    7059             : 
+    7060           8 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7061           8 : }
+    7062             : 
+    7063             : //}
+    7064             : 
+    7065             : /* hover() //{ */
+    7066             : 
+    7067           0 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7068           0 :   if (!is_initialized_)
+    7069           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7070             : 
+    7071           0 :   if (eland_triggered_)
+    7072           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7073             : 
+    7074           0 :   if (failsafe_triggered_)
+    7075           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7076             : 
+    7077             :   {
+    7078           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7079             : 
+    7080           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7081           0 :     std_srvs::TriggerRequest            request;
+    7082             : 
+    7083           0 :     response = tracker_list_[active_tracker_idx_]->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7084             : 
+    7085           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7086             : 
+    7087           0 :       return std::tuple(response->success, response->message);
+    7088             : 
+    7089             :     } else {
+    7090             : 
+    7091           0 :       std::stringstream ss;
+    7092           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'hover()' function!";
+    7093             : 
+    7094           0 :       return std::tuple(false, ss.str());
+    7095             :     }
+    7096             :   }
+    7097             : }
+    7098             : 
+    7099             : //}
+    7100             : 
+    7101             : /* //{ ehover() */
+    7102             : 
+    7103           2 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7104           2 :   if (!is_initialized_)
+    7105           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7106             : 
+    7107           2 :   if (eland_triggered_)
+    7108           0 :     return std::tuple(false, "cannot ehover, eland already triggered");
+    7109             : 
+    7110           2 :   if (failsafe_triggered_)
+    7111           0 :     return std::tuple(false, "cannot ehover, failsafe already triggered");
+    7112             : 
+    7113             :   // copy the member variables
+    7114           4 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7115           4 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7116           2 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7117             : 
+    7118           2 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7119             : 
+    7120           0 :     std::stringstream ss;
+    7121           0 :     ss << "can not trigger ehover while not flying";
+    7122           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7123             : 
+    7124           0 :     return std::tuple(false, ss.str());
+    7125             :   }
+    7126             : 
+    7127           2 :   ungripSrv();
+    7128             : 
+    7129             :   {
+    7130             : 
+    7131           2 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7132             : 
+    7133             :     // check if the tracker was successfully switched
+    7134             :     // this is vital, that is the core of the hover
+    7135           2 :     if (!success) {
+    7136             : 
+    7137           0 :       std::stringstream ss;
+    7138           0 :       ss << "error during switching to ehover tracker: '" << message << "'";
+    7139           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7140             : 
+    7141           0 :       return std::tuple(success, ss.str());
+    7142             :     }
+    7143             :   }
+    7144             : 
+    7145             :   {
+    7146           4 :     auto [success, message] = switchController(_eland_controller_name_);
+    7147             : 
+    7148             :     // check if the controller was successfully switched
+    7149             :     // this is not vital, we can continue without that
+    7150           2 :     if (!success) {
+    7151             : 
+    7152           0 :       std::stringstream ss;
+    7153           0 :       ss << "error during switching to ehover controller: '" << message << "'";
+    7154           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7155             :     }
+    7156             :   }
+    7157             : 
+    7158           2 :   std::stringstream ss;
+    7159           2 :   ss << "ehover activated";
+    7160           2 :   ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7161             : 
+    7162           2 :   callbacks_enabled_ = false;
+    7163             : 
+    7164           2 :   return std::tuple(true, ss.str());
+    7165             : }
+    7166             : 
+    7167             : //}
+    7168             : 
+    7169             : /* eland() //{ */
+    7170             : 
+    7171           5 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7172           5 :   if (!is_initialized_)
+    7173           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7174             : 
+    7175           5 :   if (eland_triggered_)
+    7176           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7177             : 
+    7178           5 :   if (failsafe_triggered_)
+    7179           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7180             : 
+    7181             :   // copy member variables
+    7182          10 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7183          10 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7184           5 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7185             : 
+    7186           5 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7187             : 
+    7188           0 :     std::stringstream ss;
+    7189           0 :     ss << "can not trigger eland while not flying";
+    7190           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7191             : 
+    7192           0 :     return std::tuple(false, ss.str());
+    7193             :   }
+    7194             : 
+    7195           5 :   if (_rc_emergency_handoff_) {
+    7196             : 
+    7197           0 :     toggleOutput(false);
+    7198             : 
+    7199           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7200             :   }
+    7201             : 
+    7202             :   {
+    7203           5 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7204             : 
+    7205             :     // check if the tracker was successfully switched
+    7206             :     // this is vital
+    7207           5 :     if (!success) {
+    7208             : 
+    7209           0 :       std::stringstream ss;
+    7210           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7211           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7212             : 
+    7213           0 :       return std::tuple(success, ss.str());
+    7214             :     }
+    7215             :   }
+    7216             : 
+    7217             :   {
+    7218          10 :     auto [success, message] = switchController(_eland_controller_name_);
+    7219             : 
+    7220             :     // check if the controller was successfully switched
+    7221             :     // this is not vital, we can continue without it
+    7222           5 :     if (!success) {
+    7223             : 
+    7224           0 :       std::stringstream ss;
+    7225           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7226           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7227             :     }
+    7228             :   }
+    7229             : 
+    7230             :   // | ----------------- call the eland service ----------------- |
+    7231             : 
+    7232           5 :   std::stringstream ss;
+    7233             :   bool              success;
+    7234             : 
+    7235           5 :   if (elandSrv()) {
+    7236             : 
+    7237           5 :     changeLandingState(LANDING_STATE);
+    7238             : 
+    7239           5 :     odometryCallbacksSrv(false);
+    7240             : 
+    7241           5 :     ss << "eland activated";
+    7242           5 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7243             : 
+    7244           5 :     success = true;
+    7245             : 
+    7246           5 :     callbacks_enabled_ = false;
+    7247             : 
+    7248             :   } else {
+    7249             : 
+    7250           0 :     ss << "error during activation of eland";
+    7251           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7252             : 
+    7253           0 :     success = false;
+    7254             :   }
+    7255             : 
+    7256          10 :   return std::tuple(success, ss.str());
+    7257             : }
+    7258             : 
+    7259             : //}
+    7260             : 
+    7261             : /* failsafe() //{ */
+    7262             : 
+    7263           7 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7264             : 
+    7265             :   // copy member variables
+    7266          14 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7267          14 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7268           7 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7269           7 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7270             : 
+    7271           7 :   if (!is_initialized_) {
+    7272           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7273             :   }
+    7274             : 
+    7275           7 :   if (failsafe_triggered_) {
+    7276           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7277             :   }
+    7278             : 
+    7279           7 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7280             : 
+    7281           0 :     std::stringstream ss;
+    7282           0 :     ss << "can not trigger failsafe while not flying";
+    7283           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7284           0 :     return std::tuple(false, ss.str());
+    7285             :   }
+    7286             : 
+    7287           7 :   if (_rc_emergency_handoff_) {
+    7288             : 
+    7289           0 :     toggleOutput(false);
+    7290             : 
+    7291           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7292             :   }
+    7293             : 
+    7294           7 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7295           0 :     return eland();
+    7296             :   }
+    7297             : 
+    7298           7 :   if (_parachute_enabled_) {
+    7299             : 
+    7300           0 :     auto [success, message] = deployParachute();
+    7301             : 
+    7302           0 :     if (success) {
+    7303             : 
+    7304           0 :       std::stringstream ss;
+    7305           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7306           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7307             : 
+    7308           0 :       return std::tuple(true, ss.str());
+    7309             : 
+    7310             :     } else {
+    7311             : 
+    7312           0 :       std::stringstream ss;
+    7313           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7314           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7315             :     }
+    7316             :   }
+    7317             : 
+    7318           7 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7319             : 
+    7320             :     try {
+    7321             : 
+    7322          14 :       std::scoped_lock lock(mutex_controller_list_);
+    7323             : 
+    7324           7 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7325           7 :       controller_list_[_failsafe_controller_idx_]->activate(last_control_output);
+    7326             : 
+    7327             :       {
+    7328          14 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7329             : 
+    7330             :         // update the time (used in failsafe)
+    7331           7 :         controller_tracker_switch_time_ = ros::Time::now();
+    7332             :       }
+    7333             : 
+    7334           7 :       failsafe_triggered_ = true;
+    7335           7 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7336           7 :       timer_eland_.stop();
+    7337           7 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7338             : 
+    7339           7 :       landing_uav_mass_ = getMass();
+    7340             : 
+    7341           7 :       eland_triggered_ = false;
+    7342           7 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7343           7 :       timer_failsafe_.start();
+    7344           7 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7345             : 
+    7346           7 :       bumper_enabled_ = false;
+    7347             : 
+    7348           7 :       odometryCallbacksSrv(false);
+    7349             : 
+    7350           7 :       callbacks_enabled_ = false;
+    7351             : 
+    7352           7 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7353             : 
+    7354             :       // super important, switch the active controller idx
+    7355             :       try {
+    7356           7 :         controller_list_[active_controller_idx_]->deactivate();
+    7357           7 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7358             :       }
+    7359           0 :       catch (std::runtime_error& exrun) {
+    7360           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    7361             :       }
+    7362             :     }
+    7363           0 :     catch (std::runtime_error& exrun) {
+    7364           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7365           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7366             :     }
+    7367             :   }
+    7368             : 
+    7369          14 :   return std::tuple(true, "failsafe activated");
+    7370             : }
+    7371             : 
+    7372             : //}
+    7373             : 
+    7374             : /* escalatingFailsafe() //{ */
+    7375             : 
+    7376         148 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7377         296 :   std::stringstream ss;
+    7378             : 
+    7379         148 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7380             : 
+    7381         140 :     ss << "too soon for escalating failsafe";
+    7382         140 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7383             : 
+    7384         140 :     return std::tuple(false, ss.str());
+    7385             :   }
+    7386             : 
+    7387           8 :   if (!output_enabled_) {
+    7388             : 
+    7389           0 :     ss << "not escalating failsafe, output is disabled";
+    7390           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7391             : 
+    7392           0 :     return std::tuple(false, ss.str());
+    7393             :   }
+    7394             : 
+    7395           8 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7396             : 
+    7397           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7398           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7399             : 
+    7400          16 :   std::string active_tracker_name    = _tracker_names_[active_tracker_idx];
+    7401          16 :   std::string active_controller_name = _controller_names_[active_controller_idx];
+    7402             : 
+    7403           8 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7404             : 
+    7405           8 :   escalating_failsafe_time_ = ros::Time::now();
+    7406             : 
+    7407           8 :   switch (next_state) {
+    7408             : 
+    7409           0 :     case ESC_NONE_STATE: {
+    7410             : 
+    7411           0 :       ss << "escalating failsafe has run to impossible situation";
+    7412           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7413             : 
+    7414           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7415             : 
+    7416             :       break;
+    7417             :     }
+    7418             : 
+    7419           2 :     case ESC_EHOVER_STATE: {
+    7420             : 
+    7421           2 :       ss << "escalating failsafe escalates to ehover";
+    7422           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7423             : 
+    7424           4 :       auto [success, message] = ehover();
+    7425             : 
+    7426           2 :       if (success) {
+    7427           2 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7428             :       }
+    7429             : 
+    7430           2 :       return {success, message};
+    7431             : 
+    7432             :       break;
+    7433             :     }
+    7434             : 
+    7435           2 :     case ESC_ELAND_STATE: {
+    7436             : 
+    7437           2 :       ss << "escalating failsafe escalates to eland";
+    7438           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7439             : 
+    7440           4 :       auto [success, message] = eland();
+    7441             : 
+    7442           2 :       if (success) {
+    7443           2 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7444             :       }
+    7445             : 
+    7446           2 :       return {success, message};
+    7447             : 
+    7448             :       break;
+    7449             :     }
+    7450             : 
+    7451           2 :     case ESC_FAILSAFE_STATE: {
+    7452             : 
+    7453           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7454             : 
+    7455           2 :       ss << "escalating failsafe escalates to failsafe";
+    7456           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7457             : 
+    7458           4 :       auto [success, message] = failsafe();
+    7459             : 
+    7460           2 :       if (success) {
+    7461           2 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7462             :       }
+    7463             : 
+    7464           2 :       return {success, message};
+    7465             : 
+    7466             :       break;
+    7467             :     }
+    7468             : 
+    7469           2 :     case ESC_FINISHED_STATE: {
+    7470             : 
+    7471           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7472             : 
+    7473           2 :       ss << "escalating failsafe has nothing more to do";
+    7474           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7475             : 
+    7476           4 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7477             : 
+    7478             :       break;
+    7479             :     }
+    7480             : 
+    7481           0 :     default: {
+    7482             : 
+    7483           0 :       break;
+    7484             :     }
+    7485             :   }
+    7486             : 
+    7487           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7488             : 
+    7489           0 :   return std::tuple(false, "escalating failsafe exception");
+    7490             : }
+    7491             : 
+    7492             : //}
+    7493             : 
+    7494             : /* getNextEscFailsafeState() //{ */
+    7495             : 
+    7496           8 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7497           8 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7498             : 
+    7499           8 :   switch (current_state) {
+    7500             : 
+    7501           2 :     case ESC_FINISHED_STATE: {
+    7502             : 
+    7503           2 :       return ESC_FINISHED_STATE;
+    7504             : 
+    7505             :       break;
+    7506             :     }
+    7507             : 
+    7508           2 :     case ESC_NONE_STATE: {
+    7509             : 
+    7510           2 :       if (_escalating_failsafe_ehover_) {
+    7511           2 :         return ESC_EHOVER_STATE;
+    7512           0 :       } else if (_escalating_failsafe_eland_) {
+    7513           0 :         return ESC_ELAND_STATE;
+    7514           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7515           0 :         return ESC_FAILSAFE_STATE;
+    7516             :       } else {
+    7517           0 :         return ESC_FINISHED_STATE;
+    7518             :       }
+    7519             : 
+    7520             :       break;
+    7521             :     }
+    7522             : 
+    7523           2 :     case ESC_EHOVER_STATE: {
+    7524             : 
+    7525           2 :       if (_escalating_failsafe_eland_) {
+    7526           2 :         return ESC_ELAND_STATE;
+    7527           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7528           0 :         return ESC_FAILSAFE_STATE;
+    7529             :       } else {
+    7530           0 :         return ESC_FINISHED_STATE;
+    7531             :       }
+    7532             : 
+    7533             :       break;
+    7534             :     }
+    7535             : 
+    7536           2 :     case ESC_ELAND_STATE: {
+    7537             : 
+    7538           2 :       if (_escalating_failsafe_failsafe_) {
+    7539           2 :         return ESC_FAILSAFE_STATE;
+    7540             :       } else {
+    7541           0 :         return ESC_FINISHED_STATE;
+    7542             :       }
+    7543             : 
+    7544             :       break;
+    7545             :     }
+    7546             : 
+    7547           0 :     case ESC_FAILSAFE_STATE: {
+    7548             : 
+    7549           0 :       return ESC_FINISHED_STATE;
+    7550             : 
+    7551             :       break;
+    7552             :     }
+    7553             :   }
+    7554             : 
+    7555           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7556             : 
+    7557           0 :   return ESC_NONE_STATE;
+    7558             : }
+    7559             : 
+    7560             : //}
+    7561             : 
+    7562             : // | ------------------- trajectory tracking ------------------ |
+    7563             : 
+    7564             : /* startTrajectoryTracking() //{ */
+    7565             : 
+    7566           0 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7567           0 :   if (!is_initialized_)
+    7568           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7569             : 
+    7570             :   {
+    7571           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7572             : 
+    7573           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7574           0 :     std_srvs::TriggerRequest            request;
+    7575             : 
+    7576             :     response =
+    7577           0 :         tracker_list_[active_tracker_idx_]->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7578             : 
+    7579           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7580             : 
+    7581           0 :       return std::tuple(response->success, response->message);
+    7582             : 
+    7583             :     } else {
+    7584             : 
+    7585           0 :       std::stringstream ss;
+    7586           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'startTrajectoryTracking()' function!";
+    7587             : 
+    7588           0 :       return std::tuple(false, ss.str());
+    7589             :     }
+    7590             :   }
+    7591             : }
+    7592             : 
+    7593             : //}
+    7594             : 
+    7595             : /* stopTrajectoryTracking() //{ */
+    7596             : 
+    7597           0 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7598           0 :   if (!is_initialized_)
+    7599           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7600             : 
+    7601             :   {
+    7602           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7603             : 
+    7604           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7605           0 :     std_srvs::TriggerRequest            request;
+    7606             : 
+    7607             :     response =
+    7608           0 :         tracker_list_[active_tracker_idx_]->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7609             : 
+    7610           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7611             : 
+    7612           0 :       return std::tuple(response->success, response->message);
+    7613             : 
+    7614             :     } else {
+    7615             : 
+    7616           0 :       std::stringstream ss;
+    7617           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7618             : 
+    7619           0 :       return std::tuple(false, ss.str());
+    7620             :     }
+    7621             :   }
+    7622             : }
+    7623             : 
+    7624             : //}
+    7625             : 
+    7626             : /* resumeTrajectoryTracking() //{ */
+    7627             : 
+    7628           0 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7629           0 :   if (!is_initialized_)
+    7630           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7631             : 
+    7632             :   {
+    7633           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7634             : 
+    7635           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7636           0 :     std_srvs::TriggerRequest            request;
+    7637             : 
+    7638             :     response =
+    7639           0 :         tracker_list_[active_tracker_idx_]->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7640             : 
+    7641           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7642             : 
+    7643           0 :       return std::tuple(response->success, response->message);
+    7644             : 
+    7645             :     } else {
+    7646             : 
+    7647           0 :       std::stringstream ss;
+    7648           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7649             : 
+    7650           0 :       return std::tuple(false, ss.str());
+    7651             :     }
+    7652             :   }
+    7653             : }
+    7654             : 
+    7655             : //}
+    7656             : 
+    7657             : /* gotoTrajectoryStart() //{ */
+    7658             : 
+    7659           0 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7660           0 :   if (!is_initialized_)
+    7661           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7662             : 
+    7663             :   {
+    7664           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7665             : 
+    7666           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7667           0 :     std_srvs::TriggerRequest            request;
+    7668             : 
+    7669           0 :     response = tracker_list_[active_tracker_idx_]->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7670             : 
+    7671           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7672             : 
+    7673           0 :       return std::tuple(response->success, response->message);
+    7674             : 
+    7675             :     } else {
+    7676             : 
+    7677           0 :       std::stringstream ss;
+    7678           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7679             : 
+    7680           0 :       return std::tuple(false, ss.str());
+    7681             :     }
+    7682             :   }
+    7683             : }
+    7684             : 
+    7685             : //}
+    7686             : 
+    7687             : // | ----------------- service client wrappers ---------------- |
+    7688             : 
+    7689             : /* arming() //{ */
+    7690             : 
+    7691          16 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7692          32 :   std::stringstream ss;
+    7693             : 
+    7694          16 :   if (input) {
+    7695             : 
+    7696           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7697           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7698           0 :     return std::tuple(false, ss.str());
+    7699             :   }
+    7700             : 
+    7701          16 :   if (!input && !isOffboard()) {
+    7702             : 
+    7703           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7704           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7705           0 :     return std::tuple(false, ss.str());
+    7706             :   }
+    7707             : 
+    7708          16 :   if (!input && _rc_emergency_handoff_) {
+    7709             : 
+    7710           0 :     toggleOutput(false);
+    7711             : 
+    7712           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7713             :   }
+    7714             : 
+    7715          16 :   std_srvs::SetBool srv_out;
+    7716             : 
+    7717          16 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7718             : 
+    7719          16 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7720             : 
+    7721          16 :   if (sch_arming_.call(srv_out)) {
+    7722             : 
+    7723          16 :     if (srv_out.response.success) {
+    7724             : 
+    7725          16 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7726          16 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7727             : 
+    7728          16 :       if (!input) {
+    7729             : 
+    7730          16 :         toggleOutput(false);
+    7731             : 
+    7732          16 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7733          16 :         timer_failsafe_.stop();
+    7734          16 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7735             : 
+    7736          16 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7737          16 :         timer_eland_.stop();
+    7738          16 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7739             :       }
+    7740             : 
+    7741             :     } else {
+    7742           0 :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7743           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7744             :     }
+    7745             : 
+    7746             :   } else {
+    7747           0 :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7748           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7749             :   }
+    7750             : 
+    7751          32 :   return std::tuple(srv_out.response.success, ss.str());
+    7752             : }
+    7753             : 
+    7754             : //}
+    7755             : 
+    7756             : /* odometryCallbacksSrv() //{ */
+    7757             : 
+    7758          12 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7759          12 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7760             : 
+    7761          24 :   std_srvs::SetBool srv;
+    7762             : 
+    7763          12 :   srv.request.data = input;
+    7764             : 
+    7765          12 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7766             : 
+    7767          12 :   if (res) {
+    7768             : 
+    7769          12 :     if (!srv.response.success) {
+    7770           0 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7771             :     }
+    7772             : 
+    7773             :   } else {
+    7774           0 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7775             :   }
+    7776          12 : }
+    7777             : 
+    7778             : //}
+    7779             : 
+    7780             : /* elandSrv() //{ */
+    7781             : 
+    7782           5 : bool ControlManager::elandSrv(void) {
+    7783           5 :   ROS_INFO("[ControlManager]: calling for eland");
+    7784             : 
+    7785          10 :   std_srvs::Trigger srv;
+    7786             : 
+    7787           5 :   bool res = sch_eland_.call(srv);
+    7788             : 
+    7789           5 :   if (res) {
+    7790             : 
+    7791           5 :     if (!srv.response.success) {
+    7792           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    7793             :     }
+    7794             : 
+    7795           5 :     return srv.response.success;
+    7796             : 
+    7797             :   } else {
+    7798             : 
+    7799           0 :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    7800             : 
+    7801           0 :     return false;
+    7802             :   }
+    7803             : }
+    7804             : 
+    7805             : //}
+    7806             : 
+    7807             : /* parachuteSrv() //{ */
+    7808             : 
+    7809           0 : bool ControlManager::parachuteSrv(void) {
+    7810           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    7811             : 
+    7812           0 :   std_srvs::Trigger srv;
+    7813             : 
+    7814           0 :   bool res = sch_parachute_.call(srv);
+    7815             : 
+    7816           0 :   if (res) {
+    7817             : 
+    7818           0 :     if (!srv.response.success) {
+    7819           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    7820             :     }
+    7821             : 
+    7822           0 :     return srv.response.success;
+    7823             : 
+    7824             :   } else {
+    7825             : 
+    7826           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    7827             : 
+    7828           0 :     return false;
+    7829             :   }
+    7830             : }
+    7831             : 
+    7832             : //}
+    7833             : 
+    7834             : /* ungripSrv() //{ */
+    7835             : 
+    7836         428 : void ControlManager::ungripSrv(void) {
+    7837         856 :   std_srvs::Trigger srv;
+    7838             : 
+    7839         428 :   bool res = sch_ungrip_.call(srv);
+    7840             : 
+    7841         428 :   if (res) {
+    7842             : 
+    7843           0 :     if (!srv.response.success) {
+    7844           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    7845             :     }
+    7846             : 
+    7847             :   } else {
+    7848         428 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    7849             :   }
+    7850         428 : }
+    7851             : 
+    7852             : //}
+    7853             : 
+    7854             : // | ------------------------ routines ------------------------ |
+    7855             : 
+    7856             : /* toggleOutput() //{ */
+    7857             : 
+    7858          80 : void ControlManager::toggleOutput(const bool& input) {
+    7859             : 
+    7860          80 :   if (input == output_enabled_) {
+    7861           5 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    7862           5 :     return;
+    7863             :   }
+    7864             : 
+    7865          75 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    7866             : 
+    7867          75 :   output_enabled_ = input;
+    7868             : 
+    7869             :   // if switching output off, switch to NullTracker
+    7870          75 :   if (!output_enabled_) {
+    7871             : 
+    7872          17 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    7873             : 
+    7874          17 :     switchTracker(_null_tracker_name_);
+    7875             : 
+    7876          17 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    7877             : 
+    7878          17 :     switchController(_eland_controller_name_);
+    7879             : 
+    7880             :     // | --------- deactivate all trackers and controllers -------- |
+    7881             : 
+    7882         119 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    7883             : 
+    7884         102 :       std::map<std::string, TrackerParams>::iterator it;
+    7885         102 :       it = trackers_.find(_tracker_names_[i]);
+    7886             : 
+    7887             :       try {
+    7888         102 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    7889         102 :         tracker_list_[i]->deactivate();
+    7890             :       }
+    7891           0 :       catch (std::runtime_error& ex) {
+    7892           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    7893             :       }
+    7894             :     }
+    7895             : 
+    7896         102 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    7897             : 
+    7898          85 :       std::map<std::string, ControllerParams>::iterator it;
+    7899          85 :       it = controllers_.find(_controller_names_[i]);
+    7900             : 
+    7901             :       try {
+    7902          85 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    7903          85 :         controller_list_[i]->deactivate();
+    7904             :       }
+    7905           0 :       catch (std::runtime_error& ex) {
+    7906           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    7907             :       }
+    7908             :     }
+    7909             : 
+    7910          17 :     timer_failsafe_.stop();
+    7911          17 :     timer_eland_.stop();
+    7912          17 :     timer_pirouette_.stop();
+    7913             : 
+    7914          17 :     offboard_mode_was_true_ = false;
+    7915             :   }
+    7916             : }
+    7917             : 
+    7918             : //}
+    7919             : 
+    7920             : /* switchTracker() //{ */
+    7921             : 
+    7922         145 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    7923         435 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    7924         435 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    7925             : 
+    7926             :   // copy member variables
+    7927         290 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7928         145 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7929             : 
+    7930         290 :   std::stringstream ss;
+    7931             : 
+    7932         145 :   if (!got_uav_state_) {
+    7933             : 
+    7934           0 :     ss << "can not switch tracker, missing odometry!";
+    7935           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7936           0 :     return std::tuple(false, ss.str());
+    7937             :   }
+    7938             : 
+    7939         145 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    7940             : 
+    7941           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    7942           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7943           0 :     return std::tuple(false, ss.str());
+    7944             :   }
+    7945             : 
+    7946         145 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    7947             : 
+    7948             :   // check if the tracker exists
+    7949         145 :   if (!new_tracker_idx) {
+    7950           1 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    7951           1 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7952           1 :     return std::tuple(false, ss.str());
+    7953             :   }
+    7954             : 
+    7955             :   // check if the tracker is already active
+    7956         144 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    7957           9 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    7958           9 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7959           9 :     return std::tuple(true, ss.str());
+    7960             :   }
+    7961             : 
+    7962             :   {
+    7963         135 :     std::scoped_lock lock(mutex_tracker_list_);
+    7964             : 
+    7965             :     try {
+    7966             : 
+    7967         135 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_[new_tracker_idx.value()].c_str());
+    7968             : 
+    7969         135 :       auto [success, message] = tracker_list_[new_tracker_idx.value()]->activate(last_tracker_cmd);
+    7970             : 
+    7971         135 :       if (!success) {
+    7972             : 
+    7973           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    7974           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7975           0 :         return std::tuple(false, ss.str());
+    7976             : 
+    7977             :       } else {
+    7978             : 
+    7979         135 :         ss << "the tracker '" << tracker_name << "' was activated";
+    7980         135 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7981             : 
+    7982             :         {
+    7983         270 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7984             : 
+    7985             :           // update the time (used in failsafe)
+    7986         135 :           controller_tracker_switch_time_ = ros::Time::now();
+    7987             :         }
+    7988             : 
+    7989             :         // super important, switch the active tracker idx
+    7990             :         try {
+    7991             : 
+    7992         135 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    7993         135 :           tracker_list_[active_tracker_idx_]->deactivate();
+    7994             : 
+    7995             :           // if switching from null tracker, re-activate the already active the controller
+    7996         135 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    7997             : 
+    7998          56 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    7999             :             {
+    8000         112 :               std::scoped_lock lock(mutex_controller_list_);
+    8001             : 
+    8002          56 :               initializeControlOutput();
+    8003             : 
+    8004         112 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8005             : 
+    8006          56 :               controller_list_[active_controller_idx_]->activate(last_control_output);
+    8007             : 
+    8008             :               {
+    8009         112 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8010             : 
+    8011             :                 // update the time (used in failsafe)
+    8012          56 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8013             :               }
+    8014             :             }
+    8015             : 
+    8016             :             // if switching to null tracker, deactivate the active controller
+    8017          79 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8018             : 
+    8019          15 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8020             :             {
+    8021          30 :               std::scoped_lock lock(mutex_controller_list_);
+    8022             : 
+    8023          15 :               controller_list_[active_controller_idx_]->deactivate();
+    8024             :             }
+    8025             : 
+    8026             :             {
+    8027          15 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8028             : 
+    8029          15 :               last_tracker_cmd_ = {};
+    8030             :             }
+    8031             : 
+    8032          15 :             initializeControlOutput();
+    8033             :           }
+    8034             : 
+    8035         135 :           active_tracker_idx_ = new_tracker_idx.value();
+    8036             :         }
+    8037           0 :         catch (std::runtime_error& exrun) {
+    8038           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8039             :         }
+    8040             :       }
+    8041             :     }
+    8042           0 :     catch (std::runtime_error& exrun) {
+    8043           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8044           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8045             :     }
+    8046             :   }
+    8047             : 
+    8048         135 :   return std::tuple(true, ss.str());
+    8049             : }
+    8050             : 
+    8051             : //}
+    8052             : 
+    8053             : /* switchController() //{ */
+    8054             : 
+    8055         144 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8056         432 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8057         432 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8058             : 
+    8059             :   // copy member variables
+    8060         288 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8061         288 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8062         144 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8063             : 
+    8064         288 :   std::stringstream ss;
+    8065             : 
+    8066         144 :   if (!got_uav_state_) {
+    8067             : 
+    8068           0 :     ss << "can not switch controller, missing odometry!";
+    8069           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8070           0 :     return std::tuple(false, ss.str());
+    8071             :   }
+    8072             : 
+    8073         144 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8074             : 
+    8075           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8076           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8077           0 :     return std::tuple(false, ss.str());
+    8078             :   }
+    8079             : 
+    8080         144 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8081             : 
+    8082             :   // check if the controller exists
+    8083         144 :   if (!new_controller_idx) {
+    8084           1 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8085           1 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8086           1 :     return std::tuple(false, ss.str());
+    8087             :   }
+    8088             : 
+    8089             :   // check if the controller is not active
+    8090         143 :   if (new_controller_idx.value() == active_controller_idx) {
+    8091             : 
+    8092          22 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8093          22 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8094          22 :     return std::tuple(true, ss.str());
+    8095             :   }
+    8096             : 
+    8097             :   {
+    8098         121 :     std::scoped_lock lock(mutex_controller_list_);
+    8099             : 
+    8100             :     try {
+    8101             : 
+    8102         121 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_[new_controller_idx.value()].c_str());
+    8103         121 :       if (!controller_list_[new_controller_idx.value()]->activate(last_control_output)) {
+    8104             : 
+    8105           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8106           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8107           0 :         return std::tuple(false, ss.str());
+    8108             : 
+    8109             :       } else {
+    8110             : 
+    8111         121 :         ss << "the controller '" << controller_name << "' was activated";
+    8112         121 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8113             : 
+    8114         121 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_[new_controller_idx.value()].c_str(),
+    8115             :                  _tracker_names_[active_tracker_idx_].c_str());
+    8116             : 
+    8117             :         // reactivate the current tracker
+    8118             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8119             :         // but it serves the purpose
+    8120             :         {
+    8121         121 :           std::scoped_lock lock(mutex_tracker_list_);
+    8122             : 
+    8123         121 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8124         121 :           tracker_list_[active_tracker_idx_]->activate({});
+    8125             :         }
+    8126             : 
+    8127             :         {
+    8128         242 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8129             : 
+    8130             :           // update the time (used in failsafe)
+    8131         121 :           controller_tracker_switch_time_ = ros::Time::now();
+    8132             :         }
+    8133             : 
+    8134             :         // super important, switch the active controller idx
+    8135             :         try {
+    8136             : 
+    8137         121 :           controller_list_[active_controller_idx_]->deactivate();
+    8138         121 :           active_controller_idx_ = new_controller_idx.value();
+    8139             :         }
+    8140           0 :         catch (std::runtime_error& exrun) {
+    8141           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    8142             :         }
+    8143             :       }
+    8144             :     }
+    8145           0 :     catch (std::runtime_error& exrun) {
+    8146           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8147           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8148             :     }
+    8149             :   }
+    8150             : 
+    8151         121 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8152             : 
+    8153             :   {
+    8154         121 :     std::scoped_lock lock(mutex_constraints_);
+    8155             : 
+    8156         121 :     sanitized_constraints_ = current_constraints_;
+    8157         121 :     sanitized_constraints  = sanitized_constraints_;
+    8158             :   }
+    8159             : 
+    8160         121 :   setConstraintsToControllers(sanitized_constraints);
+    8161             : 
+    8162         121 :   return std::tuple(true, ss.str());
+    8163             : }
+    8164             : 
+    8165             : //}
+    8166             : 
+    8167             : /* updateTrackers() //{ */
+    8168             : 
+    8169       70250 : void ControlManager::updateTrackers(void) {
+    8170      140500 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8171      140500 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8172             : 
+    8173             :   // copy member variables
+    8174       70250 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8175       70250 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8176       70250 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8177             : 
+    8178             :   // --------------------------------------------------------------
+    8179             :   // |                     Update the trackers                    |
+    8180             :   // --------------------------------------------------------------
+    8181             : 
+    8182           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8183             : 
+    8184             :   // for each tracker
+    8185      493437 :   for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8186             : 
+    8187      423187 :     if (i == active_tracker_idx) {
+    8188             : 
+    8189             :       try {
+    8190       70250 :         std::scoped_lock lock(mutex_tracker_list_);
+    8191             : 
+    8192             :         // active tracker => update and retrieve the command
+    8193       70250 :         tracker_command = tracker_list_[i]->update(uav_state, last_control_output);
+    8194             :       }
+    8195           0 :       catch (std::runtime_error& exrun) {
+    8196             : 
+    8197           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active tracker (%s)", _tracker_names_[active_tracker_idx].c_str());
+    8198           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8199           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active tracker");
+    8200             : 
+    8201           0 :         eland();
+    8202             :       }
+    8203             : 
+    8204             :     } else {
+    8205             : 
+    8206             :       try {
+    8207      352937 :         std::scoped_lock lock(mutex_tracker_list_);
+    8208             : 
+    8209             :         // nonactive tracker => just update without retrieving the command
+    8210      352937 :         tracker_list_[i]->update(uav_state, last_control_output);
+    8211             :       }
+    8212           0 :       catch (std::runtime_error& exrun) {
+    8213             : 
+    8214           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the tracker '%s'", _tracker_names_[i].c_str());
+    8215           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8216           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the tracker");
+    8217             : 
+    8218           0 :         eland();
+    8219             :       }
+    8220             :     }
+    8221             :   }
+    8222             : 
+    8223       70250 :   if (active_tracker_idx == _null_tracker_idx_) {
+    8224       14552 :     return;
+    8225             :   }
+    8226             : 
+    8227       55698 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8228             : 
+    8229      111396 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8230             : 
+    8231       55698 :     last_tracker_cmd_ = tracker_command;
+    8232             : 
+    8233             :     // | --------- fill in the potentially missing header --------- |
+    8234             : 
+    8235       55698 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8236           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8237             :     }
+    8238             : 
+    8239       55698 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8240           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8241             :     }
+    8242             : 
+    8243             :   } else {
+    8244             : 
+    8245           0 :     if (active_tracker_idx != _null_tracker_idx_) {
+    8246             : 
+    8247           0 :       if (active_tracker_idx == _ehover_tracker_idx_) {
+    8248             : 
+    8249           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the ehover tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8250             : 
+    8251           0 :         failsafe();
+    8252             : 
+    8253             :       } else {
+    8254             : 
+    8255           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8256             : 
+    8257           0 :         if (_tracker_error_action_ == ELAND_STR) {
+    8258           0 :           eland();
+    8259           0 :         } else if (_tracker_error_action_ == EHOVER_STR) {
+    8260           0 :           ehover();
+    8261             :         } else {
+    8262           0 :           failsafe();
+    8263             :         }
+    8264             :       }
+    8265             : 
+    8266             :     } else {
+    8267             : 
+    8268           0 :       std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8269             : 
+    8270           0 :       last_tracker_cmd_ = tracker_command;
+    8271             :     }
+    8272             :   }
+    8273             : }
+    8274             : 
+    8275             : //}
+    8276             : 
+    8277             : /* updateControllers() //{ */
+    8278             : 
+    8279       79962 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8280      159924 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8281      159924 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8282             : 
+    8283             :   // copy member variables
+    8284       79962 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8285       79962 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8286             : 
+    8287             :   // | ----------------- update the controllers ----------------- |
+    8288             : 
+    8289             :   // the trackers are not running
+    8290       79962 :   if (!last_tracker_cmd) {
+    8291             : 
+    8292       14552 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: tracker command is empty, giving controller just the uav_state");
+    8293             : 
+    8294             :     // give the controllers current uav state
+    8295             :     {
+    8296       29104 :       std::scoped_lock lock(mutex_controller_list_);
+    8297             : 
+    8298             :       // nonactive controller => just update without retrieving the command
+    8299       87312 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8300       72760 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8301             :       }
+    8302             :     }
+    8303             : 
+    8304       14552 :     return;
+    8305             :   }
+    8306             : 
+    8307      130820 :   Controller::ControlOutput control_output;
+    8308             : 
+    8309             :   // for each controller
+    8310      392460 :   for (size_t i = 0; i < controller_list_.size(); i++) {
+    8311             : 
+    8312      327050 :     if (i == active_controller_idx) {
+    8313             : 
+    8314             :       try {
+    8315       65410 :         std::scoped_lock lock(mutex_controller_list_);
+    8316             : 
+    8317             :         // active controller => update and retrieve the command
+    8318       65410 :         control_output = controller_list_[active_controller_idx]->updateActive(uav_state, last_tracker_cmd.value());
+    8319             :       }
+    8320           0 :       catch (std::runtime_error& exrun) {
+    8321             : 
+    8322           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the active controller (%s)", _controller_names_[active_controller_idx].c_str());
+    8323           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8324             : 
+    8325           0 :         if (eland_triggered_) {
+    8326             : 
+    8327           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering failsafe due to an exception in the active controller (eland is already active)");
+    8328           0 :           failsafe();
+    8329             : 
+    8330             :         } else {
+    8331             : 
+    8332           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland due to an exception in the active controller");
+    8333           0 :           eland();
+    8334             :         }
+    8335             :       }
+    8336             : 
+    8337             :     } else {
+    8338             : 
+    8339             :       try {
+    8340      523280 :         std::scoped_lock lock(mutex_controller_list_);
+    8341             : 
+    8342             :         // nonactive controller => just update without retrieving the command
+    8343      261640 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8344             :       }
+    8345           0 :       catch (std::runtime_error& exrun) {
+    8346             : 
+    8347           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_[i].c_str());
+    8348           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8349           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: triggering eland (somebody should notice this)");
+    8350             : 
+    8351           0 :         eland();
+    8352             :       }
+    8353             :     }
+    8354             :   }
+    8355             : 
+    8356             :   // normally, the active controller returns a valid command
+    8357       65410 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8358             : 
+    8359       65410 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8360             : 
+    8361             :     // but it can return an empty command, due to some critical internal error
+    8362             :     // which means we should trigger the failsafe landing
+    8363             :   } else {
+    8364             : 
+    8365             :     // only if the controller is still active, trigger escalating failsafe
+    8366             :     // if not active, we don't care, we should not ask the controller for
+    8367             :     // the result anyway -> this could mean a race condition occured
+    8368             :     // like it once happend during landing
+    8369           0 :     bool controller_status = false;
+    8370             : 
+    8371             :     {
+    8372           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8373             : 
+    8374           0 :       controller_status = controller_list_[active_controller_idx]->getStatus().active;
+    8375             :     }
+    8376             : 
+    8377           0 :     if (controller_status) {
+    8378             : 
+    8379           0 :       if (active_controller_idx_ == _failsafe_controller_idx_) {
+    8380             : 
+    8381           0 :         ROS_ERROR("[ControlManager]: failsafe controller returned empty command, disabling control");
+    8382             : 
+    8383           0 :         toggleOutput(false);
+    8384             : 
+    8385           0 :       } else if (active_controller_idx_ == _eland_controller_idx_) {
+    8386             : 
+    8387           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the emergency controller returned empty or invalid command");
+    8388             : 
+    8389           0 :         failsafe();
+    8390             : 
+    8391             :       } else {
+    8392             : 
+    8393           0 :         ROS_ERROR("[ControlManager]: triggering eland, the controller returned empty or invalid command");
+    8394             : 
+    8395           0 :         eland();
+    8396             :       }
+    8397             :     }
+    8398             :   }
+    8399             : }
+    8400             : 
+    8401             : //}
+    8402             : 
+    8403             : /* publish() //{ */
+    8404             : 
+    8405       79962 : void ControlManager::publish(void) {
+    8406      159924 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8407      159924 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8408             : 
+    8409             :   // copy member variables
+    8410       79962 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8411       79962 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8412       79962 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8413       79962 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8414       79962 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8415             : 
+    8416       79962 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8417             : 
+    8418             :   // --------------------------------------------------------------
+    8419             :   // |                 Publish the control command                |
+    8420             :   // --------------------------------------------------------------
+    8421             : 
+    8422       79962 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8423       79962 :   attitude_target.stamp = ros::Time::now();
+    8424             : 
+    8425       79962 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8426       79962 :   attitude_rate_target.stamp = ros::Time::now();
+    8427             : 
+    8428       79962 :   if (!output_enabled_) {
+    8429             : 
+    8430        6692 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8431             : 
+    8432       73270 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8433             : 
+    8434        7863 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8435             : 
+    8436             :     Controller::HwApiOutputVariant output =
+    8437       15726 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8438             : 
+    8439             :     {
+    8440       15726 :       std::scoped_lock lock(mutex_last_control_output_);
+    8441             : 
+    8442        7863 :       last_control_output_.control_output = output;
+    8443             :     }
+    8444             : 
+    8445        7863 :     control_output_publisher_.publish(output);
+    8446             : 
+    8447       65407 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8448             : 
+    8449           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8450             :                       _controller_names_[active_controller_idx].c_str());
+    8451             : 
+    8452             :     Controller::HwApiOutputVariant output =
+    8453           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8454             : 
+    8455           0 :     control_output_publisher_.publish(output);
+    8456             : 
+    8457       65407 :   } else if (last_control_output.control_output) {
+    8458             : 
+    8459       65407 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8460       65407 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8461             :     } else {
+    8462           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8463           0 :       return;
+    8464             :     }
+    8465             : 
+    8466             :   } else {
+    8467           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8468             :   }
+    8469             : 
+    8470             :   // | ----------- publish the controller diagnostics ----------- |
+    8471             : 
+    8472       79962 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8473             : 
+    8474             :   // | --------- publish the applied throttle and thrust -------- |
+    8475             : 
+    8476       79962 :   auto throttle = extractThrottle(last_control_output);
+    8477             : 
+    8478       79962 :   if (throttle) {
+    8479             : 
+    8480             :     {
+    8481       70125 :       std_msgs::Float64 msg;
+    8482       70125 :       msg.data = throttle.value();
+    8483       70125 :       ph_throttle_.publish(msg);
+    8484             :     }
+    8485             : 
+    8486       70125 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8487             : 
+    8488             :     {
+    8489       70125 :       std_msgs::Float64 msg;
+    8490       70125 :       msg.data = thrust;
+    8491       70125 :       ph_thrust_.publish(msg);
+    8492             :     }
+    8493             :   }
+    8494             : 
+    8495             :   // | ----------------- publish tracker command ---------------- |
+    8496             : 
+    8497       79962 :   if (last_tracker_cmd) {
+    8498       65407 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8499             :   }
+    8500             : 
+    8501             :   // | --------------- publish the odometry input --------------- |
+    8502             : 
+    8503       79962 :   if (last_control_output.control_output) {
+    8504             : 
+    8505      146816 :     mrs_msgs::EstimatorInput msg;
+    8506             : 
+    8507       73408 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8508       73408 :     msg.header.stamp    = ros::Time::now();
+    8509             : 
+    8510       73408 :     if (last_control_output.desired_unbiased_acceleration) {
+    8511       54111 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()[0];
+    8512       54111 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()[1];
+    8513       54111 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()[2];
+    8514             :     }
+    8515             : 
+    8516       73408 :     if (last_control_output.desired_heading_rate) {
+    8517       51032 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8518             :     }
+    8519             : 
+    8520       73408 :     if (last_control_output.desired_unbiased_acceleration) {
+    8521       54111 :       ph_mrs_odom_input_.publish(msg);
+    8522             :     }
+    8523             :   }
+    8524             : }
+    8525             : 
+    8526             : //}
+    8527             : 
+    8528             : /* deployParachute() //{ */
+    8529             : 
+    8530           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8531             :   // if not enabled, return false
+    8532           0 :   if (!_parachute_enabled_) {
+    8533             : 
+    8534           0 :     std::stringstream ss;
+    8535           0 :     ss << "can not deploy parachute, it is disabled";
+    8536           0 :     return std::tuple(false, ss.str());
+    8537             :   }
+    8538             : 
+    8539             :   // we can not disarm if the drone is not in offboard mode
+    8540             :   // this is super important!
+    8541           0 :   if (!isOffboard()) {
+    8542             : 
+    8543           0 :     std::stringstream ss;
+    8544           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8545           0 :     return std::tuple(false, ss.str());
+    8546             :   }
+    8547             : 
+    8548             :   // call the parachute service
+    8549           0 :   bool succ = parachuteSrv();
+    8550             : 
+    8551             :   // if the deployment was successful,
+    8552           0 :   if (succ) {
+    8553             : 
+    8554           0 :     arming(false);
+    8555             : 
+    8556           0 :     std::stringstream ss;
+    8557           0 :     ss << "parachute deployed";
+    8558             : 
+    8559           0 :     return std::tuple(true, ss.str());
+    8560             : 
+    8561             :   } else {
+    8562             : 
+    8563           0 :     std::stringstream ss;
+    8564           0 :     ss << "error during deployment of parachute";
+    8565             : 
+    8566           0 :     return std::tuple(false, ss.str());
+    8567             :   }
+    8568             : }
+    8569             : 
+    8570             : //}
+    8571             : 
+    8572             : /* velocityReferenceToReference() //{ */
+    8573             : 
+    8574         468 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8575         936 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8576         936 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8577         468 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8578             : 
+    8579         468 :   mrs_msgs::ReferenceStamped reference_out;
+    8580             : 
+    8581         468 :   reference_out.header = vel_reference.header;
+    8582             : 
+    8583         468 :   if (vel_reference.reference.use_heading) {
+    8584           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8585         468 :   } else if (vel_reference.reference.use_heading_rate) {
+    8586         468 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8587             :   } else {
+    8588           0 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8589             :   }
+    8590             : 
+    8591         468 :   if (vel_reference.reference.use_altitude) {
+    8592           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8593             :   } else {
+    8594             : 
+    8595         468 :     double stopping_time_z = 0;
+    8596             : 
+    8597         468 :     if (vel_reference.reference.velocity.x >= 0) {
+    8598         240 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8599             :     } else {
+    8600         228 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8601             :     }
+    8602             : 
+    8603         468 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8604             :   }
+    8605             : 
+    8606             :   {
+    8607         468 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8608         468 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8609             : 
+    8610         468 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8611         468 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8612             :   }
+    8613             : 
+    8614         936 :   return reference_out;
+    8615             : }
+    8616             : 
+    8617             : //}
+    8618             : 
+    8619             : /* publishControlReferenceOdom() //{ */
+    8620             : 
+    8621       79962 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8622             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8623       79962 :   if (!tracker_command || !control_output.control_output) {
+    8624       14555 :     return;
+    8625             :   }
+    8626             : 
+    8627      130814 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8628             : 
+    8629      130814 :   nav_msgs::Odometry msg;
+    8630             : 
+    8631       65407 :   msg.header = tracker_command->header;
+    8632             : 
+    8633       65407 :   if (tracker_command->use_position_horizontal) {
+    8634       65407 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8635       65407 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8636             :   } else {
+    8637           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8638           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8639             :   }
+    8640             : 
+    8641       65407 :   if (tracker_command->use_position_vertical) {
+    8642       65407 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8643             :   } else {
+    8644           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8645             :   }
+    8646             : 
+    8647             :   // transform the velocity in the reference to the child_frame
+    8648       65407 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8649             : 
+    8650       65407 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8651             : 
+    8652      130814 :     geometry_msgs::Vector3Stamped velocity;
+    8653       65407 :     velocity.header = tracker_command->header;
+    8654             : 
+    8655       65407 :     if (tracker_command->use_velocity_horizontal) {
+    8656       65407 :       velocity.vector.x = tracker_command->velocity.x;
+    8657       65407 :       velocity.vector.y = tracker_command->velocity.y;
+    8658             :     }
+    8659             : 
+    8660       65407 :     if (tracker_command->use_velocity_vertical) {
+    8661       65407 :       velocity.vector.z = tracker_command->velocity.z;
+    8662             :     }
+    8663             : 
+    8664      130814 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8665             : 
+    8666       65407 :     if (res) {
+    8667       65407 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8668       65407 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8669       65407 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8670             :     } else {
+    8671           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8672             :                          msg.child_frame_id.c_str());
+    8673             :     }
+    8674             :   }
+    8675             : 
+    8676             :   // fill in the orientation or heading
+    8677       65407 :   if (control_output.desired_orientation) {
+    8678       52221 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8679       13186 :   } else if (tracker_command->use_heading) {
+    8680       13186 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8681             :   }
+    8682             : 
+    8683             :   // fill in the attitude rate
+    8684       65407 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8685             : 
+    8686       46739 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8687             : 
+    8688       46739 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8689       46739 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8690       46739 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8691             :   }
+    8692             : 
+    8693       65407 :   ph_control_reference_odom_.publish(msg);
+    8694             : }
+    8695             : 
+    8696             : //}
+    8697             : 
+    8698             : /* initializeControlOutput() //{ */
+    8699             : 
+    8700         133 : void ControlManager::initializeControlOutput(void) {
+    8701         133 :   Controller::ControlOutput controller_output;
+    8702             : 
+    8703         133 :   controller_output.diagnostics.total_mass       = _uav_mass_;
+    8704         133 :   controller_output.diagnostics.mass_difference  = 0.0;
+    8705         133 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8706         133 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8707         133 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8708         133 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8709         133 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8710         133 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8711         133 :   controller_output.diagnostics.controller       = "none";
+    8712             : 
+    8713         133 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8714         133 : }
+    8715             : 
+    8716             : //}
+    8717             : 
+    8718             : }  // namespace control_manager
+    8719             : 
+    8720             : }  // namespace mrs_uav_managers
+    8721             : 
+    8722             : #include <pluginlib/class_list_macros.h>
+    8723          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::control_manager::ControlManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..172ae76f65 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html @@ -0,0 +1,2201 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/control_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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+ Top

+ Overview +
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Test:MRS UAV System - Test coverage reportLines:2198369959.4 %
Date:2024-01-14 11:12:21Functions:8112266.4 %
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
control_manager.cpp +
58.9%58.9%
+ 		58.9 %2155 / 365662.7 %69 / 110
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html new file mode 100644 index 0000000000..3d8c6a7290 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-01-14 11:12:21Functions: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&)62
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()62
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)463
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)54602
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&)73270
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html new file mode 100644 index 0000000000..b3d6e86e2b --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-01-14 11:12:21Functions:1212100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3800
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7806
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)459
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)463
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)54602
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3779
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)949
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)462
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)950
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&)73270
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)62
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()62
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+
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Generated by: LCOV version 1.14
+
+ + + 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..42157881f7 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.html @@ -0,0 +1,154 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager - output_publisher.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-01-14 11:12:21Functions: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          62 : OutputPublisher::OutputPublisher() {
+      10          62 : }
+      11             : 
+      12          62 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14          62 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15          62 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16          62 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17          62 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18          62 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19          62 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20          62 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21          62 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22          62 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23          62 : }
+      24             : 
+      25       73270 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27       73270 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28       73270 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        3800 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        3800 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        3800 : }
+      35             : 
+      36        3779 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        3779 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        3779 : }
+      39             : 
+      40       54602 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41       54602 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42       54602 : }
+      43             : 
+      44        7806 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        7806 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        7806 : }
+      47             : 
+      48         950 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49         950 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50         950 : }
+      51             : 
+      52         949 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53         949 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54         949 : }
+      55             : 
+      56         462 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57         462 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58         462 : }
+      59             : 
+      60         463 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61         463 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62         463 : }
+      63             : 
+      64         459 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         459 :   ph_hw_api_position_cmd_.publish(msg);
+      66         459 : }
+      67             : 
+      68             : }  // namespace control_manager
+      69             : 
+      70             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html new file mode 100644 index 0000000000..8bbe8c2bfd --- /dev/null +++ b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.overview.html @@ -0,0 +1,38 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/output_publisher.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png b/mrs_uav_managers/src/control_manager/output_publisher.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c385c662de6cc4327e3a61ce14e679273fb7fbb9 GIT binary patch literal 307 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1=!VDx=Zs3yuQW60^A+G=b|6c_J%iqVwzWUF= zunH&+rp|e9UJ7J$7I;J!GcfQS0b$0e+I-SL!GoSIjv*eMZ^In<8Web%cPzx|uYg9wc$$GsO#c<%LD z^o61EWbIvRy=0gZWQ-p596VxsjnPP{OElF*Cg6-{dy|A>Y}=H;oU<(ImnK^5lUTi3 z+iSA*={Nb$&wWaG6~8WP+rHV`1hgbCr~Q%KEqQ|=`dh-AP literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..286e2ecf1c --- /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:36552869.1 %
Date:2024-01-14 11:12:21Functions:212487.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::EstimationManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::switchToHealthyEstimator()0
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()4
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)4
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)4
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)62
mrs_uav_managers::estimation_manager::EstimationManager::onInit()62
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()62
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)84
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)166
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const166
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const332
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1836
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const10313
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)10955
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const112579
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)112581
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)112582
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const123529
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const236155
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1038952
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html new file mode 100644 index 0000000000..6b1b56f901 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36552869.1 %
Date:2024-01-14 11:12:21Functions:212487.5 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)166
mrs_uav_managers::estimation_manager::StateMachine::changeToPreSwitchState()4
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)62
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)112581
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&)112582
mrs_uav_managers::estimation_manager::EstimationManager::switchToEstimator(boost::shared_ptr<mrs_uav_managers::StateEstimator> const&)4
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)62
mrs_uav_managers::estimation_manager::EstimationManager::callbackChangeEstimator(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)4
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)10955
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> >&)84
mrs_uav_managers::estimation_manager::EstimationManager::onInit()62
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()62
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const112579
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const166
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const236155
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const332
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const123529
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const10313
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1038952
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const1836
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+
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36552869.1 %
Date:2024-01-14 11:12:21Functions:212487.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*//{ includes */
+       2             : #include <ros/ros.h>
+       3             : #include <nodelet/nodelet.h>
+       4             : 
+       5             : #include <pluginlib/class_loader.h>
+       6             : #include <nodelet/loader.h>
+       7             : 
+       8             : #include <geometry_msgs/QuaternionStamped.h>
+       9             : #include <geometry_msgs/Vector3Stamped.h>
+      10             : 
+      11             : #include <nav_msgs/Odometry.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/UavState.h>
+      17             : #include <mrs_msgs/Float64Stamped.h>
+      18             : #include <mrs_msgs/String.h>
+      19             : #include <mrs_msgs/EstimationDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiCapabilities.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : 
+      23             : #include <mrs_lib/param_loader.h>
+      24             : #include <mrs_lib/publisher_handler.h>
+      25             : #include <mrs_lib/service_client_handler.h>
+      26             : #include <mrs_lib/transformer.h>
+      27             : #include <mrs_lib/subscribe_handler.h>
+      28             : #include <mrs_lib/gps_conversions.h>
+      29             : #include <mrs_lib/scope_timer.h>
+      30             : 
+      31             : 
+      32             : #include <mrs_uav_managers/state_estimator.h>
+      33             : #include <mrs_uav_managers/agl_estimator.h>
+      34             : #include <mrs_uav_managers/estimation_manager/support.h>
+      35             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      36             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      37             : /*//}*/
+      38             : 
+      39             : namespace mrs_uav_managers
+      40             : {
+      41             : 
+      42             : namespace estimation_manager
+      43             : {
+      44             : 
+      45             : // --------------------------------------------------------------
+      46             : // |                           classes                          |
+      47             : // --------------------------------------------------------------
+      48             : 
+      49             : /*//{ class StateMachine */
+      50             : class StateMachine {
+      51             : 
+      52             :   /*//{ states */
+      53             : public:
+      54             :   typedef enum
+      55             :   {
+      56             : 
+      57             :     UNINITIALIZED_STATE,
+      58             :     INITIALIZED_STATE,
+      59             :     READY_FOR_TAKEOFF_STATE,
+      60             :     TAKING_OFF_STATE,
+      61             :     FLYING_STATE,
+      62             :     HOVER_STATE,
+      63             :     LANDING_STATE,
+      64             :     LANDED_STATE,
+      65             :     ESTIMATOR_SWITCHING_STATE,
+      66             :     DUMMY_STATE,
+      67             :     EMERGENCY_STATE,
+      68             :     FAILSAFE_STATE,
+      69             :     ERROR_STATE
+      70             : 
+      71             :   } SMState_t;
+      72             : 
+      73             :   /*//}*/
+      74             : 
+      75             : public:
+      76         868 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77          62 :   }
+      78             : 
+      79     1038952 :   bool isInState(const SMState_t& state) const {
+      80     1038952 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      236155 :   bool isInitialized() const {
+      84      236155 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87      123529 :   bool isInPublishableState() const {
+      88      123529 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89       40113 :     return current_state == READY_FOR_TAKEOFF_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      163645 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93      112579 :   bool isInTheAir() const {
+      94      112579 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95      112579 :     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       10313 :   std::string getCurrentStateString() const {
+     103       10313 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     104             :   }
+     105             : 
+     106         332 :   std::string getStateAsString(const SMState_t& state) const {
+     107         332 :     return sm_state_names_[state];
+     108             :   }
+     109             : 
+     110             :   /*//{ changeState() */
+     111         166 :   bool changeState(const SMState_t& target_state) {
+     112             : 
+     113         166 :     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         166 :     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          62 :       case INITIALIZED_STATE: {
+     129          62 :         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          62 :         break;
+     135             :       }
+     136             : 
+     137          62 :       case READY_FOR_TAKEOFF_STATE: {
+     138          62 :         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          62 :         break;
+     145             :       }
+     146             : 
+     147          17 :       case TAKING_OFF_STATE: {
+     148          17 :         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          17 :         break;
+     154             :       }
+     155             : 
+     156          21 :       case FLYING_STATE: {
+     157          21 :         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          21 :         break;
+     164             :       }
+     165             : 
+     166           0 :       case HOVER_STATE: {
+     167           0 :         if (current_state_ != FLYING_STATE) {
+     168           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(HOVER_STATE).c_str(),
+     169             :                              getStateAsString(FLYING_STATE).c_str());
+     170           0 :           return false;
+     171             :         }
+     172           0 :         break;
+     173             :       }
+     174             : 
+     175           4 :       case ESTIMATOR_SWITCHING_STATE: {
+     176           4 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE) {
+     177           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(),
+     178             :                              getStateAsString(ESTIMATOR_SWITCHING_STATE).c_str(), getStateAsString(FLYING_STATE).c_str(),
+     179             :                              getStateAsString(HOVER_STATE).c_str());
+     180           0 :           return false;
+     181             :         }
+     182           4 :         pre_switch_state_ = current_state_;
+     183           4 :         break;
+     184             :       }
+     185             : 
+     186           0 :       case LANDING_STATE: {
+     187           0 :         if (current_state_ != FLYING_STATE && current_state_ != HOVER_STATE) {
+     188           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s or %s", getPrintName().c_str(), getStateAsString(LANDING_STATE).c_str(),
+     189             :                              getStateAsString(FLYING_STATE).c_str(), getStateAsString(HOVER_STATE).c_str());
+     190           0 :           return false;
+     191             :         }
+     192           0 :         break;
+     193             :       }
+     194             : 
+     195           0 :       case LANDED_STATE: {
+     196           0 :         if (current_state_ != LANDING_STATE) {
+     197           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(LANDED_STATE).c_str(),
+     198             :                              getStateAsString(LANDING_STATE).c_str());
+     199           0 :           return false;
+     200             :         }
+     201           0 :         break;
+     202             :       }
+     203             : 
+     204           0 :       case DUMMY_STATE: {
+     205           0 :         if (current_state_ != INITIALIZED_STATE) {
+     206           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: transition to %s is possible only from %s", getPrintName().c_str(), getStateAsString(DUMMY_STATE).c_str(),
+     207             :                              getStateAsString(INITIALIZED_STATE).c_str());
+     208           0 :           return false;
+     209             :         }
+     210           0 :         break;
+     211             :       }
+     212           0 :       case EMERGENCY_STATE: {
+     213           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(EMERGENCY_STATE).c_str());
+     214           0 :         break;
+     215             :       }
+     216             : 
+     217           0 :       case ERROR_STATE: {
+     218           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(ERROR_STATE).c_str());
+     219           0 :         break;
+     220             :       }
+     221             : 
+     222           0 :       case FAILSAFE_STATE: {
+     223           0 :         ROS_WARN("[%s]: transition to %s", getPrintName().c_str(), getStateAsString(FAILSAFE_STATE).c_str());
+     224           0 :         break;
+     225             :       }
+     226             : 
+     227           0 :       default: {
+     228           0 :         ROS_ERROR_THROTTLE(1.0, "[%s]: rejected transition to unknown state id %d", getPrintName().c_str(), target_state);
+     229           0 :         return false;
+     230             :         break;
+     231             :       }
+     232             :     }
+     233             : 
+     234         166 :     std::scoped_lock lock(mtx_state_);
+     235             :     {
+     236         166 :       previous_state_ = current_state_;
+     237         166 :       current_state_  = target_state;
+     238             :     }
+     239             : 
+     240         166 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     241             :              getStateAsString(current_state_).c_str());
+     242             : 
+     243         166 :     return true;
+     244             :   }
+     245             :   /*//}*/
+     246             : 
+     247             :   /*//{ changeToPreSwitchState() */
+     248           4 :   void changeToPreSwitchState() {
+     249           4 :     changeState(pre_switch_state_);
+     250           4 :   }
+     251             :   /*//}*/
+     252             : 
+     253             : private:
+     254             :   const std::string name_ = "StateMachine";
+     255             :   const std::string nodelet_name_;
+     256             : 
+     257             :   SMState_t current_state_    = UNINITIALIZED_STATE;
+     258             :   SMState_t previous_state_   = UNINITIALIZED_STATE;
+     259             :   SMState_t pre_switch_state_ = UNINITIALIZED_STATE;
+     260             : 
+     261             :   mutable std::mutex mtx_state_;
+     262             : 
+     263             :   std::string getName() const {
+     264             :     return name_;
+     265             :   }
+     266             : 
+     267         166 :   std::string getPrintName() const {
+     268         332 :     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          62 :   EstimationManager() {
+     381          62 :   }
+     382             : 
+     383             :   void onInit();
+     384             : 
+     385             :   std::string getName() const;
+     386             : };
+     387             : /*//}*/
+     388             : 
+     389             : /*//{ onInit() */
+     390          62 : void EstimationManager::onInit() {
+     391             : 
+     392          62 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     393             : 
+     394          62 :   ros::Time::waitForValid();
+     395             : 
+     396          62 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     397             : 
+     398          62 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     399             : 
+     400          62 :   ch_ = std::make_shared<CommonHandlers_t>();
+     401             : 
+     402          62 :   ch_->nodelet_name = nodelet_name_;
+     403          62 :   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          62 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     407          62 : }
+     408             : /*//}*/
+     409             : 
+     410             : // --------------------------------------------------------------
+     411             : // |                          callbacks                         |
+     412             : // --------------------------------------------------------------
+     413             : 
+     414             : // | --------------------- timer callbacks -------------------- |
+     415             : 
+     416             : /*//{ timerPublish() */
+     417      112581 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     418             : 
+     419      112581 :   if (!sm_->isInitialized()) {
+     420       11722 :     return;
+     421             :   }
+     422             : 
+     423      225156 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     424             : 
+     425      112578 :   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      112578 :   if (!sm_->isInPublishableState()) {
+     431       11719 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     432       11719 :     return;
+     433             :   }
+     434             : 
+     435      100859 :   mrs_msgs::UavState uav_state;
+     436      100859 :   auto               ret = active_estimator_->getUavState();
+     437      100859 :   if (ret) {
+     438      100859 :     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      100859 :   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      100859 :   if (active_estimator_->isMitigatingJump()) {
+     451           0 :     estimator_switch_count_++;
+     452             :   }
+     453      100859 :   uav_state.estimator_iteration = estimator_switch_count_;
+     454             : 
+     455      100859 :   scope_timer.checkpoint("get uav state");
+     456             :   // TODO state health checks
+     457             : 
+     458      100859 :   ph_uav_state_.publish(uav_state);
+     459             : 
+     460      100859 :   scope_timer.checkpoint("pub uav state");
+     461      201718 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     462             : 
+     463      100859 :   scope_timer.checkpoint("uav state to odom");
+     464      201718 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     465     3731774 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     466     3630922 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     467             :   }
+     468             : 
+     469      201718 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     470     3731774 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     471     3630922 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     472             :   }
+     473             : 
+     474      100859 :   scope_timer.checkpoint("get covariance");
+     475      100859 :   ph_odom_main_.publish(odom_main);
+     476             : 
+     477      201718 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     478      100859 :   ph_innovation_.publish(innovation);
+     479             : 
+     480             : 
+     481      201718 :   mrs_msgs::Float64Stamped agl_height;
+     482             : 
+     483      100859 :   if (is_using_agl_estimator_) {
+     484       83165 :     agl_height = est_alt_agl_->getUavAglHeight();
+     485       83165 :     ph_altitude_agl_.publish(agl_height);
+     486             :   }
+     487             : }
+     488             : /*//}*/
+     489             : 
+     490             : /*//{ timerPublishDiagnostics() */
+     491       10955 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     492             : 
+     493       10955 :   if (!sm_->isInitialized()) {
+     494        1113 :     return;
+     495             :   }
+     496             : 
+     497       21910 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     498             : 
+     499       10955 :   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       10955 :   if (!sm_->isInPublishableState()) {
+     505        1113 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     506        1113 :     return;
+     507             :   }
+     508             : 
+     509        9842 :   mrs_msgs::UavState uav_state;
+     510        9842 :   auto               ret = active_estimator_->getUavState();
+     511        9842 :   if (ret) {
+     512        9842 :     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        9842 :   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       19684 :   mrs_msgs::Float64Stamped agl_height;
+     524             : 
+     525        9842 :   if (is_using_agl_estimator_) {
+     526        8071 :     agl_height = est_alt_agl_->getUavAglHeight();
+     527        8071 :     ph_altitude_agl_.publish(agl_height);
+     528             :   }
+     529             : 
+     530       19684 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     531        9842 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     532        9842 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     533        9842 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     534        9842 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     535             :   }
+     536        9842 :   max_flight_z_ = max_flight_z_msg.value;
+     537        9842 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     538             : 
+     539             :   // publish diagnostics
+     540       19684 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     541             : 
+     542        9842 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     543        9842 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     544             : 
+     545        9842 :   diagnostics.pose         = uav_state.pose;
+     546        9842 :   diagnostics.velocity     = uav_state.velocity;
+     547        9842 :   diagnostics.acceleration = uav_state.acceleration;
+     548             : 
+     549        9842 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     550        9842 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     551        9842 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     552        9842 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     553        9842 :   diagnostics.running_state_estimators = estimator_names_;
+     554             : 
+     555             :   {
+     556       19684 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     557        9842 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     558             :   }
+     559             : 
+     560             : 
+     561        9842 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     562        9842 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     563        9842 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     564             :   } else {
+     565           0 :     diagnostics.header.frame_id         = "";
+     566           0 :     diagnostics.current_state_estimator = "";
+     567             :   }
+     568             : 
+     569        9842 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     570        9842 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     571        9842 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     572             : 
+     573        9842 :   if (is_using_agl_estimator_) {
+     574        8071 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     575        8071 :     diagnostics.agl_height           = agl_height.value;
+     576             :   } else {
+     577        1771 :     diagnostics.estimator_agl_height = "NOT_USED";
+     578        1771 :     diagnostics.agl_height           = std::nanf("");
+     579             :   }
+     580             : 
+     581        9842 :   diagnostics.platform_config = _platform_config_;
+     582        9842 :   diagnostics.custom_config   = _custom_config_;
+     583             : 
+     584        9842 :   ph_diagnostics_.publish(diagnostics);
+     585             : 
+     586        9842 :   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      112582 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     594             : 
+     595      112582 :   if (!sm_->isInitialized()) {
+     596           3 :     return;
+     597             :   }
+     598             : 
+     599      337737 :   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      225158 :   std::vector<std::string> switchable_estimator_names;
+     603      237912 :   for (auto estimator : estimator_list_) {
+     604             : 
+     605      125333 :     if (estimator->isReady()) {
+     606             :       try {
+     607        4244 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     608        4244 :         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      125333 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     617      120278 :       switchable_estimator_names.push_back(estimator->getName());
+     618             :     }
+     619             :   }
+     620             : 
+     621             :   {
+     622      225158 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     623      112579 :     switchable_estimator_names_ = switchable_estimator_names;
+     624             :   }
+     625             : 
+     626      112579 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     627          52 :     est_alt_agl_->start();
+     628             :   }
+     629             : 
+     630             :   /*//}*/
+     631             : 
+     632      198683 :   if (!callbacks_disabled_by_service_ &&
+     633      198683 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE))) {
+     634       73558 :     callbacks_enabled_ = true;
+     635             :   } else {
+     636       39021 :     callbacks_enabled_ = false;
+     637             :   }
+     638             : 
+     639             :   // TODO fuj if, zmenit na switch
+     640             :   // activate initial estimator
+     641      112579 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     642       13596 :     std::scoped_lock lock(mutex_active_estimator_);
+     643        6798 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     644        6798 :     active_estimator_ = initial_estimator_;
+     645        6798 :     if (active_estimator_->getName() == "dummy") {
+     646           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     647             :     } else {
+     648        6798 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     649          62 :         sm_->changeState(StateMachine::READY_FOR_TAKEOFF_STATE);
+     650             :       } else {
+     651        6736 :         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      112579 :   if (sm_->isInTheAir() && active_estimator_->isError()) {
+     659           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     660             :   }
+     661             : 
+     662      112579 :   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      112579 :   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      112579 :   if (sm_->isInState(StateMachine::READY_FOR_TAKEOFF_STATE)) {
+     680       76113 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == "LandoffTracker") {
+     681          17 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     682             :     }
+     683             :   }
+     684             : 
+     685      112579 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     686       12847 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != "LandoffTracker") {
+     687          17 :       sm_->changeState(StateMachine::FLYING_STATE);
+     688             :     }
+     689             :   }
+     690             : 
+     691      112579 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     692       11978 :     if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     693         249 :       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          62 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     702             : 
+     703         124 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     704             : 
+     705          62 :   param_loader.loadParam("custom_config", _custom_config_);
+     706          62 :   param_loader.loadParam("platform_config", _platform_config_);
+     707          62 :   param_loader.loadParam("world_config", _world_config_);
+     708             : 
+     709          62 :   if (_custom_config_ != "") {
+     710          62 :     param_loader.addYamlFile(_custom_config_);
+     711             :   }
+     712             : 
+     713          62 :   if (_platform_config_ != "") {
+     714          62 :     param_loader.addYamlFile(_platform_config_);
+     715             :   }
+     716             : 
+     717          62 :   if (_world_config_ != "") {
+     718          62 :     param_loader.addYamlFile(_world_config_);
+     719             :   }
+     720             : 
+     721          62 :   param_loader.addYamlFileFromParam("private_config");
+     722          62 :   param_loader.addYamlFileFromParam("public_config");
+     723          62 :   param_loader.addYamlFileFromParam("estimators_config");
+     724          62 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     725             : 
+     726          62 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     727             : 
+     728             :   /*//{ load world_origin parameters */
+     729             : 
+     730         124 :   std::string world_origin_units;
+     731          62 :   bool        is_origin_param_ok = true;
+     732          62 :   double      world_origin_x     = 0;
+     733          62 :   double      world_origin_y     = 0;
+     734             : 
+     735          62 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     736             : 
+     737          62 :   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          62 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     743             :     double lat, lon;
+     744          62 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     745          62 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     746          62 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     747          62 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     748          62 :     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          62 :   ch_->world_origin.x = world_origin_x;
+     756          62 :   ch_->world_origin.y = world_origin_y;
+     757             : 
+     758          62 :   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          62 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     765             : 
+     766             :   /*//{ load parameters into common handlers */
+     767          62 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     768          62 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     769             : 
+     770          62 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     771          62 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     772             : 
+     773          62 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     774          62 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     775             : 
+     776          62 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     777          62 :   ch_->transformer->retryLookupNewest(true);
+     778             : 
+     779          62 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     780             : 
+     781             :   /*//}*/
+     782             : 
+     783             :   /*//{ load parameters */
+     784             : 
+     785             :   /*//{ publish debug topics parameters */
+     786          62 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     787          62 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     788          62 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     789          62 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     790          62 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     791          62 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     792          62 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     793          62 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     794             :   /*//}*/
+     795             : 
+     796             :   /*//}*/
+     797             : 
+     798         124 :   mrs_lib::SubscribeHandlerOptions shopts;
+     799          62 :   shopts.nh                 = nh_;
+     800          62 :   shopts.node_name          = getName();
+     801          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     802          62 :   shopts.threadsafe         = true;
+     803          62 :   shopts.autostart          = true;
+     804          62 :   shopts.queue_size         = 10;
+     805          62 :   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         186 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     811         125 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     812          63 :     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          63 :     ros::Duration(1.0).sleep();
+     815             :   }
+     816             : 
+     817         124 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     818             :   /*//}*/
+     819             : 
+     820             :   /*//{ wait for desired uav_state rate */
+     821          62 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     822         132 :   while (!sh_control_manager_diag_.hasMsg()) {
+     823          70 :     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          70 :     ros::Duration(1.0).sleep();
+     826             :   }
+     827             : 
+     828         124 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     829          62 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     830          62 :   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          62 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     836             : 
+     837             :   /*//}*/
+     838             : 
+     839             :   /*//{ load state estimator plugins */
+     840          62 :   param_loader.loadParam("state_estimators", estimator_names_);
+     841             : 
+     842          62 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     843             : 
+     844         128 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     845             : 
+     846         132 :     const std::string estimator_name = estimator_names_[i];
+     847             : 
+     848             :     // load the estimator parameters
+     849         132 :     std::string address;
+     850          66 :     param_loader.loadParam(estimator_name + "/address", address);
+     851             : 
+     852             :     try {
+     853          66 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     854          66 :       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          62 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     870          62 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     871          62 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     872             : 
+     873             : 
+     874          62 :   if (is_using_agl_estimator_) {
+     875             : 
+     876          52 :     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         104 :     std::string address;
+     880          52 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     881             : 
+     882             :     try {
+     883          52 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     884          52 :       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          62 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     900             :   /*//}*/
+     901             : 
+     902             :   /*//{ check whether initial estimator was loaded */
+     903          62 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     904          62 :   bool initial_estimator_found = false;
+     905          62 :   for (auto estimator : estimator_list_) {
+     906          62 :     if (estimator->getName() == initial_estimator_name_) {
+     907          62 :       initial_estimator_      = estimator;
+     908          62 :       initial_estimator_found = true;
+     909          62 :       break;
+     910             :     }
+     911             :   }
+     912             : 
+     913          62 :   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         128 :   for (auto estimator : estimator_list_) {
+     921             : 
+     922             :     // create private handlers
+     923         132 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     924             : 
+     925          66 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     926          66 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     927             : 
+     928          66 :     if (_custom_config_ != "") {
+     929          66 :       ph->param_loader->addYamlFile(_custom_config_);
+     930             :     }
+     931             : 
+     932          66 :     if (_platform_config_ != "") {
+     933          66 :       ph->param_loader->addYamlFile(_platform_config_);
+     934             :     }
+     935             : 
+     936          66 :     if (_world_config_ != "") {
+     937          66 :       ph->param_loader->addYamlFile(_world_config_);
+     938             :     }
+     939             : 
+     940             :     try {
+     941          66 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     942          66 :       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          66 :     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          62 :   if (is_using_agl_estimator_) {
+     957             : 
+     958         104 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     959             : 
+     960          52 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     961          52 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     962             : 
+     963          52 :     if (_custom_config_ != "") {
+     964          52 :       ph->param_loader->addYamlFile(_custom_config_);
+     965             :     }
+     966             : 
+     967          52 :     if (_platform_config_ != "") {
+     968          52 :       ph->param_loader->addYamlFile(_platform_config_);
+     969             :     }
+     970             : 
+     971          52 :     if (_world_config_ != "") {
+     972          52 :       ph->param_loader->addYamlFile(_world_config_);
+     973             :     }
+     974             : 
+     975             :     try {
+     976          52 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+     977          52 :       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          52 :     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          62 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+     991             : 
+     992             :   /*//}*/
+     993             : 
+     994             :   /*//{ initialize publishers */
+     995          62 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+     996          62 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+     997          62 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+     998          62 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+     999          62 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1000          62 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1001             : 
+    1002             :   /*//}*/
+    1003             : 
+    1004             :   /*//{ initialize timers */
+    1005          62 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1006             : 
+    1007          62 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1008             : 
+    1009          62 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1010             :   /*//}*/
+    1011             : 
+    1012             :   /*//{ initialize service clients */
+    1013             : 
+    1014          62 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1015             : 
+    1016             :   /*//}*/
+    1017             : 
+    1018             :   /*//{ initialize service servers */
+    1019          62 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1020          62 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1021             :   /*//}*/
+    1022             : 
+    1023             :   /*//{ initialize scope timer */
+    1024          62 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1025         124 :   std::string       filepath;
+    1026         124 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1027          62 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1028             :   /*//}*/
+    1029             : 
+    1030          62 :   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          62 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1036             : 
+    1037          62 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1038          62 : }
+    1039             : /*//}*/
+    1040             : 
+    1041             : // | -------------------- service callbacks ------------------- |
+    1042             : 
+    1043             : /*//{ callbackChangeEstimator() */
+    1044           4 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1045             : 
+    1046           4 :   if (!sm_->isInitialized()) {
+    1047           0 :     return false;
+    1048             :   }
+    1049             : 
+    1050           4 :   if (!callbacks_enabled_) {
+    1051           0 :     res.success = false;
+    1052           0 :     res.message = ("Service callbacks are disabled");
+    1053           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1054           0 :     return true;
+    1055             :   }
+    1056             : 
+    1057           4 :   if (req.value == "dummy" || req.value == "ground_truth") {
+    1058           0 :     res.success = false;
+    1059           0 :     std::stringstream ss;
+    1060           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1061           0 :     res.message = ss.str();
+    1062           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1063           0 :     return true;
+    1064             :   }
+    1065             : 
+    1066             :   // we do not want the switch to be disturbed by a service call
+    1067           4 :   callbacks_enabled_ = false;
+    1068             : 
+    1069           4 :   bool                                                target_estimator_found = false;
+    1070           4 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1071          10 :   for (auto estimator : estimator_list_) {
+    1072          10 :     if (estimator->getName() == req.value) {
+    1073           4 :       target_estimator       = estimator;
+    1074           4 :       target_estimator_found = true;
+    1075           4 :       break;
+    1076             :     }
+    1077             :   }
+    1078             : 
+    1079           4 :   if (target_estimator_found) {
+    1080             : 
+    1081           4 :     if (target_estimator->isRunning()) {
+    1082           4 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1083           4 :       switchToEstimator(target_estimator);
+    1084           4 :       sm_->changeToPreSwitchState();
+    1085             :     } else {
+    1086           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1087           0 :       res.success = false;
+    1088           0 :       res.message = ("Requested estimator is not running");
+    1089           0 :       return true;
+    1090             :     }
+    1091             : 
+    1092             :   } else {
+    1093           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1094           0 :     res.success = false;
+    1095           0 :     res.message = ("Not a valid estimator type");
+    1096           0 :     return true;
+    1097             :   }
+    1098             : 
+    1099           4 :   res.success = true;
+    1100           4 :   res.message = "Estimator switch successful";
+    1101             : 
+    1102             :   // allow service calllbacks after switch again
+    1103           4 :   callbacks_enabled_ = true;
+    1104             : 
+    1105           4 :   return true;
+    1106             : }
+    1107             : /*//}*/
+    1108             : 
+    1109             : /* //{ callbackToggleServiceCallbacks() */
+    1110          84 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1111             : 
+    1112          84 :   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          84 :   callbacks_disabled_by_service_ = !req.data;
+    1118             : 
+    1119          84 :   res.success = true;
+    1120          84 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1121             : 
+    1122          84 :   if (callbacks_disabled_by_service_) {
+    1123             : 
+    1124          29 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1125             : 
+    1126             :   } else {
+    1127             : 
+    1128          55 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1129             :   }
+    1130             : 
+    1131          84 :   return true;
+    1132             : }
+    1133             : 
+    1134             : //}
+    1135             : 
+    1136             : 
+    1137             : // --------------------------------------------------------------
+    1138             : // |                        other methods                       |
+    1139             : // --------------------------------------------------------------
+    1140             : //
+    1141             : /*//{ switchToHealthyEstimator() */
+    1142           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1143             : 
+    1144             :   // available estimators should be specified in decreasing priority order in config file
+    1145           0 :   for (auto estimator : estimator_list_) {
+    1146           0 :     if (estimator->isRunning()) {
+    1147           0 :       switchToEstimator(estimator);
+    1148           0 :       return true;
+    1149             :     }
+    1150             :   }
+    1151           0 :   return false;  // no other estimator is running
+    1152             : }
+    1153             : /*//}*/
+    1154             : 
+    1155             : /*//{ switchToEstimator() */
+    1156           4 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1157             : 
+    1158           4 :   std::scoped_lock lock(mutex_active_estimator_);
+    1159           4 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1160           4 :   active_estimator_ = target_estimator;
+    1161           4 :   estimator_switch_count_++;
+    1162           4 : }
+    1163             : /*//}*/
+    1164             : 
+    1165             : /*//{ callFailsafeService() */
+    1166           0 : bool EstimationManager::callFailsafeService() {
+    1167           0 :   std_srvs::Trigger srv_out;
+    1168           0 :   return srvch_failsafe_.call(srv_out);
+    1169             : }
+    1170             : /*//}*/
+    1171             : 
+    1172             : /*//{ getName() */
+    1173        1836 : std::string EstimationManager::getName() const {
+    1174        1836 :   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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::estimation_manager::EstimationManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:628572.9 %
Date:2024-01-14 11:12:21Functions:192382.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&, double)0
mrs_uav_managers::Estimator::getHeadingRate(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)0
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isStopped() const0
mrs_uav_managers::Estimator::changeState(mrs_uav_managers::estimation_manager::SMStates_t)1460
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)1460
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1460
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const2163
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const2920
mrs_uav_managers::Estimator::getMaxFlightZ() const10089
mrs_uav_managers::Estimator::isStarted() const21768
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)187976
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)188227
mrs_uav_managers::Estimator::isReady() const219811
mrs_uav_managers::Estimator::getName[abi:cxx11]() const383453
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const433253
mrs_uav_managers::Estimator::isMitigatingJump() const458381
mrs_uav_managers::Estimator::publishDiagnostics() const620388
mrs_uav_managers::Estimator::isError() const740819
mrs_uav_managers::Estimator::isRunning() const1043683
mrs_uav_managers::Estimator::isInitialized() const1592705
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const4708307
mrs_uav_managers::Estimator::getCurrentSmState() const5179317
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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:2024-01-14 11:12:21Functions: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)1460
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)187976
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)188227
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&)1460
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const433253
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const2163
mrs_uav_managers::Estimator::getMaxFlightZ() const10089
mrs_uav_managers::Estimator::isInitialized() const1592705
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const2920
mrs_uav_managers::Estimator::isMitigatingJump() const458381
mrs_uav_managers::Estimator::getCurrentSmState() const5179317
mrs_uav_managers::Estimator::publishDiagnostics() const620388
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1460
mrs_uav_managers::Estimator::getName[abi:cxx11]() const383453
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const740819
mrs_uav_managers::Estimator::isReady() const219811
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const4708307
mrs_uav_managers::Estimator::isRunning() const1043683
mrs_uav_managers::Estimator::isStarted() const21768
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:2024-01-14 11:12:21Functions:192382.6 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ method implementations */
+       7             : /*//{ changeState() */
+       8        1460 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        1460 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        1460 :   previous_sm_state_ = getCurrentSmState();
+      15        1460 :   setCurrentSmState(new_state);
+      16             : 
+      17        1460 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        1460 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     4708307 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     4708307 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     1592705 : bool Estimator::isInitialized() const {
+      30     1592705 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      219811 : bool Estimator::isReady() const {
+      36      219811 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41       21768 : bool Estimator::isStarted() const {
+      42       21768 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47     1043683 : bool Estimator::isRunning() const {
+      48     1043683 :   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      740819 : bool Estimator::isError() const {
+      60      740819 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     5179317 : SMStates_t Estimator::getCurrentSmState() const {
+      66     5179317 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        1460 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        1460 :   std::scoped_lock lock(mutex_current_state_);
+      73        1460 :   current_sm_state_ = new_state;
+      74        1460 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        2920 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        2920 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        1460 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        2920 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      458381 : bool Estimator::isMitigatingJump(void) const {
+      91      458381 :   return is_mitigating_jump_;
+      92             : }
+      93             : /*//}*/
+      94             : 
+      95             : /*//{ getName() */
+      96      383453 : std::string Estimator::getName(void) const {
+      97      383453 :   return name_;
+      98             : }
+      99             : /*//}*/
+     100             : 
+     101             : /*//{ getPrintName() */
+     102        2163 : std::string Estimator::getPrintName(void) const {
+     103        4326 :   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      433253 : std::string Estimator::getFrameId(void) const {
+     115      433253 :   return ns_frame_id_;
+     116             : }
+     117             : /*//}*/
+     118             : 
+     119             : /*//{ getMaxFlightZ() */
+     120       10089 : double Estimator::getMaxFlightZ(void) const {
+     121       10089 :   return max_flight_z_;
+     122             : }
+     123             : /*//}*/
+     124             : 
+     125             : /*//{ publishDiagnostics() */
+     126      620388 : void Estimator::publishDiagnostics() const {
+     127             : 
+     128      620388 :   if (!ch_->debug_topics.diag) {
+     129      620353 :     return;
+     130             :   }
+     131             : 
+     132           1 :   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      188227 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     153             : 
+     154      374266 :   geometry_msgs::Vector3Stamped acc_stamped;
+     155      187802 :   acc_stamped.vector = input_msg->control_acceleration;
+     156      187741 :   acc_stamped.header = input_msg->header;
+     157      372703 :   return getAccGlobal(acc_stamped, hdg);
+     158             : }
+     159             : 
+     160      187976 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     161             : 
+     162             :   // untilt the desired acceleration vector
+     163      374082 :   geometry_msgs::Vector3Stamped des_acc;
+     164      187636 :   geometry_msgs::Vector3        des_acc_untilted;
+     165      187815 :   des_acc.vector.x        = acc_stamped.vector.x;
+     166      187815 :   des_acc.vector.y        = acc_stamped.vector.y;
+     167      187815 :   des_acc.vector.z        = acc_stamped.vector.z;
+     168      187815 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     169      187980 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     170      375740 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     171      188263 :   if (response_acc) {
+     172      188263 :     des_acc_untilted.x = response_acc.value().vector.x;
+     173      188263 :     des_acc_untilted.y = response_acc.value().vector.y;
+     174      188263 :     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      188263 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     182             : 
+     183      372542 :   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&) const52
mrs_uav_managers::AglEstimator::publishAglHeight() const86502
mrs_uav_managers::AglEstimator::publishCovariance() const86502
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mrs_uav_managers::AglEstimator::publishAglHeight() const86502
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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const52
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/agl_estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ publishAglHeight() */
+       7       86502 : void AglEstimator::publishAglHeight() const {
+       8       86502 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9       86502 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13       86502 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15       86502 :   if (!ch_->debug_topics.covariance) {
+      16       86502 :     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          52 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          52 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          52 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          52 :   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          52 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          52 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          52 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          52 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          52 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          52 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          52 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          52 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          52 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          52 :   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          52 :   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          52 :   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          52 :   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          52 :   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          52 :   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          52 :   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          52 :   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          52 :   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          52 :   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          52 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
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Date:2024-01-14 11:12:21Functions:1010100.0 %
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mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const66
mrs_uav_managers::StateEstimator::getInnovation() const100859
mrs_uav_managers::StateEstimator::getPoseCovariance() const100859
mrs_uav_managers::StateEstimator::getTwistCovariance() const100859
mrs_uav_managers::StateEstimator::getUavState()110700
mrs_uav_managers::StateEstimator::publishUavState() const120309
mrs_uav_managers::StateEstimator::publishOdom() const120319
mrs_uav_managers::StateEstimator::publishCovariance() const120319
mrs_uav_managers::StateEstimator::publishInnovation() const120319
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const242686
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::StateEstimator::getUavState()110700
mrs_uav_managers::StateEstimator::publishOdom() const120319
mrs_uav_managers::StateEstimator::getInnovation() const100859
mrs_uav_managers::StateEstimator::publishUavState() const120309
mrs_uav_managers::StateEstimator::getPoseCovariance() const100859
mrs_uav_managers::StateEstimator::publishCovariance() const120319
mrs_uav_managers::StateEstimator::publishInnovation() const120319
mrs_uav_managers::StateEstimator::getTwistCovariance() const100859
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const66
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const242686
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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      110700 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10      110700 :   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      221387 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20      100859 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21      100859 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26      100859 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27      100859 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32      100859 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33      100859 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38      120309 : void StateEstimator::publishUavState() const {
+      39             : 
+      40      120309 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      240347 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45      120116 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50      120319 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      240638 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53      120318 :   ph_odom_.publish(odom);
+      54      120319 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58      120319 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60      120319 :   if (!ch_->debug_topics.covariance) {
+      61      120319 :     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      120319 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74      120319 :   if (!ch_->debug_topics.innovation) {
+      75      120319 :     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      242686 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      242686 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      242293 :     double q_hdg = 0;
+      91      242293 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      242125 :     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      241896 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      241431 :     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          66 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110          66 :   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          66 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116          66 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117          66 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118          66 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119          66 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120          66 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121          66 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122          66 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123          66 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125          66 :   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          66 :   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          66 :   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          66 :   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          66 :   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          66 :   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          66 :   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          66 :   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          66 :   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          66 :   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          66 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
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Date:2024-01-14 11:12:21Functions:6785.7 %
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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()62
mrs_uav_managers::gain_manager::GainManager::onInit()62
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)62
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)1269
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&)1368
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)12932
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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:20325380.2 %
Date:2024-01-14 11:12:21Functions:6785.7 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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&)1368
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&)1269
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)12932
mrs_uav_managers::gain_manager::GainManager::onInit()62
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)62
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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:20325380.2 %
Date:2024-01-14 11:12:21Functions:6785.7 %
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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          62 : void GainManager::onInit() {
+     122             : 
+     123         124 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     124             : 
+     125          62 :   ros::Time::waitForValid();
+     126             : 
+     127          62 :   ROS_INFO("[GainManager]: initializing");
+     128             : 
+     129             :   // | ------------------------- params ------------------------- |
+     130             : 
+     131         124 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     132             : 
+     133         124 :   std::string custom_config_path;
+     134         124 :   std::string platform_config_path;
+     135             : 
+     136          62 :   param_loader.loadParam("custom_config", custom_config_path);
+     137          62 :   param_loader.loadParam("platform_config", platform_config_path);
+     138             : 
+     139          62 :   if (custom_config_path != "") {
+     140          62 :     param_loader.addYamlFile(custom_config_path);
+     141             :   }
+     142             : 
+     143          62 :   if (platform_config_path != "") {
+     144          62 :     param_loader.addYamlFile(platform_config_path);
+     145             :   }
+     146             : 
+     147          62 :   param_loader.addYamlFileFromParam("private_config");
+     148          62 :   param_loader.addYamlFileFromParam("public_config");
+     149          62 :   param_loader.addYamlFileFromParam("public_gains");
+     150             : 
+     151         124 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     152             : 
+     153             :   // params passed from the launch file are not prefixed
+     154          62 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     155             : 
+     156          62 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     157             : 
+     158          62 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     159             : 
+     160          62 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     161          62 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     162             : 
+     163             :   // | ------------------- scope timer logger ------------------- |
+     164             : 
+     165          62 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     166         186 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     167          62 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     168             : 
+     169          62 :   std::vector<std::string>::iterator it;
+     170             : 
+     171             :   // loading gain_names
+     172         186 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     173             : 
+     174         124 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     175             : 
+     176         124 :     Gains_t new_gains;
+     177             : 
+     178         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     179         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     180         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     181         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     182         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     183         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     184         124 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     185             : 
+     186         124 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     187         124 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     188         124 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     189             : 
+     190         124 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     191         124 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     192             : 
+     193         124 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     194         124 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     195             : 
+     196         124 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     197             :   }
+     198             : 
+     199             :   // loading the allowed gains lists
+     200         496 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     201             : 
+     202         434 :     std::vector<std::string> temp_vector;
+     203         434 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     204             : 
+     205         434 :     std::vector<std::string>::iterator it2;
+     206        1302 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     207         868 :       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         434 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     214             :   }
+     215             : 
+     216             :   // loading the default gains
+     217         496 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     218             : 
+     219         434 :     std::string temp_str;
+     220         434 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     221             : 
+     222         434 :     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         434 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     228             :   }
+     229             : 
+     230          62 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     231             : 
+     232          62 :   current_gains_       = "";
+     233          62 :   last_estimator_name_ = "";
+     234             : 
+     235             :   // | ------------------------ services ------------------------ |
+     236             : 
+     237          62 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     238             : 
+     239          62 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     240             : 
+     241             :   // | ----------------------- subscribers ---------------------- |
+     242             : 
+     243         124 :   mrs_lib::SubscribeHandlerOptions shopts;
+     244          62 :   shopts.nh                 = nh_;
+     245          62 :   shopts.node_name          = "GainManager";
+     246          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     247          62 :   shopts.threadsafe         = true;
+     248          62 :   shopts.autostart          = true;
+     249          62 :   shopts.queue_size         = 10;
+     250          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     251             : 
+     252          62 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     253          62 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     254             : 
+     255             :   // | ----------------------- publishers ----------------------- |
+     256             : 
+     257          62 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     258             : 
+     259             :   // | ------------------------- timers ------------------------- |
+     260             : 
+     261          62 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     262          62 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     263             : 
+     264             :   // | ------------------------ profiler ------------------------ |
+     265             : 
+     266          62 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     267             : 
+     268             :   // | ----------------------- finish init ---------------------- |
+     269             : 
+     270          62 :   if (!param_loader.loadedSuccessfully()) {
+     271           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     272           0 :     ros::shutdown();
+     273             :   }
+     274             : 
+     275          62 :   is_initialized_ = true;
+     276             : 
+     277          62 :   ROS_INFO("[GainManager]: initialized");
+     278             : 
+     279          62 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     280          62 : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : // --------------------------------------------------------------
+     285             : // |                           methods                          |
+     286             : // --------------------------------------------------------------
+     287             : 
+     288             : /* setGains() //{ */
+     289             : 
+     290          62 : bool GainManager::setGains(std::string gains_name) {
+     291             : 
+     292          62 :   std::map<std::string, Gains_t>::iterator it;
+     293          62 :   it = _gains_.find(gains_name);
+     294             : 
+     295          62 :   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         124 :   dynamic_reconfigure::Config          conf;
+     301         124 :   dynamic_reconfigure::DoubleParameter param;
+     302             : 
+     303          62 :   param.name  = "kpxy";
+     304          62 :   param.value = it->second.kpxy;
+     305          62 :   conf.doubles.push_back(param);
+     306             : 
+     307          62 :   param.name  = "kvxy";
+     308          62 :   param.value = it->second.kvxy;
+     309          62 :   conf.doubles.push_back(param);
+     310             : 
+     311          62 :   param.name  = "kaxy";
+     312          62 :   param.value = it->second.kaxy;
+     313          62 :   conf.doubles.push_back(param);
+     314             : 
+     315          62 :   param.name  = "kq_roll_pitch";
+     316          62 :   param.value = it->second.kqrp;
+     317          62 :   conf.doubles.push_back(param);
+     318             : 
+     319          62 :   param.name  = "kibxy";
+     320          62 :   param.value = it->second.kibxy;
+     321          62 :   conf.doubles.push_back(param);
+     322             : 
+     323          62 :   param.name  = "kiwxy";
+     324          62 :   param.value = it->second.kiwxy;
+     325          62 :   conf.doubles.push_back(param);
+     326             : 
+     327          62 :   param.name  = "kibxy_lim";
+     328          62 :   param.value = it->second.kibxy_lim;
+     329          62 :   conf.doubles.push_back(param);
+     330             : 
+     331          62 :   param.name  = "kiwxy_lim";
+     332          62 :   param.value = it->second.kiwxy_lim;
+     333          62 :   conf.doubles.push_back(param);
+     334             : 
+     335          62 :   param.name  = "kpz";
+     336          62 :   param.value = it->second.kpz;
+     337          62 :   conf.doubles.push_back(param);
+     338             : 
+     339          62 :   param.name  = "kvz";
+     340          62 :   param.value = it->second.kvz;
+     341          62 :   conf.doubles.push_back(param);
+     342             : 
+     343          62 :   param.name  = "kaz";
+     344          62 :   param.value = it->second.kaz;
+     345          62 :   conf.doubles.push_back(param);
+     346             : 
+     347          62 :   param.name  = "kq_yaw";
+     348          62 :   param.value = it->second.kqy;
+     349          62 :   conf.doubles.push_back(param);
+     350             : 
+     351          62 :   param.name  = "km";
+     352          62 :   param.value = it->second.km;
+     353          62 :   conf.doubles.push_back(param);
+     354             : 
+     355          62 :   param.name  = "km_lim";
+     356          62 :   param.value = it->second.km_lim;
+     357          62 :   conf.doubles.push_back(param);
+     358             : 
+     359         124 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     360         124 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     361             : 
+     362          62 :   srv_req.config = conf;
+     363             : 
+     364         124 :   dynamic_reconfigure::Reconfigure reconf;
+     365          62 :   reconf.request = srv_req;
+     366             : 
+     367          62 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     368             : 
+     369          62 :   bool res = service_client_set_gains_.call(reconf);
+     370             : 
+     371          62 :   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          62 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     379             : 
+     380          62 :     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       12932 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     469             : 
+     470       12932 :   if (!is_initialized_) {
+     471        3125 :     return;
+     472             :   }
+     473             : 
+     474       25864 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     475       25864 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     476             : 
+     477       12932 :   if (!sh_estimation_diag_.hasMsg()) {
+     478        3125 :     return;
+     479             :   }
+     480             : 
+     481        9807 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     482             : 
+     483        9807 :   if (!sh_control_manager_diag_.hasMsg()) {
+     484           0 :     return;
+     485             :   }
+     486             : 
+     487       19614 :   auto control_manager_diagnostics = *sh_estimation_diag_.getMsg();
+     488             : 
+     489       19614 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     490        9807 :   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        9807 :   if (estimation_diagnostics.current_state_estimator != last_estimator_name) {
+     494             : 
+     495          66 :     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          66 :     std::map<std::string, std::string>::iterator it;
+     499          66 :     it = _map_type_default_gains_.find(estimation_diagnostics.current_state_estimator);
+     500             : 
+     501          66 :     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          66 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics.current_state_estimator))) {
+     510             : 
+     511           4 :         last_estimator_name = estimation_diagnostics.current_state_estimator;
+     512             : 
+     513             :         // else, try to set the default gains
+     514             :       } else {
+     515             : 
+     516          62 :         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          62 :         if (setGains(it->second)) {
+     520             : 
+     521          62 :           last_estimator_name = estimation_diagnostics.current_state_estimator;
+     522             : 
+     523          62 :           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        9807 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     534             : }
+     535             : 
+     536             : //}
+     537             : 
+     538             : /* dignosticsTimer() //{ */
+     539             : 
+     540        1269 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     541             : 
+     542        1269 :   if (!is_initialized_) {
+     543         304 :     return;
+     544             :   }
+     545             : 
+     546        2538 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     547        2538 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     548             : 
+     549        1269 :   if (!sh_estimation_diag_.hasMsg()) {
+     550         304 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do constraint management, missing estimator diagnostics!");
+     551         304 :     return;
+     552             :   }
+     553             : 
+     554         965 :   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        1930 :   auto estimation_diagnostics = *sh_estimation_diag_.getMsg();
+     560             : 
+     561        1930 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     562             : 
+     563        1930 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     564             : 
+     565         965 :   diagnostics.stamp        = ros::Time::now();
+     566         965 :   diagnostics.current_name = current_gains;
+     567         965 :   diagnostics.loaded       = _gain_names_;
+     568             : 
+     569             :   // get the available gains
+     570             :   {
+     571         965 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     572         965 :     it = _map_type_allowed_gains_.find(estimation_diagnostics.current_state_estimator);
+     573             : 
+     574         965 :     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         965 :       diagnostics.available = it->second;
+     579             :     }
+     580             :   }
+     581             : 
+     582             :   // get the current gain values
+     583             :   {
+     584         965 :     std::map<std::string, Gains_t>::iterator it;
+     585         965 :     it = _gains_.find(current_gains);
+     586             : 
+     587         965 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     588         965 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     589         965 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     590             : 
+     591         965 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     592             : 
+     593         965 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     594         965 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     595             : 
+     596         965 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     597         965 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     598             : 
+     599         965 :     diagnostics.current_values.kpz = it->second.kpz;
+     600         965 :     diagnostics.current_values.kvz = it->second.kvz;
+     601         965 :     diagnostics.current_values.kaz = it->second.kaz;
+     602             : 
+     603         965 :     diagnostics.current_values.kqy = it->second.kqy;
+     604             : 
+     605         965 :     diagnostics.current_values.km     = it->second.km;
+     606         965 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     607             :   }
+     608             : 
+     609         965 :   ph_diagnostics_.publish(diagnostics);
+     610             : }
+     611             : 
+     612             : //}
+     613             : 
+     614             : // --------------------------------------------------------------
+     615             : // |                          routines                          |
+     616             : // --------------------------------------------------------------
+     617             : 
+     618             : /* stringInVector() //{ */
+     619             : 
+     620        1368 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     621             : 
+     622        1368 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     623          62 :     return false;
+     624             :   } else {
+     625        1306 :     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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
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+
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:1151170467.5 %
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null_tracker.cpp +
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constraint_manager.cpp +
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gain_manager.cpp +
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uav_manager.cpp +
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Test:MRS UAV System - Test coverage reportLines:1151170467.5 %
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<unnamed>65.1 %758 / 116592.1 %35 / 38
constraint_manager.cpp +
65.6%65.6%
+ 		65.6 %149 / 22775.0 %6 / 8
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null_tracker.cpp +
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+ 		69.5 %41 / 5955.0 %11 / 20
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gain_manager.cpp +
80.2%80.2%
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Test:MRS UAV System - Test coverage reportLines:1151170467.5 %
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<unnamed>65.6 %149 / 22775.0 %6 / 8
gain_manager.cpp +
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null_tracker.cpp +
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uav_manager.cpp +
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null_tracker.cpp +
69.5%69.5%
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constraint_manager.cpp +
65.6%65.6%
+ 		65.6 %149 / 22775.0 %6 / 8
gain_manager.cpp +
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+ 		80.2 %203 / 25385.7 %6 / 7
uav_manager.cpp +
65.1%65.1%
+ 		65.1 %758 / 116592.1 %35 / 38
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Test:MRS UAV System - Test coverage reportLines:1151170467.5 %
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uav_manager.cpp +
65.1%65.1%
+ 		65.1 %758 / 116592.1 %35 / 38
constraint_manager.cpp +
65.6%65.6%
+ 		65.6 %149 / 22775.0 %6 / 8
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
gain_manager.cpp +
80.2%80.2%
+ 		80.2 %203 / 25385.7 %6 / 7
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1151170467.5 %
Date:2024-01-14 11:12:21Functions:587379.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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constraint_manager.cpp +
65.6%65.6%
+ 		65.6 %149 / 22775.0 %6 / 8
gain_manager.cpp +
80.2%80.2%
+ 		80.2 %203 / 25385.7 %6 / 7
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
uav_manager.cpp +
65.1%65.1%
+ 		65.1 %758 / 116592.1 %35 / 38
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+
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-01-14 11:12:21Functions: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&)3
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_managers::NullTracker::~NullTracker()62
mrs_uav_managers::NullTracker::~NullTracker().262
mrs_uav_managers::NullTracker::deactivate()145
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)149
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_managers::NullTracker::getStatus()3268
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)70250
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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/null_tracker.cpp.func.html b/mrs_uav_managers/src/null_tracker.cpp.func.html new file mode 100644 index 0000000000..f9bfc98435 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-01-14 11:12:21Functions: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()62
mrs_uav_managers::NullTracker::deactivate()145
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>)62
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&)203
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
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&)3
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&)70250
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)149
mrs_uav_managers::NullTracker::getStatus()3268
mrs_uav_managers::NullTracker::~NullTracker()62
mrs_uav_managers::NullTracker::~NullTracker().262
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-01-14 11:12:21Functions:112055.0 %
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          Line data    Source code
+
+       1             : #include <ros/ros.h>
+       2             : 
+       3             : #include <mrs_uav_managers/tracker.h>
+       4             : 
+       5             : namespace mrs_uav_managers
+       6             : {
+       7             : 
+       8             : /* //{ class NullTracker */
+       9             : 
+      10             : class NullTracker : public mrs_uav_managers::Tracker {
+      11             : 
+      12             : public:
+      13         124 :   ~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          62 : 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         124 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60          62 :   ros::Time::waitForValid();
+      61             : 
+      62          62 :   is_initialized = true;
+      63             : 
+      64          62 :   this->common_handlers = common_handlers;
+      65             : 
+      66          62 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68         124 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         149 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         149 :   std::stringstream ss;
+      78         149 :   ss << "activated";
+      79             : 
+      80         149 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         149 :   is_active = true;
+      82             : 
+      83         298 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         145 : void NullTracker::deactivate(void) {
+      91             : 
+      92         145 :   ROS_INFO("[NullTracker]: deactivated");
+      93         145 :   is_active = false;
+      94         145 : }
+      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       70250 : 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       70250 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        3268 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        3268 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        3268 :   tracker_status.active            = is_active;
+     131        3268 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        3268 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140         172 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142         344 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144         172 :   std::stringstream ss;
+     145             : 
+     146         172 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148           8 :     callbacks_enabled = cmd->data;
+     149             : 
+     150           8 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152           8 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156         164 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159         172 :   res.message = ss.str();
+     160         172 :   res.success = true;
+     161             : 
+     162         516 :   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           3 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           3 :   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         203 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         203 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::NullTracker, mrs_uav_managers::Tracker)
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Current view:top level - mrs_uav_managers/src/transform_manager - transform_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35543681.4 %
Date:2024-01-14 11:12:21Functions:121392.3 %
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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&) const6
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::transform_manager::TransformManager::onInit()62
mrs_uav_managers::transform_manager::TransformManager::TransformManager()62
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const943
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3469
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)58091
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)91204
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)100828
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)112586
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)120462
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)120462
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/transform_manager - transform_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35543681.4 %
Date:2024-01-14 11:12:21Functions:121392.3 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)58091
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3469
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)100828
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)91204
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)112586
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)120462
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)120462
mrs_uav_managers::transform_manager::TransformManager::onInit()62
mrs_uav_managers::transform_manager::TransformManager::TransformManager()62
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const943
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const6
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..e54ea334d2 --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html new file mode 100644 index 0000000000..582de03b3e --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html @@ -0,0 +1,1038 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_managers/src/transform_manager - transform_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:35543681.4 %
Date:2024-01-14 11:12:21Functions: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          62 :   TransformManager() {
+      50          62 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52          62 :     ch_->nodelet_name = nodelet_name_;
+      53          62 :     ch_->package_name = package_name_;
+      54          62 :   }
+      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          62 : void TransformManager::onInit() {
+     145             : 
+     146          62 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     147             : 
+     148          62 :   ros::Time::waitForValid();
+     149             : 
+     150          62 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     151             : 
+     152          62 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     153             : 
+     154          62 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     155          62 :   ch_->transformer->retryLookupNewest(true);
+     156             : 
+     157         124 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     158             : 
+     159          62 :   param_loader.loadParam("custom_config", _custom_config_);
+     160          62 :   param_loader.loadParam("platform_config", _platform_config_);
+     161          62 :   param_loader.loadParam("world_config", _world_config_);
+     162             : 
+     163          62 :   if (_custom_config_ != "") {
+     164          62 :     param_loader.addYamlFile(_custom_config_);
+     165             :   }
+     166             : 
+     167          62 :   if (_platform_config_ != "") {
+     168          62 :     param_loader.addYamlFile(_platform_config_);
+     169             :   }
+     170             : 
+     171          62 :   if (_world_config_ != "") {
+     172          62 :     param_loader.addYamlFile(_world_config_);
+     173             :   }
+     174             : 
+     175          62 :   param_loader.addYamlFileFromParam("private_config");
+     176          62 :   param_loader.addYamlFileFromParam("public_config");
+     177          62 :   param_loader.addYamlFileFromParam("estimators_config");
+     178             : 
+     179         124 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     180             : 
+     181          62 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     182             : 
+     183             :   /*//{ initialize scope timer */
+     184          62 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     185         124 :   std::string       filepath;
+     186         124 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     187          62 :   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          62 :   bool   is_origin_param_ok = true;
+     193          62 :   double world_origin_x     = 0;
+     194          62 :   double world_origin_y     = 0;
+     195             : 
+     196          62 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     197             : 
+     198          62 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     199           0 : 
+     200           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     201           0 : 
+     202             :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     203          62 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     204             : 
+     205          62 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     206          62 : 
+     207          62 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     208          62 : 
+     209          62 :     double lat, lon;
+     210             :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     211             :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     212           0 : 
+     213           0 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     214             : 
+     215             :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     216          62 : 
+     217          62 :   } else {
+     218          62 :     ROS_ERROR("[%s]: world_origin/units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     219             :     ros::shutdown();
+     220          62 :   }
+     221           0 : 
+     222           0 :   world_origin_.x = world_origin_x;
+     223             :   world_origin_.y = world_origin_y;
+     224             :   world_origin_.z = 0;
+     225             : 
+     226             :   if (!is_origin_param_ok) {
+     227         124 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     228          62 :     ros::shutdown();
+     229          62 :   }
+     230             : 
+     231         124 :   /*//}*/
+     232          62 : 
+     233          62 :   /*//{ load local_origin parameters */
+     234             :   std::string local_origin_parent_frame_id;
+     235          62 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     236             :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     237             : 
+     238             :   std::string local_origin_child_frame_id;
+     239         124 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     240          62 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     241          62 : 
+     242             :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     243         124 :   /*//}*/
+     244          62 : 
+     245          62 :   /*//{ load stable_origin parameters */
+     246             :   std::string stable_origin_parent_frame_id;
+     247          62 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     248             :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     249             : 
+     250             :   std::string stable_origin_child_frame_id;
+     251         124 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     252          62 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     253          62 : 
+     254             :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     255         124 :   /*//}*/
+     256          62 : 
+     257          62 :   /*//{ load fixed_origin parameters */
+     258             :   std::string fixed_origin_parent_frame_id;
+     259          62 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     260             :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     261             : 
+     262             :   std::string fixed_origin_child_frame_id;
+     263         124 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     264          62 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     265          62 : 
+     266          62 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     267             :   /*//}*/
+     268         124 : 
+     269          62 :   /*//{ load fcu_untilted parameters */
+     270          62 :   std::string fcu_frame_id;
+     271          62 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     272             :   ch_->frames.fcu    = fcu_frame_id;
+     273          62 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     274             : 
+     275             :   std::string fcu_untilted_frame_id;
+     276             :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     277         124 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     278          62 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     279          62 : 
+     280          62 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     281          62 :   /*//}*/
+     282          62 : 
+     283          62 :   /*//{ load amsl_origin parameters*/
+     284          62 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     285             :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     286             :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     287             :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     288          62 :   ch_->frames.amsl                = amsl_child_frame_id;
+     289          62 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     290             :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     291          62 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     292          62 : 
+     293             :   /*//}*/
+     294          62 : 
+     295         185 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     296         184 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     297          61 : 
+     298          61 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     299          61 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     300             : 
+     301             :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     302             :   for (auto utm_source : utm_source_priority_list_) {
+     303             :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     304          62 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     305             :       utm_source_name_ = utm_source;
+     306           0 :       break;
+     307           0 :     }
+     308             :   }
+     309           0 : 
+     310             :   /*//{ initialize tf sources */
+     311           0 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     312             : 
+     313           0 :     const std::string tf_source_name = tf_source_names_[i];
+     314           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     315             : 
+     316             :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     317           0 : 
+     318           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     319             : 
+     320             :     if (_custom_config_ != "") {
+     321           0 :       source_param_loader->addYamlFile(_custom_config_);
+     322           0 :     }
+     323             : 
+     324             :     if (_platform_config_ != "") {
+     325           0 :       source_param_loader->addYamlFile(_platform_config_);
+     326           0 :     }
+     327           0 : 
+     328             :     if (_world_config_ != "") {
+     329           0 :       source_param_loader->addYamlFile(_world_config_);
+     330             :     }
+     331             : 
+     332             :     source_param_loader->addYamlFileFromParam("private_config");
+     333         128 :     source_param_loader->addYamlFileFromParam("public_config");
+     334             :     source_param_loader->addYamlFileFromParam("estimators_config");
+     335         132 : 
+     336          66 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     337          66 :   }
+     338             : 
+     339          66 :   // additionally publish tf of all available estimators
+     340             :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     341          66 : 
+     342          66 :     const std::string estimator_name = estimator_names_[i];
+     343             :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     344             :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     345          66 : 
+     346          66 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     347             : 
+     348             :     if (_custom_config_ != "") {
+     349          66 :       estimator_param_loader->addYamlFile(_custom_config_);
+     350          66 :     }
+     351             : 
+     352             :     if (_platform_config_ != "") {
+     353          66 :       estimator_param_loader->addYamlFile(_platform_config_);
+     354          66 :     }
+     355          66 : 
+     356             :     if (_world_config_ != "") {
+     357          66 :       estimator_param_loader->addYamlFile(_world_config_);
+     358             :     }
+     359             : 
+     360             :     estimator_param_loader->addYamlFileFromParam("private_config");
+     361             :     estimator_param_loader->addYamlFileFromParam("public_config");
+     362          62 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     363             : 
+     364          62 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     365             :   }
+     366           0 : 
+     367             :   // initialize mapping_origin tf
+     368           0 :   bool mapping_origin_tf_enabled;
+     369           0 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     370             : 
+     371             :   if (mapping_origin_tf_enabled) {
+     372           0 : 
+     373           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     374             : 
+     375             :     if (_custom_config_ != "") {
+     376           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     377           0 :     }
+     378             : 
+     379             :     if (_platform_config_ != "") {
+     380           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     381           0 :     }
+     382           0 : 
+     383             :     if (_world_config_ != "") {
+     384           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     385             :     }
+     386             : 
+     387             :     mapping_param_loader->addYamlFileFromParam("private_config");
+     388             :     mapping_param_loader->addYamlFileFromParam("public_config");
+     389             :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     390         124 : 
+     391          62 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     392          62 :   }
+     393          62 : 
+     394          62 :   //}
+     395          62 : 
+     396          62 :   /*//{ initialize subscribers */
+     397          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     398             :   shopts.nh                 = nh_;
+     399          62 :   shopts.node_name          = getPrintName();
+     400             :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     401          62 :   shopts.threadsafe         = true;
+     402             :   shopts.autostart          = true;
+     403          62 :   shopts.queue_size         = 10;
+     404             :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     405             : 
+     406          62 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     407             : 
+     408          62 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     409           3 : 
+     410             :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     411          59 : 
+     412             :   sh_hw_api_orientation_ =
+     413             :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     414             : 
+     415          62 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     416           0 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     417           0 :   } else {
+     418             :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     419             :   }
+     420          62 :   /*//}*/
+     421          62 : 
+     422          62 :   if (!param_loader.loadedSuccessfully()) {
+     423             :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     424             :     ros::shutdown();
+     425             :   }
+     426             : 
+     427      100828 :   is_initialized_ = true;
+     428             :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     429      100828 : }
+     430           1 : /*//}*/
+     431             : 
+     432             : /*//{ callbackUavState() */
+     433      201656 : 
+     434             : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     435             : 
+     436      100828 :   if (!is_initialized_) {
+     437          62 :     return;
+     438          62 :   }
+     439          62 : 
+     440          62 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     441          62 : 
+     442             :   // obtain first frame_id
+     443             :   if (!is_first_frame_id_set_) {
+     444      100828 :     first_frame_id_                = msg->header.frame_id;
+     445             :     last_frame_id_                 = msg->header.frame_id;
+     446      100828 :     pose_fixed_                    = msg->pose;
+     447      100828 :     pose_fixed_diff_.orientation.w = 1;
+     448      100828 :     is_first_frame_id_set_         = true;
+     449      100828 :   }
+     450             : 
+     451             :   if (publish_local_origin_tf_) {
+     452      100828 :     /*//{ publish local_origin tf*/
+     453      100828 :     geometry_msgs::TransformStamped tf_msg;
+     454      100828 :     tf_msg.header.stamp    = msg->header.stamp;
+     455             :     tf_msg.header.frame_id = ns_local_origin_parent_frame_id_;
+     456      100828 :     tf_msg.child_frame_id  = ns_local_origin_child_frame_id_;
+     457           0 : 
+     458             :     // transform pose to first frame_id
+     459           0 :     geometry_msgs::PoseStamped pose;
+     460             :     pose.header = msg->header;
+     461             :     pose.pose   = msg->pose;
+     462      201656 : 
+     463             :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     464      100828 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     465      100827 :                     pose.header.frame_id.c_str());
+     466      100827 :       pose.pose.orientation.w = 1.0;
+     467      100827 :     }
+     468      100827 : 
+     469      100827 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_.substr(0, first_frame_id_.find("_origin")) + "_local_origin");
+     470             : 
+     471      100827 :     if (res) {
+     472             :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     473      100827 :       const tf2::Transform      tf_inv   = tf.inverse();
+     474             :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     475           0 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     476           0 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     477             : 
+     478             :       if (Support::noNans(tf_msg)) {
+     479           0 :         try {
+     480             :           broadcaster_->sendTransform(tf_msg);
+     481             :         }
+     482      100827 :         catch (...) {
+     483             :           ROS_ERROR("exception caught ");
+     484             :         }
+     485           1 :       } else {
+     486           1 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     487             :                           tf_msg.child_frame_id.c_str());
+     488             :       }
+     489             :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     490             :                     tf_msg.child_frame_id.c_str());
+     491      100827 :     } else {
+     492             :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not publishing local_origin transform.", getPrintName().c_str(), first_frame_id_.c_str());
+     493      100827 :       return;
+     494      100827 :     }
+     495      100827 :     /*//}*/
+     496      100827 :   }
+     497             : 
+     498             :   if (publish_stable_origin_tf_) {
+     499      100827 :     /*//{ publish stable_origin tf*/
+     500      100827 :     geometry_msgs::TransformStamped tf_msg;
+     501      100827 :     tf_msg.header.stamp    = msg->header.stamp;
+     502      100827 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     503           0 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     504             : 
+     505           0 :     // transform pose to first frame_id
+     506             :     geometry_msgs::PoseStamped pose;
+     507             :     pose.header = msg->header;
+     508      100827 :     pose.pose   = msg->pose;
+     509             :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     510      100827 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     511      100827 :                     pose.header.frame_id.c_str());
+     512      100827 :       pose.pose.orientation.w = 1.0;
+     513      100827 :     }
+     514      100827 : 
+     515      100827 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     516             : 
+     517      100827 :     if (res) {
+     518             :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     519      100827 :       const tf2::Transform      tf_inv   = tf.inverse();
+     520             :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     521           0 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     522           0 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     523             : 
+     524             :       if (Support::noNans(tf_msg)) {
+     525           0 :         try {
+     526             :           broadcaster_->sendTransform(tf_msg);
+     527             :         }
+     528      100827 :         catch (...) {
+     529             :           ROS_ERROR("exception caught ");
+     530             :         }
+     531           0 :       } else {
+     532           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     533             :                           tf_msg.child_frame_id.c_str());
+     534             :       }
+     535             :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     536             :                     tf_msg.child_frame_id.c_str());
+     537      100827 :     } else {
+     538             :       ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform pose to %s. Not publishing stable_origin transform.", getPrintName().c_str(), first_frame_id_.c_str());
+     539      100827 :       return;
+     540           4 :     }
+     541             :     /*//}*/
+     542             :   }
+     543           4 : 
+     544             :   if (publish_fixed_origin_tf_) {
+     545             :     /*//{ publish fixed_origin tf*/
+     546             :     if (msg->header.frame_id != last_frame_id_) {
+     547      100827 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     548             :                msg->header.frame_id.c_str());
+     549      201654 : 
+     550      100827 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     551      100827 :     }
+     552      100827 : 
+     553             : 
+     554      100827 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     555      100827 : 
+     556      100827 :     geometry_msgs::TransformStamped tf_msg;
+     557      100827 :     tf_msg.header.stamp    = msg->header.stamp;
+     558      100827 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     559             :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     560      100827 : 
+     561             :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     562      100827 :     const tf2::Transform      tf_inv   = tf.inverse();
+     563             :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     564           0 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     565           0 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     566             : 
+     567             :     if (Support::noNans(tf_msg)) {
+     568           0 :       try {
+     569             :         broadcaster_->sendTransform(tf_msg);
+     570             :       }
+     571      100827 :       catch (...) {
+     572             :         ROS_ERROR("exception caught ");
+     573             :       }
+     574             :     } else {
+     575             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     576             :                         tf_msg.child_frame_id.c_str());
+     577      100827 :     }
+     578           8 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     579           8 :                   tf_msg.child_frame_id.c_str());
+     580             :     /*//}*/
+     581           4 :   }
+     582             : 
+     583           4 :   /*//{ choose another source of utm and world tfs after estimator switch */
+     584             :   if (msg->header.frame_id != last_frame_id_) {
+     585             :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     586          10 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     587             : 
+     588             :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     589          10 : 
+     590             :     bool   valid_utm_source_found = false;
+     591           7 :     size_t potential_utm_source_index;
+     592           7 : 
+     593             :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     594             : 
+     595           7 :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     596           4 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     597           4 : 
+     598             :         valid_utm_source_found     = true;
+     599             :         potential_utm_source_index = i;
+     600             : 
+     601             :         // check if switched-to estimator is utm_based, if so, use it
+     602             :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     603             :           potential_utm_source_index = i;
+     604           4 :           break;
+     605             :         }
+     606             :       }
+     607          20 :     }
+     608          16 : 
+     609           4 : 
+     610           4 :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     611             :     if (valid_utm_source_found) {
+     612             : 
+     613             :       // stop all estimators from publishing utm source
+     614           4 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     615           4 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     616             :           tf_sources_.at(i)->setIsUtmSource(false);
+     617             :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     618             :         }
+     619             :       }
+     620      100827 : 
+     621             :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     622             :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     623             :     }
+     624             :   }
+     625             :   /*//}*/
+     626       91204 : 
+     627             :   last_frame_id_ = msg->header.frame_id;
+     628       91204 : }
+     629           0 : /*//}*/
+     630             : 
+     631             : /*//{ callbackHeightAgl() */
+     632      273612 : 
+     633             : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     634      182408 : 
+     635       91204 :   if (!is_initialized_) {
+     636       91204 :     return;
+     637       91204 :   }
+     638             : 
+     639       91204 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     640       91204 : 
+     641       91204 :   geometry_msgs::TransformStamped tf_msg;
+     642       91204 :   tf_msg.header.stamp    = msg->header.stamp;
+     643       91204 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     644       91204 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     645       91204 : 
+     646             :   tf_msg.transform.translation.x = 0;
+     647       91204 :   tf_msg.transform.translation.y = 0;
+     648             :   tf_msg.transform.translation.z = -msg->value;
+     649       91204 :   tf_msg.transform.rotation.x    = 0;
+     650             :   tf_msg.transform.rotation.y    = 0;
+     651           0 :   tf_msg.transform.rotation.z    = 0;
+     652           0 :   tf_msg.transform.rotation.w    = 1;
+     653             : 
+     654             :   if (Support::noNans(tf_msg)) {
+     655           0 :     try {
+     656             :       broadcaster_->sendTransform(tf_msg);
+     657             :     }
+     658       91204 :     catch (...) {
+     659             :       ROS_ERROR("exception caught ");
+     660             :     }
+     661             :   } else {
+     662             :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     663             :                       tf_msg.child_frame_id.c_str());
+     664             :   }
+     665      112586 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     666             :                 tf_msg.child_frame_id.c_str());
+     667      112586 : }
+     668           0 : /*//}*/
+     669             : 
+     670             : /*//{ callbackAltitudeAmsl() */
+     671      337758 : 
+     672             : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     673      225172 : 
+     674      112586 :   if (!is_initialized_) {
+     675      112586 :     return;
+     676      112586 :   }
+     677             : 
+     678      112586 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     679      112586 : 
+     680      112586 :   geometry_msgs::TransformStamped tf_msg;
+     681      112586 :   tf_msg.header.stamp    = msg->stamp;
+     682      112586 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     683      112586 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     684      112586 : 
+     685             :   tf_msg.transform.translation.x = 0;
+     686      112586 :   tf_msg.transform.translation.y = 0;
+     687             :   tf_msg.transform.translation.z = -msg->amsl;
+     688      112564 :   tf_msg.transform.rotation.x    = 0;
+     689             :   tf_msg.transform.rotation.y    = 0;
+     690           0 :   tf_msg.transform.rotation.z    = 0;
+     691           0 :   tf_msg.transform.rotation.w    = 1;
+     692             : 
+     693             :   if (Support::noNans(tf_msg)) {
+     694          22 :     try {
+     695             :       broadcaster_->sendTransform(tf_msg);
+     696             :     }
+     697      112586 :     catch (...) {
+     698             :       ROS_ERROR("exception caught ");
+     699             :     }
+     700             :   } else {
+     701             :     ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     702             :                       tf_msg.child_frame_id.c_str());
+     703      120462 :   }
+     704             :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     705      120462 :                 tf_msg.child_frame_id.c_str());
+     706           0 : }
+     707             : /*//}*/
+     708             : 
+     709      361386 : /*//{ callbackHwApiOrientation() */
+     710             : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     711      120462 : 
+     712      120462 :   if (!is_initialized_) {
+     713             :     return;
+     714             :   }
+     715             : 
+     716             :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     717             : 
+     718       58091 :   if (publish_fcu_untilted_tf_) {
+     719             :     publishFcuUntiltedTf(msg);
+     720       58091 :   }
+     721       58032 : }
+     722             : /*//}*/
+     723             : 
+     724       58091 : /*//{ callbackGnss() */
+     725       58032 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     726             : 
+     727             :   if (!is_initialized_) {
+     728         118 :     return;
+     729             :   }
+     730             : 
+     731             :   if (got_utm_offset_) {
+     732             :     return;
+     733          59 :   }
+     734             : 
+     735          59 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     736           0 : 
+     737           0 :   double out_x;
+     738             :   double out_y;
+     739             : 
+     740          59 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     741           0 : 
+     742           0 :   if (!std::isfinite(out_x)) {
+     743             :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     744             :     return;
+     745          59 :   }
+     746          59 : 
+     747          59 :   if (!std::isfinite(out_y)) {
+     748          59 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     749             :     return;
+     750          59 :   }
+     751             : 
+     752         119 :   geometry_msgs::Point utm_origin;
+     753          60 :   utm_origin.x = out_x;
+     754          60 :   utm_origin.y = out_y;
+     755             :   utm_origin.z = msg->altitude;
+     756          59 : 
+     757             :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from GNSS", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     758             : 
+     759             :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     760             :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     761        3469 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     762             :   }
+     763        3469 :   got_utm_offset_ = true;
+     764        3466 : }
+     765             : /*//}*/
+     766             : 
+     767        3469 : /*//{ callbackRtkGps() */
+     768        3463 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     769             : 
+     770             :   if (!is_initialized_) {
+     771          12 :     return;
+     772             :   }
+     773             : 
+     774             :   if (got_utm_offset_) {
+     775             :     return;
+     776           6 :   }
+     777             : 
+     778           6 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     779           0 : 
+     780           0 :   double out_x;
+     781             :   double out_y;
+     782             : 
+     783           6 :   geometry_msgs::PoseStamped rtk_pos;
+     784           0 : 
+     785           0 :   if (!std::isfinite(msg->gps.latitude)) {
+     786             :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     787             :     return;
+     788           6 :   }
+     789           0 : 
+     790           0 :   if (!std::isfinite(msg->gps.longitude)) {
+     791             :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     792             :     return;
+     793           6 :   }
+     794           0 : 
+     795           0 :   if (!std::isfinite(msg->gps.altitude)) {
+     796             :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     797             :     return;
+     798           6 :   }
+     799           6 : 
+     800           6 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     801           6 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     802             :     return;
+     803           6 :   }
+     804           6 : 
+     805             :   rtk_pos.header = msg->header;
+     806             :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     807             :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     808           6 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     809           6 : 
+     810           3 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     811             :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     812           3 : 
+     813           3 : 
+     814             :   // transform the RTK position from antenna to FCU
+     815             :   auto res = transformRtkToFcu(rtk_pos);
+     816           3 :   if (res) {
+     817             :     rtk_pos.pose = res.value();
+     818           3 :   } else {
+     819           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     820           0 :     return;
+     821             :   }
+     822             : 
+     823           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     824           0 : 
+     825           0 :   if (!std::isfinite(out_x)) {
+     826             :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     827             :     return;
+     828           3 :   }
+     829           3 : 
+     830           3 :   if (!std::isfinite(out_y)) {
+     831           3 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     832             :     return;
+     833           3 :   }
+     834             : 
+     835           9 :   geometry_msgs::Point utm_origin;
+     836           6 :   utm_origin.x = out_x;
+     837           6 :   utm_origin.y = out_y;
+     838             :   utm_origin.z = msg->gps.altitude;
+     839           3 : 
+     840             :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from RTK msg", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     841             : 
+     842             :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     843             :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     844      120462 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     845             :   }
+     846      240924 :   got_utm_offset_ = true;
+     847             : }
+     848             : /*//}*/
+     849             : 
+     850             : /*//{ publishFcuUntiltedTf() */
+     851      120462 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     852             : 
+     853           0 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     854           0 : 
+     855           0 :   double heading;
+     856             : 
+     857      120462 :   try {
+     858             :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     859      120462 :   }
+     860      120462 :   catch (...) {
+     861             :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     862      120462 :     return;
+     863      120462 :   }
+     864             :   scope_timer.checkpoint("heading");
+     865      120462 : 
+     866             :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     867      120462 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     868      120462 : 
+     869      120462 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     870      120462 :   const tf2::Quaternion q_inv = q.inverse();
+     871      120462 : 
+     872      120462 :   scope_timer.checkpoint("q inverse");
+     873      120462 : 
+     874      120462 :   geometry_msgs::TransformStamped tf;
+     875             :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     876      120462 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     877      120462 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     878      120462 :   tf.transform.translation.x = 0.0;
+     879             :   tf.transform.translation.y = 0.0;
+     880           0 :   tf.transform.translation.z = 0.0;
+     881             :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     882      120462 : 
+     883             :   scope_timer.checkpoint("tf fill");
+     884             :   if (Support::noNans(tf)) {
+     885             :     broadcaster_->sendTransform(tf);
+     886             :   } else {
+     887           6 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     888             :   }
+     889          12 :   scope_timer.checkpoint("tf pub");
+     890             : }
+     891             : /*//}*/
+     892          12 : 
+     893           6 : /*//{ transformRtkToFcu() */
+     894           3 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     895             : 
+     896           3 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     897             : 
+     898           3 :   // inject current orientation into rtk pose
+     899             :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     900             :   if (res1) {
+     901             :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     902           3 :   } else {
+     903           6 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(), ch_->frames.ns_fcu_untilted.c_str(),
+     904           3 :                        ch_->frames.ns_fcu.c_str());
+     905           3 :     return {};
+     906           3 :   }
+     907             : 
+     908             :   // invert tf
+     909           6 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     910           3 :   geometry_msgs::PoseStamped utm_in_antenna;
+     911           3 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     912           6 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     913             :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     914           3 : 
+     915           3 :   // transform to fcu
+     916             :   geometry_msgs::PoseStamped utm_in_fcu;
+     917           0 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     918           0 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     919             :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     920             : 
+     921             :   if (res2) {
+     922           3 :     utm_in_fcu = res2.value();
+     923           3 :   } else {
+     924             :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform RTK pose from %s to %s.", getPrintName().c_str(), utm_in_antenna.header.frame_id.c_str(),
+     925           3 :                        ch_->frames.ns_fcu.c_str());
+     926             :     return {};
+     927             :   }
+     928             : 
+     929             :   // invert tf
+     930           0 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     931           0 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     932             : 
+     933             :   return fcu_in_utm;
+     934             : }
+     935             : /*//}*/
+     936         943 : 
+     937         943 : /*//{ getName() */
+     938             : std::string TransformManager::getName() const {
+     939             :   return name_;
+     940             : }
+     941             : /*//}*/
+     942             : 
+     943             : /*//{ getPrintName() */
+     944             : std::string TransformManager::getPrintName() const {
+     945             :   return nodelet_name_;
+     946          62 : }
+     947             : /*//}*/
+     948             : 
+     949             : }  // namespace transform_manager
+     950             : 
+     951             : }  // namespace mrs_uav_managers
+     952             : 
+     953             : #include <pluginlib/class_list_macros.h>
+     954             : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::transform_manager::TransformManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..c43d32dcaf --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.overview.html @@ -0,0 +1,259 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..043ebefdcdb61be4e463828c8112b217b1962062 GIT binary patch literal 3525 zcmV;$4Lb6PP)C zrnA}yTR?g1p)7y~;K8nATdaU;|3?7j-Z`L|85Oz)RB;*`!)ON7VJkpwXei)OMr0bz za#Tna0aabwMdJ}<62`;$3dSy@X29XDrDg^sz!Kn4*N2!nPcney57CNH=56Ywzgq}uL9zufZp7-5pYVg z)gtj3E5(7aD;QxiEXR~Vz!7z~^SqsMGlz=}2tMtPepG@$Yw&P@_^<#~%`!cDH_?D&SF(1D10fCc-GRy`3oN z=KYdaP#qXYGAuK&yFJbDJcwMCAxG87oG?99aRos3i3+&jPr6+XhE2*?*O7}ZP4cBP zy3QlJbhnyx5QWFYGmFnd z7^#{lyiI1DlBoYtOXN3_|I|L|GRb|l#B(4U*3xUw0qq!ZYXOd81VWuc<}gM_qk^vO2?kJ6aG|9R4@NT`g{mbkr)V{V1UHjx^Q z6_J`C)v~hXwfvgnnm%IJD95GnGrF!*_A$%1r$Yc4!fJThCjdlPA48y6Ax+zA9TAm(r6bri1t;ov)800&jK=egEe5Z(a)+ z2fE%d)(sl0V_lLnpHs3fMnM~Paa}7#Q+sfm$!6O8b;9+QOW}9Acr@KPnA(3sdy)>d zX!JEvOg?tA*BKeKDAxgmH>GPJrca|MfNT(JW|YzP6`+oBU}Vl8>({^_rWodA4B6dB%z|@tA+R{081bv4F9wF!Kmmt|d8p zC`ncYXoDL_n;(#NKVx~O0T=*2Y2ovU%Qjp7zO(DxH>8>f@v8>hp3^S@@Kq{ELtT?% zK`0V@{w=kBj4@NFClV^{Ia1|9iW{mKYQ*(G^)TKTjaD_=L1UZ97LAz53uyfG45P7? z9aZ!#8ea_1NaH}OO%!e!Oj~Ti);3w(j`2RQ_gZUUA1|n-l!)1fwJvy9g$i4I?*34cD-w!EMiyH%O6FSwl49B_3r{z(9s%wmoZ0E2wyE zTCt19Hjzyl5s??rxEfbz+cZ)@BaNro9#pC602+-{X6c)@$L>C&_sAiNX8NZGUCz?# z=B2`p;sP2jq`n5+Fbi>8ZrI2*;pQc;vc3L!ID=*SXTup9y8gv*W@lJ3*iHeMMi>0OWR4OkXFuCq!RMW@Q`@o3yovh*v505I~R5N4CH0m25xVAv?=cG;?TBl0Z4=N% z8!s@Yno%2^GpP#P+DO9V@K)LkB&M%oV@|ndA9etXG$UXo-8z+W+6p9fh7qF(c)=0+ zPDvlj(HEU|dIV6d4axe60X-6SM~<~GmH~YQh{_M9ApC(+fM=|KKi^8SIk61jsVzou zU#NGTuG^TphxyE7y;6_lH+_`e(-H~Y855sU1dO`Y#w2%5HY}?_?lpy>yOTpW^4X{y z`}-9m*XUA=?VqHUHQ=@(TG%>30bx8C#sK)>De30}DO}=!LAx;^Qe5MlnXJZngKnhN zc+OPph;t`kHHAJa2(sy0LCuK9$T`hW*QVXB6YV*59iE^j@4|5zs<^dw5gN^bAsW7% z8l<{;IBFa!=^}gtuei2t@#U7{o`d3htUS8(CIR-X#fV8UA^Zn!xK&{%Zn$MgxhBZW zo#uwif*78wuiEIad2KN%=euFpDAl`@V}c_)^%7Vuo}YKc4KKwFFXa5ZtE#v^@7ib| zI!!gCi81}$YEbc@RQUM{56}0Ljtr9#StPNNxV4{m)dB4#J7eROIQ>3=eAge0P2-+H ze1Ilj7gE8mv4$(mdRIGJ3e3Ys1Z8_+j&Km9f`6+<*;VZ61ziajJ(KO3oJZ zb*5N~n^{|mxmuE&nd?h+RZlZ!>4&Az++yAd}B^ zr|Ddx%8R1~(7e3=*7tALL7WMYc-2!@&gA9&`omo*>3?c@pG^>jx5=2BvF%TE zJiG?zTgtni8D(|<5TML9KWe)gF*X2cdi46FaPp)a0JKh5^HvUHwx{gJ6}z@tQe(Eq zyn>$Xt@f_Z&h}>I8#lpMjBK7OJm0l!uUHDE=(UFb5%b_!~KJ>PGZ+eA`{)kx4hHurM)q-Y6XkOi8deab(RdLVX!)|UxOVlGs(6w+3fq$@V zO*isFHY@4-g~Q049(>qap|NNEgt%8^=6eB>*%xl!^=YtZc0hAup#plPd-;ct1E;2M z>7Xl+;m+H*LoB~04Bs7VJPWP&u$Rkm@MeL4;crCt_eOAC0JlK2ZKU=9-dp^SGgD4= z!c#ufwmmreRG8A=i~IykXi0CDjHTrH1O-(~%@s4FAy@Z2*Pn24Z67B`QY;GF;)0)x zYqy_^Ym0|zls52tU7YUdDi>GwD$>i{FBt1X%t-ax|66AM+Q`_z>fnRVL016TffJXn z?;DI%d3R#Pi8=K*LE7ywuBsk zI?65phCepOHZjQ>ZrkBs^szhE=06}HMVgyb<}Obqo%*Fx_g^Y? z3ZQIDGN7^jQmK>{`!#YGV(rVeG@k zqPGGWuMf^HL%&4OWS`QMF;1>D721CmXdNkNG!JyUGP^FATvu!kF;1>W8QHg0k zrH|zFV`RS>9NO>Dc={oYVPDvCg8+Evxt*Ae0M~sw&*$3QN|M_-4;MWfcWko|Ugfdw z(E7zy(k1WEvk + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp - functions + + + + + + + + + + + + + + +
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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:758116565.1 %
Date:2024-01-14 11:12:21Functions:353892.1 %
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::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::landSrv()4
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()4
mrs_uav_managers::uav_manager::UavManager::disarmSrv()6
mrs_uav_managers::uav_manager::UavManager::ungripSrv()6
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()8
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()11
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)13
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)14
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)45
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)45
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()46
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)46
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)49
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::uav_manager::UavManager::initialize()62
mrs_uav_managers::uav_manager::UavManager::preinitialize()62
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)62
mrs_uav_managers::uav_manager::UavManager::onInit()62
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)72
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)84
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)85
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)120
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)121
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)141
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)525
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)610
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)1205
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)12002
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)12002
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)31272
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)58874
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)100821
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.func.html b/mrs_uav_managers/src/uav_manager.cpp.func.html new file mode 100644 index 0000000000..046bba50cd --- /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
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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:758116565.1 %
Date:2024-01-14 11:12:21Functions:353892.1 %
Legend: Lines: + hit + not hit +
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+ +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_managers::uav_manager::UavManager::initialize()62
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()11
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)45
mrs_uav_managers::uav_manager::UavManager::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)2
mrs_uav_managers::uav_manager::UavManager::pirouetteSrv()0
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)610
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)525
mrs_uav_managers::uav_manager::UavManager::preinitialize()62
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)12002
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)12002
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)13
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)141
mrs_uav_managers::uav_manager::UavManager::callbackLandHome(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)100821
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)121
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)1205
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)31272
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)58874
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)14
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()8
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)120
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)49
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()46
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)85
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)45
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)84
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)62
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)72
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)46
mrs_uav_managers::uav_manager::UavManager::onInit()62
mrs_uav_managers::uav_manager::UavManager::landSrv()4
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()4
mrs_uav_managers::uav_manager::UavManager::disarmSrv()6
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()6
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..f6c3894100 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.html new file mode 100644 index 0000000000..2486e3f1fc --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.html @@ -0,0 +1,2754 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:758116565.1 %
Date:2024-01-14 11:12:21Functions:353892.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_srvs/SetBool.h>
+       7             : #include <std_srvs/Trigger.h>
+       8             : #include <std_msgs/String.h>
+       9             : #include <std_msgs/Float64.h>
+      10             : 
+      11             : #include <geometry_msgs/Vector3Stamped.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <mrs_msgs/Vec1.h>
+      15             : #include <mrs_msgs/Vec4.h>
+      16             : #include <mrs_msgs/String.h>
+      17             : #include <mrs_msgs/TrackerCommand.h>
+      18             : #include <mrs_msgs/Float64Stamped.h>
+      19             : #include <mrs_msgs/Float64.h>
+      20             : #include <mrs_msgs/BoolStamped.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      23             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+      24             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      25             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      26             : #include <mrs_msgs/EstimationDiagnostics.h>
+      27             : #include <mrs_msgs/HwApiStatus.h>
+      28             : #include <mrs_msgs/ControllerDiagnostics.h>
+      29             : #include <mrs_msgs/HwApiCapabilities.h>
+      30             : 
+      31             : #include <sensor_msgs/NavSatFix.h>
+      32             : 
+      33             : #include <mrs_lib/profiler.h>
+      34             : #include <mrs_lib/scope_timer.h>
+      35             : #include <mrs_lib/param_loader.h>
+      36             : #include <mrs_lib/mutex.h>
+      37             : #include <mrs_lib/transformer.h>
+      38             : #include <mrs_lib/attitude_converter.h>
+      39             : #include <mrs_lib/subscribe_handler.h>
+      40             : #include <mrs_lib/publisher_handler.h>
+      41             : #include <mrs_lib/service_client_handler.h>
+      42             : #include <mrs_lib/msg_extractor.h>
+      43             : #include <mrs_lib/geometry/cyclic.h>
+      44             : #include <mrs_lib/geometry/misc.h>
+      45             : #include <mrs_lib/quadratic_throttle_model.h>
+      46             : 
+      47             : //}
+      48             : 
+      49             : /* using //{ */
+      50             : 
+      51             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      52             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      53             : 
+      54             : using radians  = mrs_lib::geometry::radians;
+      55             : using sradians = mrs_lib::geometry::sradians;
+      56             : 
+      57             : //}
+      58             : 
+      59             : namespace mrs_uav_managers
+      60             : {
+      61             : 
+      62             : namespace uav_manager
+      63             : {
+      64             : 
+      65             : /* //{ class UavManager */
+      66             : 
+      67             : // state machine
+      68             : typedef enum
+      69             : {
+      70             : 
+      71             :   IDLE_STATE,
+      72             :   GOTO_STATE,
+      73             :   LANDING_STATE,
+      74             : 
+      75             : } LandingStates_t;
+      76             : 
+      77             : const char* state_names[3] = {
+      78             : 
+      79             :     "IDLING", "GOTO", "LANDING"};
+      80             : 
+      81             : class UavManager : public nodelet::Nodelet {
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             :   bool            is_initialized_ = false;
+      86             :   std::string     _uav_name_;
+      87             : 
+      88             : public:
+      89             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+      90             : 
+      91             : public:
+      92             :   bool                                       scope_timer_enabled_ = false;
+      93             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+      94             : 
+      95             : public:
+      96             :   virtual void onInit();
+      97             : 
+      98             :   // | ------------------------- HW API ------------------------- |
+      99             : 
+     100             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     101             : 
+     102             :   // this timer will check till we already got the hardware api diagnostics
+     103             :   // then it will trigger the initialization of the controllers and finish
+     104             :   // the initialization of the ControlManager
+     105             :   ros::Timer timer_hw_api_capabilities_;
+     106             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     107             : 
+     108             :   void preinitialize(void);
+     109             :   void initialize(void);
+     110             : 
+     111             :   mrs_msgs::HwApiCapabilities hw_api_capabilities_;
+     112             : 
+     113             :   // | ----------------------- subscribers ---------------------- |
+     114             : 
+     115             :   mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>        sh_controller_diagnostics_;
+     116             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>                     sh_odometry_;
+     117             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>        sh_estimation_diagnostics_;
+     118             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>    sh_control_manager_diag_;
+     119             :   mrs_lib::SubscribeHandler<std_msgs::Float64>                      sh_mass_estimate_;
+     120             :   mrs_lib::SubscribeHandler<std_msgs::Float64>                      sh_throttle_;
+     121             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>               sh_height_;
+     122             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>                  sh_hw_api_status_;
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>       sh_gains_diag_;
+     124             :   mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics> sh_constraints_diag_;
+     125             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>                 sh_hw_api_gnss_;
+     126             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>               sh_max_height_;
+     127             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>               sh_tracker_cmd_;
+     128             : 
+     129             :   void callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     130             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     131             : 
+     132             :   // service servers
+     133             :   ros::ServiceServer service_server_takeoff_;
+     134             :   ros::ServiceServer service_server_land_;
+     135             :   ros::ServiceServer service_server_land_home_;
+     136             :   ros::ServiceServer service_server_land_there_;
+     137             :   ros::ServiceServer service_server_midair_activation_;
+     138             : 
+     139             :   // service callbacks
+     140             :   bool callbackTakeoff(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     141             :   bool callbackLand(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     142             :   bool callbackLandHome(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     143             :   bool callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     144             : 
+     145             :   // service clients
+     146             :   mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>                sch_takeoff_;
+     147             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_tracker_;
+     148             :   mrs_lib::ServiceClientHandler<mrs_msgs::String>              sch_switch_controller_;
+     149             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_land_;
+     150             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_eland_;
+     151             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ehover_;
+     152             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_control_callbacks_;
+     153             :   mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> sch_emergency_reference_;
+     154             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_arm_;
+     155             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_pirouette_;
+     156             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_odometry_callbacks_;
+     157             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_ungrip_;
+     158             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool>             sch_toggle_control_output_;
+     159             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger>             sch_offboard_;
+     160             : 
+     161             :   // service client wrappers
+     162             :   bool takeoffSrv(void);
+     163             :   bool switchTrackerSrv(const std::string& tracker);
+     164             :   bool switchControllerSrv(const std::string& controller);
+     165             :   bool landSrv(void);
+     166             :   bool elandSrv(void);
+     167             :   bool ehoverSrv(void);
+     168             :   void disarmSrv(void);
+     169             :   bool emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal);
+     170             :   void setOdometryCallbacksSrv(const bool& input);
+     171             :   void setControlCallbacksSrv(const bool& input);
+     172             :   void ungripSrv(void);
+     173             :   bool toggleControlOutput(const bool& input);
+     174             :   void pirouetteSrv(void);
+     175             :   bool offboardSrv(const bool in);
+     176             : 
+     177             :   ros::Timer timer_takeoff_;
+     178             :   ros::Timer timer_max_height_;
+     179             :   ros::Timer timer_min_height_;
+     180             :   ros::Timer timer_landing_;
+     181             :   ros::Timer timer_maxthrottle_;
+     182             :   ros::Timer timer_flighttime_;
+     183             :   ros::Timer timer_diagnostics_;
+     184             :   ros::Timer timer_midair_activation_;
+     185             : 
+     186             :   // timer callbacks
+     187             :   void timerLanding(const ros::TimerEvent& event);
+     188             :   void timerTakeoff(const ros::TimerEvent& event);
+     189             :   void timerMaxHeight(const ros::TimerEvent& event);
+     190             :   void timerMinHeight(const ros::TimerEvent& event);
+     191             :   void timerFlightTime(const ros::TimerEvent& event);
+     192             :   void timerMaxthrottle(const ros::TimerEvent& event);
+     193             :   void timerDiagnostics(const ros::TimerEvent& event);
+     194             : 
+     195             :   // publishers
+     196             :   mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics> ph_diag_;
+     197             : 
+     198             :   // max height checking
+     199             :   bool              _max_height_enabled_ = false;
+     200             :   double            _max_height_checking_rate_;
+     201             :   double            _max_height_offset_;
+     202             :   std::atomic<bool> fixing_max_height_ = false;
+     203             : 
+     204             :   // min height checking
+     205             :   bool              _min_height_enabled_ = false;
+     206             :   double            _min_height_checking_rate_;
+     207             :   double            _min_height_offset_;
+     208             :   double            _min_height_;
+     209             :   std::atomic<bool> fixing_min_height_ = false;
+     210             : 
+     211             :   // mass estimation during landing
+     212             :   double    throttle_mass_estimate_;
+     213             :   bool      throttle_under_threshold_ = false;
+     214             :   ros::Time throttle_mass_estimate_first_time_;
+     215             : 
+     216             :   // velocity during landing
+     217             :   bool      velocity_under_threshold_ = false;
+     218             :   ros::Time velocity_under_threshold_first_time_;
+     219             : 
+     220             :   bool _gain_manager_required_       = false;
+     221             :   bool _constraint_manager_required_ = false;
+     222             : 
+     223             :   std::tuple<bool, std::string> landImpl(void);
+     224             :   std::tuple<bool, std::string> landWithDescendImpl(void);
+     225             :   std::tuple<bool, std::string> midairActivationImpl(void);
+     226             : 
+     227             :   // saved takeoff coordinates and allows to land there again
+     228             :   mrs_msgs::ReferenceStamped land_there_reference_;
+     229             :   std::mutex                 mutex_land_there_reference_;
+     230             : 
+     231             :   // to which height to takeoff
+     232             :   double _takeoff_height_;
+     233             : 
+     234             :   std::atomic<bool> takeoff_successful_ = false;
+     235             : 
+     236             :   // names of important trackers
+     237             :   std::string _null_tracker_name_;
+     238             : 
+     239             :   // takeoff timer
+     240             :   double     _takeoff_timer_rate_;
+     241             :   bool       takingoff_            = false;
+     242             :   int        number_of_takeoffs_   = 0;
+     243             :   double     last_mass_difference_ = 0;
+     244             :   std::mutex mutex_last_mass_difference_;
+     245             :   bool       waiting_for_takeoff_ = false;
+     246             : 
+     247             :   // after takeoff
+     248             :   std::string _after_takeoff_tracker_name_;
+     249             :   std::string _after_takeoff_controller_name_;
+     250             :   std::string _takeoff_tracker_name_;
+     251             :   std::string _takeoff_controller_name_;
+     252             :   bool        _after_takeoff_pirouette_ = false;
+     253             : 
+     254             :   // Landing timer
+     255             :   std::string _landing_tracker_name_;
+     256             :   std::string _landing_controller_name_;
+     257             :   double      _landing_cutoff_mass_factor_;
+     258             :   double      _landing_cutoff_mass_timeout_;
+     259             :   double      _landing_timer_rate_;
+     260             :   double      _landing_descend_height_;
+     261             :   bool        landing_ = false;
+     262             :   double      _uav_mass_;
+     263             :   double      _g_;
+     264             :   double      landing_uav_mass_;
+     265             :   bool        _landing_disarm_ = false;
+     266             :   double      _landing_tracking_tolerance_translation_;
+     267             :   double      _landing_tracking_tolerance_heading_;
+     268             : 
+     269             :   // diagnostics timer
+     270             :   double _diagnostics_timer_rate_;
+     271             : 
+     272             :   mrs_lib::quadratic_throttle_model::MotorParams_t _throttle_model_;
+     273             : 
+     274             :   // landing state machine states
+     275             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     276             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     277             : 
+     278             :   // timer for checking max flight time
+     279             :   double     _flighttime_timer_rate_;
+     280             :   double     _flighttime_max_time_;
+     281             :   bool       _flighttime_timer_enabled_ = false;
+     282             :   double     flighttime_                = 0;
+     283             :   std::mutex mutex_flighttime_;
+     284             : 
+     285             :   // timer for checking maximum throttle
+     286             :   bool      _maxthrottle_timer_enabled_ = false;
+     287             :   double    _maxthrottle_timer_rate_;
+     288             :   double    _maxthrottle_max_throttle_;
+     289             :   double    _maxthrottle_eland_timeout_;
+     290             :   double    _maxthrottle_ungrip_timeout_;
+     291             :   bool      maxthrottle_above_threshold_ = false;
+     292             :   ros::Time maxthrottle_first_time_;
+     293             : 
+     294             :   // profiler
+     295             :   mrs_lib::Profiler profiler_;
+     296             :   bool              _profiler_enabled_ = false;
+     297             : 
+     298             :   // midair activation
+     299             :   void      timerMidairActivation(const ros::TimerEvent& event);
+     300             :   bool      callbackMidairActivation(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     301             :   ros::Time midair_activation_started_;
+     302             : 
+     303             :   double      _midair_activation_timer_rate_;
+     304             :   std::string _midair_activation_during_controller_;
+     305             :   std::string _midair_activation_during_tracker_;
+     306             :   std::string _midair_activation_after_controller_;
+     307             :   std::string _midair_activation_after_tracker_;
+     308             : 
+     309             :   void changeLandingState(LandingStates_t new_state);
+     310             : };
+     311             : 
+     312             : //}
+     313             : 
+     314             : /* onInit() //{ */
+     315             : 
+     316          62 : void UavManager::onInit() {
+     317          62 :   preinitialize();
+     318          62 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324          62 : void UavManager::preinitialize(void) {
+     325             : 
+     326          62 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328          62 :   ros::Time::waitForValid();
+     329             : 
+     330          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331          62 :   shopts.nh                 = nh_;
+     332          62 :   shopts.node_name          = "ControlManager";
+     333          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334          62 :   shopts.threadsafe         = true;
+     335          62 :   shopts.autostart          = true;
+     336          62 :   shopts.queue_size         = 10;
+     337          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339          62 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341          62 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342          62 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348          62 : void UavManager::initialize() {
+     349             : 
+     350          62 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352         124 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354         124 :   std::string custom_config_path;
+     355         124 :   std::string platform_config_path;
+     356         124 :   std::string world_config_path;
+     357             : 
+     358          62 :   param_loader.loadParam("custom_config", custom_config_path);
+     359          62 :   param_loader.loadParam("platform_config", platform_config_path);
+     360          62 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362          62 :   if (custom_config_path != "") {
+     363          62 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366          62 :   if (platform_config_path != "") {
+     367          62 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370          62 :   if (world_config_path != "") {
+     371          62 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374          62 :   param_loader.addYamlFileFromParam("private_config");
+     375          62 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377         124 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380          62 :   param_loader.loadParam("uav_name", _uav_name_);
+     381          62 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382          62 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383          62 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386          62 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387          62 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388          62 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390          62 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392          62 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393          62 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394          62 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395          62 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/pirouette", _after_takeoff_pirouette_);
+     396          62 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     397          62 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     398          62 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     399             : 
+     400          62 :   if (_takeoff_height_ < 0.5 || _takeoff_height_ > 10.0) {
+     401           0 :     ROS_ERROR("[UavManager]: the takeoff height (%.2f m) has to be between 0.5 and 10 meters", _takeoff_height_);
+     402           0 :     ros::shutdown();
+     403             :   }
+     404             : 
+     405          62 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     406          62 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     407          62 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     408          62 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     409          62 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     410          62 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     411          62 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     412          62 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     413          62 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     414             : 
+     415          62 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     416          62 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     417          62 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     418          62 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     419          62 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     420             : 
+     421          62 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     422          62 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     423          62 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     424             : 
+     425          62 :   param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", _min_height_enabled_);
+     426          62 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     427          62 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     428          62 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     429             : 
+     430          62 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     431          62 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     432             : 
+     433          62 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     434          62 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     435          62 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     436             : 
+     437          62 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     438          62 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     439          62 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     440          62 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     441          62 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     442             : 
+     443          62 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     444             : 
+     445             :   // | ------------------- scope timer logger ------------------- |
+     446             : 
+     447          62 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     448         186 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     449          62 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     450             : 
+     451          62 :   if (!param_loader.loadedSuccessfully()) {
+     452           0 :     ROS_ERROR("[UavManager]: Could not load all parameters!");
+     453           0 :     ros::shutdown();
+     454             :   }
+     455             : 
+     456             :   // | --------------------- tf transformer --------------------- |
+     457             : 
+     458          62 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     459          62 :   transformer_->setDefaultPrefix(_uav_name_);
+     460          62 :   transformer_->retryLookupNewest(true);
+     461             : 
+     462             :   // | ----------------------- subscribers ---------------------- |
+     463             : 
+     464         124 :   mrs_lib::SubscribeHandlerOptions shopts;
+     465          62 :   shopts.nh                 = nh_;
+     466          62 :   shopts.node_name          = "UavManager";
+     467          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     468          62 :   shopts.threadsafe         = true;
+     469          62 :   shopts.autostart          = true;
+     470          62 :   shopts.queue_size         = 10;
+     471          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     472             : 
+     473          62 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     474          62 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     475          62 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     476          62 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     477          62 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     478          62 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     479          62 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     480          62 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     481          62 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     482          62 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     483          62 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     484          62 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     485          62 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     486             : 
+     487             :   // | ----------------------- publishers ----------------------- |
+     488             : 
+     489          62 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     490             : 
+     491             :   // | --------------------- service servers -------------------- |
+     492             : 
+     493          62 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     494          62 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     495          62 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     496          62 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     497          62 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     498             : 
+     499             :   // | --------------------- service clients -------------------- |
+     500             : 
+     501          62 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     502          62 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     503          62 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     504          62 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     505          62 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     506          62 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     507          62 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     508          62 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     509          62 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     510          62 :   sch_pirouette_             = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "pirouette_out");
+     511          62 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     512          62 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     513          62 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     514          62 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     515             : 
+     516             :   // | ---------------------- state machine --------------------- |
+     517             : 
+     518          62 :   current_state_landing_ = IDLE_STATE;
+     519             : 
+     520             :   // | ------------------------ profiler ------------------------ |
+     521             : 
+     522          62 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     523             : 
+     524             :   // | ------------------------- timers ------------------------- |
+     525             : 
+     526          62 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     527          62 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     528          62 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     529          62 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     530          62 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     531         124 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     532         124 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     533         124 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     534         124 :                                       _min_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     535             : 
+     536          59 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     537         121 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     538             : 
+     539             :   timer_maxthrottle_ =
+     540          62 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     541             : 
+     542             :   // | ----------------------- finish init ---------------------- |
+     543             : 
+     544          62 :   is_initialized_ = true;
+     545             : 
+     546          62 :   ROS_INFO("[UavManager]: initialized");
+     547             : 
+     548          62 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     549          62 : }
+     550             : 
+     551             : //}
+     552             : 
+     553             : //}
+     554             : 
+     555             : // | ---------------------- state machine --------------------- |
+     556             : 
+     557             : /* //{ changeLandingState() */
+     558             : 
+     559          14 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     560             : 
+     561          14 :   previous_state_landing_ = current_state_landing_;
+     562          14 :   current_state_landing_  = new_state;
+     563             : 
+     564          14 :   switch (current_state_landing_) {
+     565             : 
+     566           4 :     case LANDING_STATE: {
+     567             : 
+     568           4 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     569             : 
+     570             :         // copy member variables
+     571           4 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     572             : 
+     573           4 :         landing_uav_mass_ = mass_esimtate->data;
+     574             :       }
+     575             : 
+     576           4 :       break;
+     577             :     };
+     578             : 
+     579          10 :     default: {
+     580          10 :       break;
+     581             :     }
+     582             :   }
+     583             : 
+     584             :   // just for ROS_INFO
+     585          14 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     586          14 : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : // --------------------------------------------------------------
+     591             : // |                           timers                           |
+     592             : // --------------------------------------------------------------
+     593             : 
+     594             : /* timerHwApiCapabilities() //{ */
+     595             : 
+     596          62 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     597             : 
+     598         124 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     599         124 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     600             : 
+     601          62 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     602           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+     603           0 :     return;
+     604             :   }
+     605             : 
+     606          62 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     607             : 
+     608          62 :   ROS_INFO("[ControlManager]: got HW API capabilities, initializing");
+     609             : 
+     610          62 :   initialize();
+     611             : 
+     612          62 :   timer_hw_api_capabilities_.stop();
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : /* //{ timerLanding() */
+     618             : 
+     619         610 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     620             : 
+     621         610 :   if (!is_initialized_)
+     622           0 :     return;
+     623             : 
+     624        1220 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     625        1220 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     626             : 
+     627         610 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     628             : 
+     629             :   // copy member variables
+     630         610 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     631         610 :   auto odometry                    = sh_odometry_.getMsg();
+     632         610 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     633             : 
+     634         610 :   std::optional<double> desired_throttle;
+     635             : 
+     636         610 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     637         610 :     desired_throttle = sh_throttle_.getMsg()->data;
+     638             :   }
+     639             : 
+     640         610 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     641             : 
+     642         610 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     643             : 
+     644         610 :   if (res) {
+     645         610 :     land_there_current_frame = res.value();
+     646             :   } else {
+     647             : 
+     648           0 :     ROS_ERROR("[UavManager]: could not transform the reference into the current frame! land by yourself pls.");
+     649           0 :     return;
+     650             :   }
+     651             : 
+     652         610 :   if (current_state_landing_ == IDLE_STATE) {
+     653             : 
+     654           0 :     return;
+     655             : 
+     656         610 :   } else if (current_state_landing_ == GOTO_STATE) {
+     657             : 
+     658         271 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     659         271 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     660             : 
+     661         271 :     double pos_heading = tracker_cmd->heading;
+     662             : 
+     663         271 :     double ref_heading = 0;
+     664             :     try {
+     665         271 :       ref_heading = mrs_lib::getHeading(land_there_current_frame);
+     666             :     }
+     667           0 :     catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     668           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     669           0 :       return;
+     670             :     }
+     671             : 
+     672         277 :     if (mrs_lib::geometry::dist(vec3_t(pos_x, pos_y, pos_z), vec3_t(ref_x, ref_y, ref_z)) < _landing_tracking_tolerance_translation_ &&
+     673           6 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     674             : 
+     675          12 :       auto [success, message] = landWithDescendImpl();
+     676             : 
+     677           6 :       if (!success) {
+     678             : 
+     679           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     680             :       }
+     681             : 
+     682         265 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     683             : 
+     684           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     685             : 
+     686           2 :       mrs_msgs::ReferenceStamped reference_out;
+     687             : 
+     688             :       {
+     689           2 :         std::scoped_lock lock(mutex_land_there_reference_);
+     690             : 
+     691             :         // get the current altitude in land_there_reference_.header.frame_id;
+     692           2 :         geometry_msgs::PoseStamped current_pose;
+     693           1 :         current_pose.header.stamp     = ros::Time::now();
+     694           1 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     695           1 :         current_pose.pose.position.x  = 0;
+     696           1 :         current_pose.pose.position.y  = 0;
+     697           1 :         current_pose.pose.position.z  = 0;
+     698           1 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     699             : 
+     700           1 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     701             : 
+     702           1 :         if (response) {
+     703             : 
+     704           1 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     705           1 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     706             : 
+     707             :         } else {
+     708             : 
+     709           0 :           std::stringstream ss;
+     710           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     711           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     712             :         }
+     713             : 
+     714           1 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     715           1 :         reference_out.header.stamp    = ros::Time::now();
+     716           1 :         reference_out.reference       = land_there_reference_.reference;
+     717             :       }
+     718             : 
+     719           1 :       emergencyReferenceSrv(reference_out);
+     720             :     }
+     721             : 
+     722         339 :   } else if (current_state_landing_ == LANDING_STATE) {
+     723             : 
+     724             :     // we should not attempt to finish the landing if some other tracked was activated
+     725         339 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     726             : 
+     727         338 :       if (desired_throttle) {
+     728             : 
+     729             :         // recalculate the mass based on the throttle
+     730         338 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     731         338 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+     732             : 
+     733             :         // condition for automatic motor turn off
+     734         338 :         if (((throttle_mass_estimate_ < _landing_cutoff_mass_factor_ * landing_uav_mass_) || desired_throttle < 0.01)) {
+     735             : 
+     736          88 :           if (!throttle_under_threshold_) {
+     737             : 
+     738           4 :             throttle_mass_estimate_first_time_ = ros::Time::now();
+     739           4 :             throttle_under_threshold_          = true;
+     740             :           }
+     741             : 
+     742          88 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+     743             : 
+     744             :         } else {
+     745             : 
+     746         250 :           throttle_under_threshold_ = false;
+     747             :         }
+     748             : 
+     749         338 :         if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _landing_cutoff_mass_timeout_)) {
+     750             : 
+     751           4 :           switchTrackerSrv(_null_tracker_name_);
+     752             : 
+     753           4 :           setControlCallbacksSrv(true);
+     754             : 
+     755           4 :           if (_landing_disarm_) {
+     756             : 
+     757           4 :             ROS_INFO("[UavManager]: disarming after landing");
+     758             : 
+     759           4 :             disarmSrv();
+     760             :           }
+     761             : 
+     762           4 :           changeLandingState(IDLE_STATE);
+     763             : 
+     764           4 :           ROS_INFO("[UavManager]: landing finished");
+     765             : 
+     766           4 :           timer_landing_.stop();
+     767             :         }
+     768             : 
+     769             :       } else {
+     770             : 
+     771           0 :         auto odometry = sh_odometry_.getMsg();
+     772             : 
+     773           0 :         double z_vel = odometry->twist.twist.linear.z;
+     774             : 
+     775           0 :         ROS_INFO_THROTTLE(1.0, "[UavManager]: landing: z-velocity: %.2f", z_vel);
+     776             : 
+     777             :         // condition for automatic motor turn off
+     778           0 :         if (z_vel > -0.1) {
+     779             : 
+     780           0 :           if (!velocity_under_threshold_) {
+     781             : 
+     782           0 :             velocity_under_threshold_first_time_ = ros::Time::now();
+     783           0 :             velocity_under_threshold_            = true;
+     784             :           }
+     785             : 
+     786           0 :           ROS_INFO_THROTTLE(0.5, "[UavManager]: velocity over threshold for %.2f s", (ros::Time::now() - velocity_under_threshold_first_time_).toSec());
+     787             : 
+     788             :         } else {
+     789             : 
+     790           0 :           velocity_under_threshold_ = false;
+     791             :         }
+     792             : 
+     793           0 :         if (velocity_under_threshold_ && ((ros::Time::now() - velocity_under_threshold_first_time_).toSec() > 3.0)) {
+     794             : 
+     795           0 :           switchTrackerSrv(_null_tracker_name_);
+     796             : 
+     797           0 :           setControlCallbacksSrv(true);
+     798             : 
+     799           0 :           if (_landing_disarm_) {
+     800             : 
+     801           0 :             ROS_INFO("[UavManager]: disarming after landing");
+     802             : 
+     803           0 :             disarmSrv();
+     804             :           }
+     805             : 
+     806           0 :           changeLandingState(IDLE_STATE);
+     807             : 
+     808           0 :           ROS_INFO("[UavManager]: landing finished");
+     809             : 
+     810           0 :           timer_landing_.stop();
+     811             :         }
+     812             :       }
+     813             : 
+     814             :     } else {
+     815             : 
+     816           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     817             :     }
+     818             :   }
+     819             : }
+     820             : 
+     821             : //}
+     822             : 
+     823             : /* //{ timerTakeoff() */
+     824             : 
+     825         525 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     826             : 
+     827         525 :   if (!is_initialized_)
+     828           0 :     return;
+     829             : 
+     830        1050 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     831        1050 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     832             : 
+     833         525 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     834             : 
+     835         525 :   if (waiting_for_takeoff_) {
+     836             : 
+     837          11 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     838             : 
+     839          11 :       waiting_for_takeoff_ = false;
+     840             :     } else {
+     841             : 
+     842           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     843           0 :       return;
+     844             :     }
+     845             :   }
+     846             : 
+     847         525 :   if (takingoff_) {
+     848             : 
+     849         525 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     850             : 
+     851          11 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     852             : 
+     853          11 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     854             : 
+     855          11 :       switchControllerSrv(_after_takeoff_controller_name_);
+     856             : 
+     857          11 :       setOdometryCallbacksSrv(true);
+     858             : 
+     859          11 :       if (_after_takeoff_pirouette_) {
+     860             : 
+     861           0 :         pirouetteSrv();
+     862             :       }
+     863             : 
+     864          11 :       timer_takeoff_.stop();
+     865             :     }
+     866             :   }
+     867             : }
+     868             : 
+     869             : //}
+     870             : 
+     871             : /* //{ timerMaxHeight() */
+     872             : 
+     873       12002 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     874             : 
+     875       12002 :   if (!is_initialized_)
+     876        7528 :     return;
+     877             : 
+     878       24004 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     879       24004 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     880             : 
+     881       12002 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     882        3962 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     883        3962 :     return;
+     884             :   }
+     885             : 
+     886        8040 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     887             : 
+     888        8040 :   if (!fixing_max_height_ && !control_manager_diag->flying_normally) {
+     889        3566 :     return;
+     890             :   }
+     891             : 
+     892        4474 :   auto   odometry = sh_odometry_.getMsg();
+     893        4474 :   double height   = sh_height_.getMsg()->value;
+     894             : 
+     895             :   // transform max z to the height frame
+     896        4474 :   geometry_msgs::PointStamped point;
+     897        4474 :   point.header  = sh_max_height_.getMsg()->header;
+     898        4474 :   point.point.z = sh_max_height_.getMsg()->value;
+     899             : 
+     900        4474 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     901             : 
+     902             :   double max_z_in_height;
+     903             : 
+     904        4474 :   if (res) {
+     905        4474 :     max_z_in_height = res->point.z;
+     906             :   } else {
+     907           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: timerMaxHeight() not working, cannot transform max z to the height frame");
+     908           0 :     return;
+     909             :   }
+     910             : 
+     911        4474 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     912             : 
+     913        4474 :   double odometry_heading = 0;
+     914             :   try {
+     915        4474 :     odometry_heading = mrs_lib::getHeading(odometry);
+     916             :   }
+     917           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+     918           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+     919           0 :     return;
+     920             :   }
+     921             : 
+     922        4474 :   if (height > max_z_in_height) {
+     923             : 
+     924          52 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     925             : 
+     926         104 :     mrs_msgs::ReferenceStamped reference_out;
+     927          52 :     reference_out.header.frame_id = odometry->header.frame_id;
+     928          52 :     reference_out.header.stamp    = ros::Time::now();
+     929             : 
+     930          52 :     reference_out.reference.position.x = odometry_x;
+     931          52 :     reference_out.reference.position.y = odometry_y;
+     932          52 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     933             : 
+     934          52 :     reference_out.reference.heading = odometry_heading;
+     935             : 
+     936          52 :     setControlCallbacksSrv(false);
+     937             : 
+     938          52 :     bool success = emergencyReferenceSrv(reference_out);
+     939             : 
+     940          52 :     if (success) {
+     941             : 
+     942          52 :       ROS_INFO("[UavManager]: descending");
+     943             : 
+     944          52 :       fixing_max_height_ = true;
+     945             : 
+     946             :     } else {
+     947             : 
+     948           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not descend");
+     949             : 
+     950           0 :       setControlCallbacksSrv(true);
+     951             :     }
+     952             :   }
+     953             : 
+     954        4474 :   if (fixing_max_height_ && height < max_z_in_height) {
+     955             : 
+     956           1 :     setControlCallbacksSrv(true);
+     957             : 
+     958           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+     959             : 
+     960           1 :     fixing_max_height_ = false;
+     961             :   }
+     962             : }
+     963             : 
+     964             : //}
+     965             : 
+     966             : /* //{ timerMinHeight() */
+     967             : 
+     968       12002 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     969             : 
+     970       12002 :   if (!is_initialized_)
+     971        7553 :     return;
+     972             : 
+     973       12002 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     974             : 
+     975       24004 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     976       24004 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     977             : 
+     978       12002 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+     979        3954 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+     980        3954 :     return;
+     981             :   }
+     982             : 
+     983        8048 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     984             : 
+     985        8048 :   if (!fixing_min_height_ && !control_manager_diag->flying_normally) {
+     986        3599 :     return;
+     987             :   }
+     988             : 
+     989        4449 :   auto   odometry = sh_odometry_.getMsg();
+     990        4449 :   double height   = sh_height_.getMsg()->value;
+     991             : 
+     992        4449 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     993             : 
+     994        4449 :   double odometry_heading = 0;
+     995             : 
+     996             :   try {
+     997        4449 :     odometry_heading = mrs_lib::getHeading(odometry);
+     998             :   }
+     999           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1000           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1001           0 :     return;
+    1002             :   }
+    1003             : 
+    1004        4449 :   if (height < _min_height_) {
+    1005             : 
+    1006          26 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1007             : 
+    1008          52 :     mrs_msgs::ReferenceStamped reference_out;
+    1009          26 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1010          26 :     reference_out.header.stamp    = ros::Time::now();
+    1011             : 
+    1012          26 :     reference_out.reference.position.x = odometry_x;
+    1013          26 :     reference_out.reference.position.y = odometry_y;
+    1014          26 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1015             : 
+    1016          26 :     reference_out.reference.heading = odometry_heading;
+    1017             : 
+    1018          26 :     setControlCallbacksSrv(false);
+    1019             : 
+    1020          26 :     bool success = emergencyReferenceSrv(reference_out);
+    1021             : 
+    1022          26 :     if (success) {
+    1023             : 
+    1024          26 :       ROS_INFO("[UavManager]: ascending");
+    1025             : 
+    1026          26 :       fixing_min_height_ = true;
+    1027             : 
+    1028             :     } else {
+    1029             : 
+    1030           0 :       ROS_ERROR_THROTTLE(1.0, "[UavManager]: could not ascend");
+    1031             : 
+    1032           0 :       setControlCallbacksSrv(true);
+    1033             :     }
+    1034             :   }
+    1035             : 
+    1036        4449 :   if (fixing_min_height_ && height > _min_height_) {
+    1037             : 
+    1038           1 :     setControlCallbacksSrv(true);
+    1039             : 
+    1040           1 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: safe height reached");
+    1041             : 
+    1042           1 :     fixing_min_height_ = false;
+    1043             :   }
+    1044             : }
+    1045             : 
+    1046             : //}
+    1047             : 
+    1048             : /* //{ timerFlightTime() */
+    1049             : 
+    1050         141 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1051             : 
+    1052         141 :   if (!is_initialized_)
+    1053           0 :     return;
+    1054             : 
+    1055         423 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1056         423 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1057             : 
+    1058         141 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1059             : 
+    1060         141 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1061             : 
+    1062         141 :   mrs_msgs::Float64 flight_time;
+    1063         141 :   flight_time.value = flighttime;
+    1064             : 
+    1065             :   // if enabled, start the timer for measuring the flight time
+    1066         141 :   if (_flighttime_timer_enabled_) {
+    1067             : 
+    1068           0 :     if (flighttime > _flighttime_max_time_) {
+    1069             : 
+    1070           0 :       flighttime = 0;
+    1071           0 :       timer_flighttime_.stop();
+    1072             : 
+    1073           0 :       ROS_INFO("[UavManager]: max flight time reached, landing");
+    1074             : 
+    1075           0 :       landImpl();
+    1076             :     }
+    1077             :   }
+    1078             : 
+    1079         141 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1080             : }
+    1081             : 
+    1082             : //}
+    1083             : 
+    1084             : /* //{ timerMaxthrottle() */
+    1085             : 
+    1086       31272 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1087             : 
+    1088       31272 :   if (!is_initialized_)
+    1089        8008 :     return;
+    1090             : 
+    1091       31272 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1092        8008 :     return;
+    1093             :   }
+    1094             : 
+    1095       23264 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1096             : 
+    1097       69792 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1098       69792 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1099             : 
+    1100       23264 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1101             : 
+    1102       23264 :   if (desired_throttle >= _maxthrottle_max_throttle_) {
+    1103             : 
+    1104           0 :     if (!maxthrottle_above_threshold_) {
+    1105             : 
+    1106           0 :       maxthrottle_first_time_      = ros::Time::now();
+    1107           0 :       maxthrottle_above_threshold_ = true;
+    1108           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: max throttle exceeded threshold (%.2f/%.2f)", desired_throttle, _maxthrottle_max_throttle_);
+    1109             : 
+    1110             :     } else {
+    1111             : 
+    1112           0 :       ROS_WARN_THROTTLE(0.1, "[UavManager]: throttle over threshold (%.2f/%.2f) for %.2f s", desired_throttle, _maxthrottle_max_throttle_,
+    1113             :                         (ros::Time::now() - maxthrottle_first_time_).toSec());
+    1114             :     }
+    1115             : 
+    1116             :   } else {
+    1117             : 
+    1118       23264 :     maxthrottle_above_threshold_ = false;
+    1119             :   }
+    1120             : 
+    1121       23264 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_ungrip_timeout_) {
+    1122             : 
+    1123           0 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, ungripping payload", desired_throttle,
+    1124             :                       _maxthrottle_max_throttle_, _maxthrottle_ungrip_timeout_);
+    1125             : 
+    1126           0 :     ungripSrv();
+    1127             :   }
+    1128             : 
+    1129       23264 :   if (maxthrottle_above_threshold_ && (ros::Time::now() - maxthrottle_first_time_).toSec() > _maxthrottle_eland_timeout_) {
+    1130             : 
+    1131           0 :     timer_maxthrottle_.stop();
+    1132             : 
+    1133           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: throttle over threshold (%.2f/%.2f) for more than %.2f s, calling for emergency landing", desired_throttle,
+    1134             :                        _maxthrottle_max_throttle_, _maxthrottle_eland_timeout_);
+    1135             : 
+    1136           0 :     elandSrv();
+    1137             :   }
+    1138             : }
+    1139             : 
+    1140             : //}
+    1141             : 
+    1142             : /* //{ timerDiagnostics() */
+    1143             : 
+    1144        1205 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1145             : 
+    1146        1205 :   if (!is_initialized_)
+    1147           0 :     return;
+    1148             : 
+    1149        3615 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1150        3615 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1151             : 
+    1152        1205 :   bool got_gps_est = false;
+    1153        1205 :   bool got_rtk_est = false;
+    1154             : 
+    1155        1205 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1156             : 
+    1157        1958 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1158         979 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1159             : 
+    1160        1040 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1161          61 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1162         979 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1163             :   }
+    1164             : 
+    1165        2410 :   mrs_msgs::UavManagerDiagnostics diag;
+    1166             : 
+    1167        1205 :   diag.stamp    = ros::Time::now();
+    1168        1205 :   diag.uav_name = _uav_name_;
+    1169             : 
+    1170        1205 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1171             : 
+    1172             :   // fill in the acumulated flight time
+    1173        1205 :   diag.flight_time = flighttime;
+    1174             : 
+    1175        1205 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1176             : 
+    1177         982 :     if (got_gps_est || got_rtk_est) {
+    1178             : 
+    1179        1902 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1180             : 
+    1181        1902 :       geometry_msgs::PoseStamped uav_pose;
+    1182         951 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1183             : 
+    1184        2853 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1185             : 
+    1186         951 :       if (res) {
+    1187         951 :         diag.cur_latitude  = res.value().pose.position.x;
+    1188         951 :         diag.cur_longitude = res.value().pose.position.y;
+    1189             :       }
+    1190             :     }
+    1191             :   }
+    1192             : 
+    1193        1205 :   if (takeoff_successful_) {
+    1194             : 
+    1195         170 :     if (got_gps_est || got_rtk_est) {
+    1196             : 
+    1197         340 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1198             : 
+    1199         510 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1200             : 
+    1201         170 :       if (res) {
+    1202         170 :         diag.home_latitude  = res.value().reference.position.x;
+    1203         170 :         diag.home_longitude = res.value().reference.position.y;
+    1204             :       }
+    1205             :     }
+    1206             :   }
+    1207             : 
+    1208        1205 :   ph_diag_.publish(diag);
+    1209             : }
+    1210             : 
+    1211             : //}
+    1212             : 
+    1213             : /* //{ timerMidairActivation() */
+    1214             : 
+    1215          45 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1216             : 
+    1217          45 :   if (!is_initialized_)
+    1218           0 :     return;
+    1219             : 
+    1220          45 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1221             : 
+    1222          45 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1223             : 
+    1224          44 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1225             : 
+    1226          44 :     setOdometryCallbacksSrv(true);
+    1227             : 
+    1228             :     {
+    1229          44 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1230             : 
+    1231          44 :       if (!controller_switched) {
+    1232             : 
+    1233           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_controller_.c_str());
+    1234             : 
+    1235           0 :         ehoverSrv();
+    1236             : 
+    1237           0 :         timer_midair_activation_.stop();
+    1238             : 
+    1239           0 :         return;
+    1240             :       }
+    1241             :     }
+    1242             : 
+    1243             :     {
+    1244          44 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1245             : 
+    1246          44 :       if (!tracker_switched) {
+    1247             : 
+    1248           0 :         ROS_ERROR("[UavManager]: could not activate '%s'", _midair_activation_after_tracker_.c_str());
+    1249             : 
+    1250           0 :         ehoverSrv();
+    1251             : 
+    1252           0 :         timer_midair_activation_.stop();
+    1253             : 
+    1254           0 :         return;
+    1255             :       }
+    1256             :     }
+    1257             : 
+    1258          44 :     timer_midair_activation_.stop();
+    1259             : 
+    1260          44 :     return;
+    1261             :   }
+    1262             : 
+    1263           1 :   if ((ros::Time::now() - midair_activation_started_).toSec() > 0.5) {
+    1264             : 
+    1265           0 :     ROS_ERROR("[UavManager]: waiting for OFFBOARD timeouted, reverting");
+    1266             : 
+    1267           0 :     toggleControlOutput(false);
+    1268             : 
+    1269           0 :     timer_midair_activation_.stop();
+    1270             : 
+    1271           0 :     return;
+    1272             :   }
+    1273             : }
+    1274             : 
+    1275             : //}
+    1276             : 
+    1277             : // --------------------------------------------------------------
+    1278             : // |                          callbacks                         |
+    1279             : // --------------------------------------------------------------
+    1280             : 
+    1281             : // | --------------------- topic callbacks -------------------- |
+    1282             : 
+    1283             : /* //{ callbackHwApiGNSS() */
+    1284             : 
+    1285       58874 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1286             : 
+    1287       58874 :   if (!is_initialized_)
+    1288          15 :     return;
+    1289             : 
+    1290      176577 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1291      176577 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1292             : 
+    1293       58859 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1294             : }
+    1295             : 
+    1296             : //}
+    1297             : 
+    1298             : /* //{ callbackOdometry() */
+    1299             : 
+    1300      100821 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1301             : 
+    1302      100821 :   if (!is_initialized_)
+    1303           0 :     return;
+    1304             : 
+    1305      100821 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1306             : }
+    1307             : 
+    1308             : //}
+    1309             : 
+    1310             : // | -------------------- service callbacks ------------------- |
+    1311             : 
+    1312             : /* //{ callbackTakeoff() */
+    1313             : 
+    1314          13 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1315             : 
+    1316          13 :   if (!is_initialized_)
+    1317           0 :     return false;
+    1318             : 
+    1319          13 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1320             : 
+    1321             :   /* preconditions //{ */
+    1322             : 
+    1323             :   {
+    1324          13 :     std::stringstream ss;
+    1325             : 
+    1326          13 :     if (!sh_odometry_.hasMsg()) {
+    1327           0 :       ss << "can not takeoff, missing odometry!";
+    1328           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1329           0 :       res.message = ss.str();
+    1330           0 :       res.success = false;
+    1331           0 :       return true;
+    1332             :     }
+    1333             : 
+    1334          13 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1335           0 :       ss << "can not takeoff, missing HW API status!";
+    1336           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1337           0 :       res.message = ss.str();
+    1338           0 :       res.success = false;
+    1339           0 :       return true;
+    1340             :     }
+    1341             : 
+    1342          13 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1343           0 :       ss << "can not takeoff, UAV not armed!";
+    1344           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1345           0 :       res.message = ss.str();
+    1346           0 :       res.success = false;
+    1347           0 :       return true;
+    1348             :     }
+    1349             : 
+    1350          13 :     if (!sh_hw_api_status_.getMsg()->offboard) {
+    1351           0 :       ss << "can not takeoff, UAV not in offboard mode!";
+    1352           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1353           0 :       res.message = ss.str();
+    1354           0 :       res.success = false;
+    1355           0 :       return true;
+    1356             :     }
+    1357             : 
+    1358             :     {
+    1359          13 :       if (!sh_control_manager_diag_.hasMsg() && (ros::Time::now() - sh_control_manager_diag_.lastMsgTime()).toSec() > 5.0) {
+    1360           0 :         ss << "can not takeoff, missing control manager diagnostics!";
+    1361           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1362           0 :         res.message = ss.str();
+    1363           0 :         res.success = false;
+    1364           0 :         return true;
+    1365             :       }
+    1366             : 
+    1367          13 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1368           0 :         ss << "can not takeoff, need '" << _null_tracker_name_ << "' to be active!";
+    1369           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1370           0 :         res.message = ss.str();
+    1371           0 :         res.success = false;
+    1372           0 :         return true;
+    1373             :       }
+    1374             :     }
+    1375             : 
+    1376          13 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1377           0 :       ss << "can not takeoff, missing controller diagnostics!";
+    1378           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1379           0 :       res.message = ss.str();
+    1380           0 :       res.success = false;
+    1381           0 :       return true;
+    1382             :     }
+    1383             : 
+    1384          13 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1385           0 :       ss << "can not takeoff, GainManager is not running!";
+    1386           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1387           0 :       res.message = ss.str();
+    1388           0 :       res.success = false;
+    1389           0 :       return true;
+    1390             :     }
+    1391             : 
+    1392          13 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1393           0 :       ss << "can not takeoff, ConstraintManager is not running!";
+    1394           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1395           0 :       res.message = ss.str();
+    1396           0 :       res.success = false;
+    1397           0 :       return true;
+    1398             :     }
+    1399             : 
+    1400          13 :     if (!sh_control_manager_diag_.getMsg()->output_enabled) {
+    1401             : 
+    1402           0 :       ss << "can not takeoff, Control Manager's output is disabled!";
+    1403           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1404           0 :       res.message = ss.str();
+    1405           0 :       res.success = false;
+    1406           0 :       return true;
+    1407             :     }
+    1408             : 
+    1409          13 :     if (number_of_takeoffs_ > 0) {
+    1410             : 
+    1411           0 :       auto last_mass_difference = mrs_lib::get_mutexed(mutex_last_mass_difference_, last_mass_difference_);
+    1412             : 
+    1413           0 :       if (last_mass_difference > 1.0) {
+    1414             : 
+    1415           0 :         ss << std::setprecision(2);
+    1416           0 :         ss << "can not takeoff, estimated mass difference is too large: " << _null_tracker_name_ << "!";
+    1417           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1418           0 :         res.message = ss.str();
+    1419           0 :         res.success = false;
+    1420           0 :         return true;
+    1421             :       }
+    1422             :     }
+    1423             :   }
+    1424             : 
+    1425             :   //}
+    1426             : 
+    1427          26 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1428          26 :   auto odometry                    = sh_odometry_.getMsg();
+    1429          13 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1430             : 
+    1431             :   double odom_heading;
+    1432             :   try {
+    1433          13 :     odom_heading = mrs_lib::getHeading(sh_odometry_.getMsg());
+    1434             :   }
+    1435           0 :   catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    1436           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: exception caught: '%s'", e.what());
+    1437             : 
+    1438           0 :     std::stringstream ss;
+    1439           0 :     ss << "could not calculate current heading";
+    1440           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1441           0 :     res.message = ss.str();
+    1442           0 :     res.success = false;
+    1443           0 :     return true;
+    1444             :   }
+    1445             : 
+    1446          13 :   ROS_INFO("[UavManager]: taking off");
+    1447             : 
+    1448          13 :   setOdometryCallbacksSrv(false);
+    1449             : 
+    1450             :   // activating the takeoff controller
+    1451             :   {
+    1452          13 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1453          13 :     bool        controller_switched = switchControllerSrv(_takeoff_controller_name_);
+    1454             : 
+    1455             :     // if it fails, activate back the old controller
+    1456             :     // this is no big deal since the control outputs are not used
+    1457             :     // until NullTracker is active
+    1458          13 :     if (!controller_switched) {
+    1459             : 
+    1460           1 :       std::stringstream ss;
+    1461           1 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for takeoff";
+    1462           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1463           1 :       res.success = false;
+    1464           1 :       res.message = ss.str();
+    1465             : 
+    1466           1 :       toggleControlOutput(false);
+    1467           1 :       disarmSrv();
+    1468             : 
+    1469           1 :       return true;
+    1470             :     }
+    1471             :   }
+    1472             : 
+    1473             :   // activate the takeoff tracker
+    1474             :   {
+    1475          12 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1476          12 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1477             : 
+    1478             :     // if it fails, activate back the old tracker
+    1479          12 :     if (!tracker_switched) {
+    1480             : 
+    1481           1 :       std::stringstream ss;
+    1482           1 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for takeoff";
+    1483           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1484           1 :       res.success = false;
+    1485           1 :       res.message = ss.str();
+    1486             : 
+    1487           1 :       toggleControlOutput(false);
+    1488           1 :       disarmSrv();
+    1489             : 
+    1490           1 :       return true;
+    1491             :     }
+    1492             :   }
+    1493             : 
+    1494             :   // let's sleep before calling take off.. the motors are rumping-up anyway
+    1495             :   // this solves on-time-happening race condition in the landoff tracker
+    1496          11 :   ros::Duration(0.3).sleep();
+    1497             : 
+    1498             :   // now the takeoff tracker and controller are active
+    1499             :   // the UAV is basically hovering on the ground
+    1500             :   // (the controller is probably rumping up the throttle now)
+    1501             : 
+    1502             :   // call the takeoff service at the takeoff tracker
+    1503             :   {
+    1504          11 :     bool takeoff_successful = takeoffSrv();
+    1505             : 
+    1506             :     // if the takeoff was not successful, switch to NullTracker
+    1507          11 :     if (takeoff_successful) {
+    1508             : 
+    1509             :       // save the current spot for later landing
+    1510             :       {
+    1511          11 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1512             : 
+    1513          11 :         land_there_reference_.header               = odometry->header;
+    1514          11 :         land_there_reference_.reference.position.x = odom_x;
+    1515          11 :         land_there_reference_.reference.position.y = odom_y;
+    1516          11 :         land_there_reference_.reference.position.z = odom_z;
+    1517          11 :         land_there_reference_.reference.heading    = odom_heading;
+    1518             :       }
+    1519             : 
+    1520          11 :       timer_flighttime_.start();
+    1521             : 
+    1522          22 :       std::stringstream ss;
+    1523          11 :       ss << "taking off";
+    1524          11 :       res.success = true;
+    1525          11 :       res.message = ss.str();
+    1526          11 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1527             : 
+    1528          11 :       takingoff_ = true;
+    1529          11 :       number_of_takeoffs_++;
+    1530          11 :       waiting_for_takeoff_ = true;
+    1531             : 
+    1532             :       // start the takeoff timer
+    1533          11 :       timer_takeoff_.start();
+    1534             : 
+    1535          11 :       takeoff_successful_ = takeoff_successful;
+    1536             : 
+    1537             :     } else {
+    1538             : 
+    1539           0 :       std::stringstream ss;
+    1540           0 :       ss << "takeoff was not successful";
+    1541           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1542           0 :       res.success = false;
+    1543           0 :       res.message = ss.str();
+    1544             : 
+    1545             :       // if the call for takeoff fails, call for emergency landing
+    1546           0 :       elandSrv();
+    1547             :     }
+    1548             :   }
+    1549             : 
+    1550          11 :   return true;
+    1551             : }
+    1552             : 
+    1553             : //}
+    1554             : 
+    1555             : /* //{ callbackLand() */
+    1556             : 
+    1557           2 : bool UavManager::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1558             : 
+    1559           2 :   if (!is_initialized_)
+    1560           0 :     return false;
+    1561             : 
+    1562           2 :   ROS_INFO("[UavManager]: land called by service");
+    1563             : 
+    1564             :   /* preconditions //{ */
+    1565             : 
+    1566             :   {
+    1567           2 :     std::stringstream ss;
+    1568             : 
+    1569           2 :     if (!sh_odometry_.hasMsg()) {
+    1570           0 :       ss << "can not land, missing odometry!";
+    1571           0 :       res.message = ss.str();
+    1572           0 :       res.success = false;
+    1573           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1574           0 :       return true;
+    1575             :     }
+    1576             : 
+    1577             :     {
+    1578           2 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1579           0 :         ss << "can not land, missing control manager diagnostics!";
+    1580           0 :         res.message = ss.str();
+    1581           0 :         res.success = false;
+    1582           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1583           0 :         return true;
+    1584             :       }
+    1585             : 
+    1586           2 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1587           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1588           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1589           0 :         res.message = ss.str();
+    1590           0 :         res.success = false;
+    1591           0 :         return true;
+    1592             :       }
+    1593             :     }
+    1594             : 
+    1595           2 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1596           0 :       ss << "can not land, missing controller diagnostics!";
+    1597           0 :       res.message = ss.str();
+    1598           0 :       res.success = false;
+    1599           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1600           0 :       return true;
+    1601             :     }
+    1602             : 
+    1603           2 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1604           0 :       ss << "can not land, missing position cmd!";
+    1605           0 :       res.message = ss.str();
+    1606           0 :       res.success = false;
+    1607           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1608           0 :       return true;
+    1609             :     }
+    1610             :   }
+    1611             : 
+    1612             :   //}
+    1613             : 
+    1614           2 :   auto [success, message] = landWithDescendImpl();
+    1615             : 
+    1616           2 :   res.message = message;
+    1617           2 :   res.success = success;
+    1618             : 
+    1619           2 :   return true;
+    1620             : }
+    1621             : 
+    1622             : //}
+    1623             : 
+    1624             : /* //{ callbackLandHome() */
+    1625             : 
+    1626           1 : bool UavManager::callbackLandHome([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1627             : 
+    1628           1 :   if (!is_initialized_)
+    1629           0 :     return false;
+    1630             : 
+    1631           1 :   ROS_INFO("[UavManager]: land home called by service");
+    1632             : 
+    1633             :   /* preconditions //{ */
+    1634             : 
+    1635             :   {
+    1636           1 :     std::stringstream ss;
+    1637             : 
+    1638           1 :     if (number_of_takeoffs_ == 0) {
+    1639           0 :       ss << "can not land home, did not takeoff before!";
+    1640           0 :       res.message = ss.str();
+    1641           0 :       res.success = false;
+    1642           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1643           0 :       return true;
+    1644             :     }
+    1645             : 
+    1646           1 :     if (!sh_odometry_.hasMsg()) {
+    1647           0 :       ss << "can not land, missing odometry!";
+    1648           0 :       res.message = ss.str();
+    1649           0 :       res.success = false;
+    1650           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1651           0 :       return true;
+    1652             :     }
+    1653             : 
+    1654             :     {
+    1655           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1656           0 :         ss << "can not land, missing tracker status!";
+    1657           0 :         res.message = ss.str();
+    1658           0 :         res.success = false;
+    1659           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1660           0 :         return true;
+    1661             :       }
+    1662             : 
+    1663           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1664           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1665           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1666           0 :         res.message = ss.str();
+    1667           0 :         res.success = false;
+    1668           0 :         return true;
+    1669             :       }
+    1670             :     }
+    1671             : 
+    1672           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1673           0 :       ss << "can not land, missing controller diagnostics command!";
+    1674           0 :       res.message = ss.str();
+    1675           0 :       res.success = false;
+    1676           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1677           0 :       return true;
+    1678             :     }
+    1679             : 
+    1680           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1681           0 :       ss << "can not land, missing position cmd!";
+    1682           0 :       res.message = ss.str();
+    1683           0 :       res.success = false;
+    1684           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1685           0 :       return true;
+    1686             :     }
+    1687             : 
+    1688           1 :     if (fixing_max_height_) {
+    1689           0 :       ss << "can not land, descedning to safe height!";
+    1690           0 :       res.message = ss.str();
+    1691           0 :       res.success = false;
+    1692           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1693           0 :       return true;
+    1694             :     }
+    1695             : 
+    1696           1 :     if (current_state_landing_ != IDLE_STATE) {
+    1697           0 :       ss << "can not land, already landing!";
+    1698           0 :       res.message = ss.str();
+    1699           0 :       res.success = false;
+    1700           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1701           0 :       return true;
+    1702             :     }
+    1703             :   }
+    1704             : 
+    1705             :   //}
+    1706             : 
+    1707           1 :   ungripSrv();
+    1708             : 
+    1709           2 :   mrs_msgs::ReferenceStamped reference_out;
+    1710             : 
+    1711             :   {
+    1712           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1713             : 
+    1714             :     // get the current altitude in land_there_reference_.header.frame_id;
+    1715           1 :     geometry_msgs::PoseStamped current_pose;
+    1716           1 :     current_pose.header.stamp     = ros::Time::now();
+    1717           1 :     current_pose.header.frame_id  = _uav_name_ + "/fcu";
+    1718           1 :     current_pose.pose.position.x  = 0;
+    1719           1 :     current_pose.pose.position.y  = 0;
+    1720           1 :     current_pose.pose.position.z  = 0;
+    1721           1 :     current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1722             : 
+    1723           1 :     auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+    1724             : 
+    1725           1 :     if (response) {
+    1726             : 
+    1727           1 :       land_there_reference_.reference.position.z = response.value().pose.position.z;
+    1728           1 :       ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+    1729             : 
+    1730             :     } else {
+    1731             : 
+    1732           0 :       std::stringstream ss;
+    1733           0 :       ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+    1734           0 :       ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1735             : 
+    1736           0 :       res.success = false;
+    1737           0 :       res.message = ss.str();
+    1738           0 :       return true;
+    1739             :     }
+    1740             : 
+    1741           1 :     reference_out.header.frame_id = land_there_reference_.header.frame_id;
+    1742           1 :     reference_out.header.stamp    = ros::Time::now();
+    1743           1 :     reference_out.reference       = land_there_reference_.reference;
+    1744             :   }
+    1745             : 
+    1746           1 :   bool service_success = emergencyReferenceSrv(reference_out);
+    1747             : 
+    1748           1 :   if (service_success) {
+    1749             : 
+    1750           2 :     std::stringstream ss;
+    1751           1 :     ss << "flying home for landing";
+    1752           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1753             : 
+    1754           1 :     res.success = true;
+    1755           1 :     res.message = ss.str();
+    1756             : 
+    1757             :     // stop the eventual takeoff
+    1758           1 :     waiting_for_takeoff_ = false;
+    1759           1 :     takingoff_           = false;
+    1760           1 :     timer_takeoff_.stop();
+    1761             : 
+    1762           1 :     throttle_under_threshold_          = false;
+    1763           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1764             : 
+    1765           1 :     changeLandingState(GOTO_STATE);
+    1766             : 
+    1767           1 :     timer_landing_.start();
+    1768             : 
+    1769             :   } else {
+    1770             : 
+    1771           0 :     std::stringstream ss;
+    1772           0 :     ss << "can not fly home for landing";
+    1773           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1774             : 
+    1775           0 :     res.success = false;
+    1776           0 :     res.message = ss.str();
+    1777             :   }
+    1778             : 
+    1779           1 :   return true;
+    1780             : }
+    1781             : 
+    1782             : //}
+    1783             : 
+    1784             : /* //{ callbackLandThere() */
+    1785             : 
+    1786           1 : bool UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    1787             : 
+    1788           1 :   if (!is_initialized_)
+    1789           0 :     return false;
+    1790             : 
+    1791           1 :   ROS_INFO("[UavManager]: land there called by service");
+    1792             : 
+    1793             :   /* preconditions //{ */
+    1794             : 
+    1795             :   {
+    1796           1 :     std::stringstream ss;
+    1797             : 
+    1798           1 :     if (!sh_odometry_.hasMsg()) {
+    1799           0 :       ss << "can not land, missing odometry!";
+    1800           0 :       res.message = ss.str();
+    1801           0 :       res.success = false;
+    1802           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1803           0 :       return true;
+    1804             :     }
+    1805             : 
+    1806             :     {
+    1807           1 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1808           0 :         ss << "can not land, missing tracker status!";
+    1809           0 :         res.message = ss.str();
+    1810           0 :         res.success = false;
+    1811           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1812           0 :         return true;
+    1813             :       }
+    1814             : 
+    1815           1 :       if (_null_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+    1816           0 :         ss << "can not land, '" << _null_tracker_name_ << "' is active!";
+    1817           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1818           0 :         res.message = ss.str();
+    1819           0 :         res.success = false;
+    1820           0 :         return true;
+    1821             :       }
+    1822             :     }
+    1823             : 
+    1824           1 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1825           0 :       ss << "can not land, missing controller diagnostics!";
+    1826           0 :       res.message = ss.str();
+    1827           0 :       res.success = false;
+    1828           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1829           0 :       return true;
+    1830             :     }
+    1831             : 
+    1832           1 :     if (!sh_tracker_cmd_.hasMsg()) {
+    1833           0 :       ss << "can not land, missing position cmd!";
+    1834           0 :       res.message = ss.str();
+    1835           0 :       res.success = false;
+    1836           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1837           0 :       return true;
+    1838             :     }
+    1839             : 
+    1840           1 :     if (fixing_max_height_) {
+    1841           0 :       ss << "can not land, descedning to safe height!";
+    1842           0 :       res.message = ss.str();
+    1843           0 :       res.success = false;
+    1844           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1845           0 :       return true;
+    1846             :     }
+    1847             :   }
+    1848             : 
+    1849             :   //}
+    1850             : 
+    1851           1 :   ungripSrv();
+    1852             : 
+    1853           2 :   auto odometry = sh_odometry_.getMsg();
+    1854             : 
+    1855             :   // | ------ transform the reference to the current frame ------ |
+    1856             : 
+    1857           2 :   mrs_msgs::ReferenceStamped reference_in;
+    1858           1 :   reference_in.header    = req.header;
+    1859           1 :   reference_in.reference = req.reference;
+    1860             : 
+    1861           2 :   auto result = transformer_->transformSingle(reference_in, odometry->header.frame_id);
+    1862             : 
+    1863           1 :   if (!result) {
+    1864           0 :     std::stringstream ss;
+    1865           0 :     ss << "can not transform the reference to the current control frame!";
+    1866           0 :     res.message = ss.str();
+    1867           0 :     res.success = false;
+    1868           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1869           0 :     return true;
+    1870             :   }
+    1871             : 
+    1872             :   {
+    1873           1 :     std::scoped_lock lock(mutex_land_there_reference_);
+    1874             : 
+    1875           1 :     land_there_reference_.header               = odometry->header;
+    1876           1 :     land_there_reference_.reference            = reference_in.reference;
+    1877           1 :     land_there_reference_.reference.position.z = odometry->pose.pose.position.z;
+    1878             :   }
+    1879             : 
+    1880           1 :   bool service_success = emergencyReferenceSrv(land_there_reference_);
+    1881             : 
+    1882           1 :   if (service_success) {
+    1883             : 
+    1884           2 :     std::stringstream ss;
+    1885           1 :     ss << "flying there for landing";
+    1886           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1887             : 
+    1888           1 :     res.success = true;
+    1889           1 :     res.message = ss.str();
+    1890             : 
+    1891             :     // stop the eventual takeoff
+    1892           1 :     waiting_for_takeoff_ = false;
+    1893           1 :     takingoff_           = false;
+    1894           1 :     timer_takeoff_.stop();
+    1895             : 
+    1896           1 :     throttle_under_threshold_          = false;
+    1897           1 :     throttle_mass_estimate_first_time_ = ros::Time(0);
+    1898             : 
+    1899           1 :     changeLandingState(GOTO_STATE);
+    1900             : 
+    1901           1 :     timer_landing_.start();
+    1902             : 
+    1903             :   } else {
+    1904             : 
+    1905           0 :     std::stringstream ss;
+    1906           0 :     ss << "can not fly there for landing";
+    1907           0 :     ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    1908             : 
+    1909           0 :     res.success = false;
+    1910           0 :     res.message = ss.str();
+    1911             :   }
+    1912             : 
+    1913           1 :   return true;
+    1914             : }
+    1915             : 
+    1916             : //}
+    1917             : 
+    1918             : /* //{ callbackMidairActivation() */
+    1919             : 
+    1920          46 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1921             : 
+    1922          46 :   if (!is_initialized_)
+    1923           0 :     return false;
+    1924             : 
+    1925          46 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1926             : 
+    1927             :   /* preconditions //{ */
+    1928             : 
+    1929             :   {
+    1930          46 :     std::stringstream ss;
+    1931             : 
+    1932          46 :     if (!sh_odometry_.hasMsg()) {
+    1933           0 :       ss << "can not activate, missing odometry!";
+    1934           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1935           0 :       res.message = ss.str();
+    1936           0 :       res.success = false;
+    1937           0 :       return true;
+    1938             :     }
+    1939             : 
+    1940          46 :     if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 5.0) {
+    1941           0 :       ss << "can not activate, missing HW API status!";
+    1942           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1943           0 :       res.message = ss.str();
+    1944           0 :       res.success = false;
+    1945           0 :       return true;
+    1946             :     }
+    1947             : 
+    1948          46 :     if (!sh_hw_api_status_.getMsg()->armed) {
+    1949           0 :       ss << "can not activate, UAV not armed!";
+    1950           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1951           0 :       res.message = ss.str();
+    1952           0 :       res.success = false;
+    1953           0 :       return true;
+    1954             :     }
+    1955             : 
+    1956          46 :     if (sh_hw_api_status_.getMsg()->offboard) {
+    1957           0 :       ss << "can not activate, UAV already in offboard mode!";
+    1958           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1959           0 :       res.message = ss.str();
+    1960           0 :       res.success = false;
+    1961           0 :       return true;
+    1962             :     }
+    1963             : 
+    1964             :     {
+    1965          46 :       if (!sh_control_manager_diag_.hasMsg()) {
+    1966           0 :         ss << "can not activate, missing control manager diagnostics!";
+    1967           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1968           0 :         res.message = ss.str();
+    1969           0 :         res.success = false;
+    1970           0 :         return true;
+    1971             :       }
+    1972             : 
+    1973          46 :       if (_null_tracker_name_ != sh_control_manager_diag_.getMsg()->active_tracker) {
+    1974           0 :         ss << "can not activate, need '" << _null_tracker_name_ << "' to be active!";
+    1975           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1976           0 :         res.message = ss.str();
+    1977           0 :         res.success = false;
+    1978           0 :         return true;
+    1979             :       }
+    1980             :     }
+    1981             : 
+    1982          46 :     if (!sh_controller_diagnostics_.hasMsg()) {
+    1983           0 :       ss << "can not activate, missing controller diagnostics!";
+    1984           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1985           0 :       res.message = ss.str();
+    1986           0 :       res.success = false;
+    1987           0 :       return true;
+    1988             :     }
+    1989             : 
+    1990          46 :     if (_gain_manager_required_ && (ros::Time::now() - sh_gains_diag_.lastMsgTime()).toSec() > 5.0) {
+    1991           0 :       ss << "can not activate, GainManager is not running!";
+    1992           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1993           0 :       res.message = ss.str();
+    1994           0 :       res.success = false;
+    1995           0 :       return true;
+    1996             :     }
+    1997             : 
+    1998          46 :     if (_constraint_manager_required_ && (ros::Time::now() - sh_constraints_diag_.lastMsgTime()).toSec() > 5.0) {
+    1999           0 :       ss << "can not activate, ConstraintManager is not running!";
+    2000           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2001           0 :       res.message = ss.str();
+    2002           0 :       res.success = false;
+    2003           0 :       return true;
+    2004             :     }
+    2005             : 
+    2006          46 :     if (number_of_takeoffs_ > 0) {
+    2007           0 :       ss << "can not activate, we flew already!";
+    2008           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2009           0 :       res.message = ss.str();
+    2010           0 :       res.success = false;
+    2011           0 :       return true;
+    2012             :     }
+    2013             :   }
+    2014             : 
+    2015             :   //}
+    2016             : 
+    2017          46 :   auto [success, message] = midairActivationImpl();
+    2018             : 
+    2019          46 :   res.message = message;
+    2020          46 :   res.success = success;
+    2021             : 
+    2022          46 :   return true;
+    2023             : }
+    2024             : 
+    2025             : //}
+    2026             : 
+    2027             : // | ------------------------ routines ------------------------ |
+    2028             : 
+    2029             : /* landImpl() //{ */
+    2030             : 
+    2031           4 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2032             : 
+    2033             :   // activating the landing controller
+    2034             :   {
+    2035           4 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2036           4 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2037             : 
+    2038             :     // if it fails, activate eland
+    2039             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2040             :     // just throw out error.
+    2041           4 :     if (!controller_switched) {
+    2042             : 
+    2043           0 :       std::stringstream ss;
+    2044           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2045           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2046             : 
+    2047           0 :       elandSrv();
+    2048             : 
+    2049           0 :       return std::tuple(false, ss.str());
+    2050             :     }
+    2051             :   }
+    2052             : 
+    2053             :   // activate the landing tracker
+    2054             :   {
+    2055           4 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2056           4 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2057             : 
+    2058             :     // if it fails, activate eland
+    2059             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2060             :     // just throw out error.
+    2061           4 :     if (!tracker_switched) {
+    2062             : 
+    2063           0 :       std::stringstream ss;
+    2064           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2065           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2066             : 
+    2067           0 :       elandSrv();
+    2068             : 
+    2069           0 :       return std::tuple(false, ss.str());
+    2070             :     }
+    2071             :   }
+    2072             : 
+    2073             :   // call the landing service
+    2074             :   {
+    2075           4 :     bool land_successful = landSrv();
+    2076             : 
+    2077           4 :     if (land_successful) {
+    2078             : 
+    2079             :       // stop the eventual takeoff
+    2080           4 :       waiting_for_takeoff_ = false;
+    2081           4 :       takingoff_           = false;
+    2082           4 :       timer_takeoff_.stop();
+    2083             : 
+    2084             :       // stop counting the flight time
+    2085           4 :       timer_flighttime_.stop();
+    2086             : 
+    2087           8 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2088             : 
+    2089             :       // remember the last valid mass estimated
+    2090             :       // used during subsequent takeoff
+    2091           4 :       if (controller_diagnostics->mass_estimator) {
+    2092           4 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2093             :       }
+    2094             : 
+    2095           4 :       setOdometryCallbacksSrv(false);
+    2096             : 
+    2097           4 :       changeLandingState(LANDING_STATE);
+    2098             : 
+    2099           4 :       throttle_under_threshold_          = false;
+    2100           4 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2101             : 
+    2102           4 :       timer_landing_.start();
+    2103             : 
+    2104           4 :       std::stringstream ss;
+    2105           4 :       ss << "landing initiated";
+    2106           4 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2107             : 
+    2108           4 :       return std::tuple(true, ss.str());
+    2109             : 
+    2110             :     } else {
+    2111             : 
+    2112           0 :       std::stringstream ss;
+    2113           0 :       ss << "could not land";
+    2114           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2115             : 
+    2116           0 :       elandSrv();
+    2117             : 
+    2118           0 :       return std::tuple(false, ss.str());
+    2119             :     }
+    2120             :   }
+    2121             : }
+    2122             : 
+    2123             : //}
+    2124             : 
+    2125             : /* landWithDescendImpl() //{ */
+    2126             : 
+    2127           8 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2128             : 
+    2129             :   // if the height information is available
+    2130           8 :   if (sh_height_.hasMsg()) {
+    2131             : 
+    2132           8 :     double height = sh_height_.getMsg()->value;
+    2133             : 
+    2134           8 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2135             : 
+    2136           4 :       auto odometry = sh_odometry_.getMsg();
+    2137             : 
+    2138           4 :       ungripSrv();
+    2139             : 
+    2140             :       {
+    2141           4 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2142             : 
+    2143             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2144           4 :         land_there_reference_.header.frame_id      = "";
+    2145           4 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2146           4 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2147           4 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2148           4 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2149           4 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2150             :       }
+    2151             : 
+    2152           4 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2153             : 
+    2154           4 :       if (service_success) {
+    2155             : 
+    2156           4 :         std::stringstream ss;
+    2157           4 :         ss << "flying down for landing";
+    2158           4 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2159             : 
+    2160             :         // stop the eventual takeoff
+    2161           4 :         waiting_for_takeoff_ = false;
+    2162           4 :         takingoff_           = false;
+    2163           4 :         timer_takeoff_.stop();
+    2164             : 
+    2165           4 :         changeLandingState(GOTO_STATE);
+    2166             : 
+    2167           4 :         throttle_under_threshold_          = false;
+    2168           4 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2169             : 
+    2170           4 :         timer_landing_.start();
+    2171             : 
+    2172           4 :         return std::tuple(true, ss.str());
+    2173             : 
+    2174             :       } else {
+    2175             : 
+    2176           0 :         std::stringstream ss;
+    2177           0 :         ss << "can not fly down for landing";
+    2178           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2179             :       }
+    2180             :     }
+    2181             :   }
+    2182             : 
+    2183           8 :   auto [success, message] = landImpl();
+    2184             : 
+    2185           4 :   return std::tuple(success, message);
+    2186             : }
+    2187             : 
+    2188             : //}
+    2189             : 
+    2190             : /* midairActivationImpl() //{ */
+    2191             : 
+    2192          46 : std::tuple<bool, std::string> UavManager::midairActivationImpl(void) {
+    2193             : 
+    2194             :   // 1. activate the mid-air activation controller
+    2195             :   // the controller will output hover-like control output
+    2196          92 :   std::string old_controller;
+    2197             :   {
+    2198          46 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2199          46 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2200             : 
+    2201          46 :     if (!controller_switched) {
+    2202             : 
+    2203           0 :       std::stringstream ss;
+    2204           0 :       ss << "could not activate '" << _midair_activation_during_controller_ << "' for midair activation";
+    2205           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2206             : 
+    2207           0 :       return std::tuple(false, ss.str());
+    2208             :     }
+    2209             :   }
+    2210             : 
+    2211             :   // 2. turn Control Manager's output ON
+    2212             :   {
+    2213          46 :     bool output_enabled = toggleControlOutput(true);
+    2214             : 
+    2215          46 :     if (!output_enabled) {
+    2216             : 
+    2217           1 :       switchControllerSrv(old_controller);
+    2218             : 
+    2219           1 :       std::stringstream ss;
+    2220           1 :       ss << "could not enable Control Manager's output";
+    2221           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2222             : 
+    2223           1 :       return std::tuple(false, ss.str());
+    2224             :     }
+    2225             :   }
+    2226             : 
+    2227             :   // 3. activate the mid-air activation tracker
+    2228             :   // this will cause the Control Manager to output something else than min-throttle
+    2229          90 :   std::string old_tracker;
+    2230             :   {
+    2231          45 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2232             : 
+    2233          45 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2234             : 
+    2235          45 :     if (!tracker_switched) {
+    2236             : 
+    2237           0 :       switchControllerSrv(old_controller);
+    2238           0 :       toggleControlOutput(false);
+    2239             : 
+    2240           0 :       std::stringstream ss;
+    2241           0 :       ss << "could not activate '" << _midair_activation_during_tracker_ << "' for midair activation";
+    2242           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2243             : 
+    2244           0 :       return std::tuple(false, ss.str());
+    2245             :     }
+    2246             :   }
+    2247             : 
+    2248             :   // 4. wait for 50 ms, that should be enough for the Pixhawk to start getting data
+    2249          45 :   ros::Duration(0.05).sleep();
+    2250             : 
+    2251             :   // 5. turn on the OFFBOARD MODE
+    2252             :   // since now, the UAV should be under our control
+    2253             :   {
+    2254          45 :     bool offboard_set = offboardSrv(true);
+    2255             : 
+    2256          45 :     if (!offboard_set) {
+    2257             : 
+    2258           1 :       switchTrackerSrv(old_tracker);
+    2259           1 :       switchControllerSrv(old_controller);
+    2260           1 :       toggleControlOutput(false);
+    2261             : 
+    2262           1 :       std::stringstream ss;
+    2263           1 :       ss << "could not activate offboard mode";
+    2264           1 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2265             : 
+    2266           1 :       return std::tuple(false, ss.str());
+    2267             :     }
+    2268             :   }
+    2269             : 
+    2270             :   // remember this time, later check for timeout
+    2271          44 :   midair_activation_started_ = ros::Time::now();
+    2272             : 
+    2273             :   // start the timer which should check if the offboard is on, activate proper controller and tracker or timeout
+    2274          44 :   timer_midair_activation_.start();
+    2275             : 
+    2276          44 :   std::stringstream ss;
+    2277          44 :   ss << "midair activation initiated, starting the timer";
+    2278          44 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2279             : 
+    2280          44 :   return std::tuple(true, ss.str());
+    2281             : }
+    2282             : 
+    2283             : //}
+    2284             : 
+    2285             : // | ----------------- service client wrappers ---------------- |
+    2286             : 
+    2287             : /* setOdometryCallbacksSrv() //{ */
+    2288             : 
+    2289          72 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2290             : 
+    2291          72 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2292             : 
+    2293         144 :   std_srvs::SetBool srv;
+    2294             : 
+    2295          72 :   srv.request.data = input;
+    2296             : 
+    2297          72 :   bool res = sch_odometry_callbacks_.call(srv);
+    2298             : 
+    2299          72 :   if (res) {
+    2300             : 
+    2301          72 :     if (!srv.response.success) {
+    2302           0 :       ROS_WARN("[UavManager]: service call for toggle odometry callbacks returned: %s.", srv.response.message.c_str());
+    2303             :     }
+    2304             : 
+    2305             :   } else {
+    2306           0 :     ROS_ERROR("[UavManager]: service call for toggle odometry callbacks failed!");
+    2307             :   }
+    2308          72 : }
+    2309             : 
+    2310             : //}
+    2311             : 
+    2312             : /* setControlCallbacksSrv() //{ */
+    2313             : 
+    2314          84 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2315             : 
+    2316          84 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2317             : 
+    2318         168 :   std_srvs::SetBool srv;
+    2319             : 
+    2320          84 :   srv.request.data = input;
+    2321             : 
+    2322          84 :   bool res = sch_control_callbacks_.call(srv);
+    2323             : 
+    2324          84 :   if (res) {
+    2325             : 
+    2326          84 :     if (!srv.response.success) {
+    2327           0 :       ROS_WARN("[UavManager]: service call for setting control callbacks returned: %s.", srv.response.message.c_str());
+    2328             :     }
+    2329             : 
+    2330             :   } else {
+    2331           0 :     ROS_ERROR("[UavManager]: service call for setting control callbacks failed!");
+    2332             :   }
+    2333          84 : }
+    2334             : 
+    2335             : //}
+    2336             : 
+    2337             : /* ungripSrv() //{ */
+    2338             : 
+    2339           6 : void UavManager::ungripSrv(void) {
+    2340             : 
+    2341           6 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2342             : 
+    2343          12 :   std_srvs::Trigger srv;
+    2344             : 
+    2345           6 :   bool res = sch_ungrip_.call(srv);
+    2346             : 
+    2347           6 :   if (res) {
+    2348             : 
+    2349           0 :     if (!srv.response.success) {
+    2350           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2351             :     }
+    2352             : 
+    2353             :   } else {
+    2354           6 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2355             :   }
+    2356           6 : }
+    2357             : 
+    2358             : //}
+    2359             : 
+    2360             : /* toggleControlOutput() //{ */
+    2361             : 
+    2362          49 : bool UavManager::toggleControlOutput(const bool& input) {
+    2363             : 
+    2364          49 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2365             : 
+    2366          98 :   std_srvs::SetBool srv;
+    2367             : 
+    2368          49 :   srv.request.data = input;
+    2369             : 
+    2370          49 :   bool res = sch_toggle_control_output_.call(srv);
+    2371             : 
+    2372          49 :   if (res) {
+    2373             : 
+    2374          48 :     if (!srv.response.success) {
+    2375           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output returned: %s.", srv.response.message.c_str());
+    2376           0 :       return false;
+    2377             :     } else {
+    2378          48 :       return true;
+    2379             :     }
+    2380             : 
+    2381             :   } else {
+    2382           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for control output failed!");
+    2383           1 :     return false;
+    2384             :   }
+    2385             : }
+    2386             : 
+    2387             : //}
+    2388             : 
+    2389             : /* offboardSrv() //{ */
+    2390             : 
+    2391          45 : bool UavManager::offboardSrv(const bool in) {
+    2392             : 
+    2393          45 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2394             : 
+    2395          90 :   std_srvs::Trigger srv;
+    2396             : 
+    2397          45 :   bool res = sch_offboard_.call(srv);
+    2398             : 
+    2399          45 :   if (!res) {
+    2400             : 
+    2401           1 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed!");
+    2402           1 :     return false;
+    2403             : 
+    2404             :   } else {
+    2405             : 
+    2406          44 :     if (!srv.response.success) {
+    2407           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for offboard failed, returned: %s", srv.response.message.c_str());
+    2408           0 :       return false;
+    2409             :     } else {
+    2410          44 :       return true;
+    2411             :     }
+    2412             :   }
+    2413             : }
+    2414             : 
+    2415             : //}
+    2416             : 
+    2417             : /* pirouetteSrv() //{ */
+    2418             : 
+    2419           0 : void UavManager::pirouetteSrv(void) {
+    2420             : 
+    2421           0 :   std_srvs::Trigger srv;
+    2422             : 
+    2423           0 :   bool res = sch_pirouette_.call(srv);
+    2424             : 
+    2425           0 :   if (res) {
+    2426             : 
+    2427           0 :     if (!srv.response.success) {
+    2428           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for pirouette returned: %s.", srv.response.message.c_str());
+    2429             :     }
+    2430             : 
+    2431             :   } else {
+    2432           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for pirouette failed!");
+    2433             :   }
+    2434           0 : }
+    2435             : 
+    2436             : //}
+    2437             : 
+    2438             : /* disarmSrv() //{ */
+    2439             : 
+    2440           6 : void UavManager::disarmSrv(void) {
+    2441             : 
+    2442          12 :   std_srvs::SetBool srv;
+    2443             : 
+    2444           6 :   srv.request.data = false;
+    2445             : 
+    2446           6 :   bool res = sch_arm_.call(srv);
+    2447             : 
+    2448           6 :   if (res) {
+    2449             : 
+    2450           6 :     if (!srv.response.success) {
+    2451           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call disarming returned: %s.", srv.response.message.c_str());
+    2452             :     }
+    2453             : 
+    2454             :   } else {
+    2455           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for disarming failed!");
+    2456             :   }
+    2457           6 : }
+    2458             : 
+    2459             : //}
+    2460             : 
+    2461             : /* switchControllerSrv() //{ */
+    2462             : 
+    2463         120 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2464             : 
+    2465         120 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2466             : 
+    2467         240 :   mrs_msgs::String srv;
+    2468         120 :   srv.request.value = controller;
+    2469             : 
+    2470         120 :   bool res = sch_switch_controller_.call(srv);
+    2471             : 
+    2472         120 :   if (res) {
+    2473             : 
+    2474         120 :     if (!srv.response.success) {
+    2475           1 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2476             :     }
+    2477             : 
+    2478         120 :     return srv.response.success;
+    2479             : 
+    2480             :   } else {
+    2481             : 
+    2482           0 :     ROS_ERROR("[UavManager]: service call for switching controller failed!");
+    2483             : 
+    2484           0 :     return false;
+    2485             :   }
+    2486             : }
+    2487             : 
+    2488             : //}
+    2489             : 
+    2490             : /* switchTrackerSrv() //{ */
+    2491             : 
+    2492         121 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2493             : 
+    2494         121 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2495             : 
+    2496             : 
+    2497         242 :   mrs_msgs::String srv;
+    2498         121 :   srv.request.value = tracker;
+    2499             : 
+    2500         121 :   bool res = sch_switch_tracker_.call(srv);
+    2501             : 
+    2502         121 :   if (res) {
+    2503             : 
+    2504         121 :     if (!srv.response.success) {
+    2505           1 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2506             :     }
+    2507             : 
+    2508         121 :     return srv.response.success;
+    2509             : 
+    2510             :   } else {
+    2511             : 
+    2512           0 :     ROS_ERROR("[UavManager]: service call for switching tracker failed!");
+    2513             : 
+    2514           0 :     return false;
+    2515             :   }
+    2516             : }
+    2517             : 
+    2518             : //}
+    2519             : 
+    2520             : /* landSrv() //{ */
+    2521             : 
+    2522           4 : bool UavManager::landSrv(void) {
+    2523             : 
+    2524           4 :   ROS_INFO("[UavManager]: calling for landing");
+    2525             : 
+    2526           8 :   std_srvs::Trigger srv;
+    2527             : 
+    2528           4 :   bool res = sch_land_.call(srv);
+    2529             : 
+    2530           4 :   if (res) {
+    2531             : 
+    2532           4 :     if (!srv.response.success) {
+    2533           0 :       ROS_WARN("[UavManager]: service call for landing returned: '%s'", srv.response.message.c_str());
+    2534             :     }
+    2535             : 
+    2536           4 :     return srv.response.success;
+    2537             : 
+    2538             :   } else {
+    2539             : 
+    2540           0 :     ROS_ERROR("[UavManager]: service call for landing failed!");
+    2541             : 
+    2542           0 :     return false;
+    2543             :   }
+    2544             : }
+    2545             : 
+    2546             : //}
+    2547             : 
+    2548             : /* elandSrv() //{ */
+    2549             : 
+    2550           0 : bool UavManager::elandSrv(void) {
+    2551             : 
+    2552           0 :   ROS_INFO("[UavManager]: calling for eland");
+    2553             : 
+    2554           0 :   std_srvs::Trigger srv;
+    2555             : 
+    2556           0 :   bool res = sch_eland_.call(srv);
+    2557             : 
+    2558           0 :   if (res) {
+    2559             : 
+    2560           0 :     if (!srv.response.success) {
+    2561           0 :       ROS_WARN("[UavManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    2562             :     }
+    2563             : 
+    2564           0 :     return srv.response.success;
+    2565             : 
+    2566             :   } else {
+    2567             : 
+    2568           0 :     ROS_ERROR("[UavManager]: service call for eland failed!");
+    2569             : 
+    2570           0 :     return false;
+    2571             :   }
+    2572             : }
+    2573             : 
+    2574             : //}
+    2575             : 
+    2576             : /* ehoverSrv() //{ */
+    2577             : 
+    2578           0 : bool UavManager::ehoverSrv(void) {
+    2579             : 
+    2580           0 :   ROS_INFO("[UavManager]: calling for ehover");
+    2581             : 
+    2582           0 :   std_srvs::Trigger srv;
+    2583             : 
+    2584           0 :   bool res = sch_ehover_.call(srv);
+    2585             : 
+    2586           0 :   if (res) {
+    2587             : 
+    2588           0 :     if (!srv.response.success) {
+    2589           0 :       ROS_WARN("[UavManager]: service call for ehover returned: '%s'", srv.response.message.c_str());
+    2590             :     }
+    2591             : 
+    2592           0 :     return srv.response.success;
+    2593             : 
+    2594             :   } else {
+    2595             : 
+    2596           0 :     ROS_ERROR("[UavManager]: service call for ehover failed!");
+    2597             : 
+    2598           0 :     return false;
+    2599             :   }
+    2600             : }
+    2601             : 
+    2602             : //}
+    2603             : 
+    2604             : /* takeoffSrv() //{ */
+    2605             : 
+    2606          11 : bool UavManager::takeoffSrv(void) {
+    2607             : 
+    2608          11 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2609             : 
+    2610          22 :   mrs_msgs::Vec1 srv;
+    2611             : 
+    2612          11 :   srv.request.goal = _takeoff_height_;
+    2613             : 
+    2614          11 :   bool res = sch_takeoff_.call(srv);
+    2615             : 
+    2616          11 :   if (res) {
+    2617             : 
+    2618          11 :     if (!srv.response.success) {
+    2619           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2620             :     }
+    2621             : 
+    2622          11 :     return srv.response.success;
+    2623             : 
+    2624             :   } else {
+    2625             : 
+    2626           0 :     ROS_ERROR("[UavManager]: service call for takeoff failed!");
+    2627             : 
+    2628           0 :     return false;
+    2629             :   }
+    2630             : }
+    2631             : 
+    2632             : //}
+    2633             : 
+    2634             : /* emergencyReferenceSrv() //{ */
+    2635             : 
+    2636          85 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2637             : 
+    2638          85 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2639             : 
+    2640         170 :   mrs_msgs::ReferenceStampedSrv srv;
+    2641             : 
+    2642          85 :   srv.request.header    = goal.header;
+    2643          85 :   srv.request.reference = goal.reference;
+    2644             : 
+    2645          85 :   bool res = sch_emergency_reference_.call(srv);
+    2646             : 
+    2647          85 :   if (res) {
+    2648             : 
+    2649          85 :     if (!srv.response.success) {
+    2650           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: service call for emergency reference returned: '%s'", srv.response.message.c_str());
+    2651             :     }
+    2652             : 
+    2653          85 :     return srv.response.success;
+    2654             : 
+    2655             :   } else {
+    2656             : 
+    2657           0 :     ROS_ERROR_THROTTLE(1.0, "[UavManager]: service call for emergency reference failed!");
+    2658             : 
+    2659           0 :     return false;
+    2660             :   }
+    2661             : }
+    2662             : 
+    2663             : //}
+    2664             : 
+    2665             : }  // namespace uav_manager
+    2666             : 
+    2667             : }  // namespace mrs_uav_managers
+    2668             : 
+    2669             : #include <pluginlib/class_list_macros.h>
+    2670          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::uav_manager::UavManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..e1f895e2f4 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.overview.html @@ -0,0 +1,688 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview 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+ Overview +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
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Date:2024-01-14 11:12:21Functions:33100.0 %
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()52
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mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().252
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mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()52
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mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().252
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Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_GARMIN_AGL_H
+       2             : #define ESTIMATORS_STATE_GARMIN_AGL_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_msgs/Float64Stamped.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/agl_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace garmin_agl
+      28             : {
+      29             : const char name[]         = "garmin_agl";
+      30             : const char frame_id[]     = "garmin_agl_origin";
+      31             : const char package_name[] = "mrs_uav_state_estimators";
+      32             : 
+      33             : const bool is_core_plugin = true;
+      34             : 
+      35             : class GarminAgl : public mrs_uav_managers::AglEstimator {
+      36             : 
+      37             : private:
+      38             :   std::unique_ptr<AltGeneric> est_agl_garmin_;
+      39             :   const std::string           est_agl_name_ = "garmin_agl";
+      40             : 
+      41             :   const bool is_core_plugin_;
+      42             : 
+      43             :   ros::Timer timer_update_;
+      44             :   int        _update_timer_rate_;
+      45             :   void       timerUpdate(const ros::TimerEvent &event);
+      46             : 
+      47             :   ros::Timer timer_check_health_;
+      48             :   int        _check_health_timer_rate_;
+      49             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      50             : 
+      51             :   bool isConverged();
+      52             : 
+      53             :   void waitForEstimationInitialization();
+      54             : 
+      55             : public:
+      56          52 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          52 :   }
+      58             : 
+      59         104 :   ~GarminAgl(void) {
+      60         104 :   }
+      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/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index.html new file mode 100644 index 0000000000..9f4580917b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/aglHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
garmin_agl.h +
100.0%
+ 		100.0 %4 / 4100.0 %3 / 3
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html new file mode 100644 index 0000000000..1dbdcf3610 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)117
mrs_uav_state_estimators::AltGeneric::~AltGeneric()117
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2117
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func.html new file mode 100644 index 0000000000..78cb7f9200 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)117
mrs_uav_state_estimators::AltGeneric::~AltGeneric()117
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2117
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..ffdd0b59a3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html new file mode 100644 index 0000000000..716287f6bb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.html @@ -0,0 +1,242 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - alt_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       2             : #define ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Range.h>
+      10             : 
+      11             : #include <mrs_lib/lkf.h>
+      12             : #include <mrs_lib/repredictor.h>
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/param_loader.h>
+      15             : #include <mrs_lib/subscribe_handler.h>
+      16             : 
+      17             : #include <functional>
+      18             : 
+      19             : #include <mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h>
+      20             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      21             : 
+      22             : #include <mrs_uav_state_estimators/AltitudeEstimatorConfig.h>
+      23             : 
+      24             : //}
+      25             : 
+      26             : namespace mrs_uav_state_estimators
+      27             : {
+      28             : 
+      29             : namespace alt_generic
+      30             : {
+      31             : 
+      32             : const int n_states       = 3;
+      33             : const int n_inputs       = 1;
+      34             : const int n_measurements = 1;
+      35             : 
+      36             : }  // namespace alt_generic
+      37             : 
+      38             : class AltGeneric : public AltitudeEstimator<alt_generic::n_states> {
+      39             : 
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   typedef mrs_lib::DynamicReconfigureMgr<AltitudeEstimatorConfig> drmgr_t;
+      43             : 
+      44             :   using lkf_t      = mrs_lib::LKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      45             :   using 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         117 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     114         117 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     115         117 :   }
+     116             : 
+     117         234 :   ~AltGeneric(void) {
+     118         234 :   }
+     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html new file mode 100644 index 0000000000..872f0abb3c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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..dac02b7d26 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)117
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2117
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html new file mode 100644 index 0000000000..541d191689 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltitudeEstimator<3>::AltitudeEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)117
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2117
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c89e621d6c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html new file mode 100644 index 0000000000..8c82a6ecda --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html @@ -0,0 +1,130 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+
          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         117 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31         117 :   }
+      32             : 
+      33         117 :   virtual ~AltitudeEstimator(void) {
+      34         117 :   }
+      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..232dab65ec --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions: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..9592d91cbb --- /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:2024-01-14 11:12:21Functions: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..b58488d22d --- /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:2024-01-14 11:12:21Functions: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..48dff9cfa5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions: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-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..87a96b2a37 --- /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:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html new file mode 100644 index 0000000000..b603549242 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions: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..77247d1fe8 --- /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:36865556.2 %
Date:2024-01-14 11:12:21Functions:476770.1 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getVelInFrame(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)0
mrs_uav_state_estimators::Correction<1>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getAvgRtkInitZ(double)0
mrs_uav_state_estimators::Correction<2>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)0
mrs_uav_state_estimators::Correction<2>::resetProcessors()0
mrs_uav_state_estimators::Correction<2>::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::callbackToggleRange(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoseStamped(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getAvgRtkInitZ(double)22
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)65
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)>)69
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const138
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const141
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)>)178
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)179
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const278
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const356
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const394
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const709
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2175
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2197
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const2197
mrs_uav_state_estimators::Correction<2>::getRawCorrection()2694
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()2694
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)4638
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)4699
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const4699
mrs_uav_state_estimators::Correction<1>::getRawCorrection()4842
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()4842
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)9358
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)9380
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> >)9382
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)104962
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)106331
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)112565
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)112593
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)112621
mrs_uav_state_estimators::Correction<2>::setR(double)118677
mrs_uav_state_estimators::Correction<2>::getStateId() const118845
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)118921
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)120403
mrs_uav_state_estimators::Correction<2>::isHealthy()131590
mrs_uav_state_estimators::Correction<2>::isMsgComing()131596
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)184504
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)186524
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)239017
mrs_uav_state_estimators::Correction<1>::getStateId() const296670
mrs_uav_state_estimators::Correction<1>::setR(double)296678
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)299684
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)302623
mrs_uav_state_estimators::Correction<1>::isHealthy()321094
mrs_uav_state_estimators::Correction<1>::isMsgComing()321141
mrs_uav_state_estimators::Correction<2>::getR()596361
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)599244
mrs_uav_state_estimators::Correction<1>::getR()895706
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html new file mode 100644 index 0000000000..49188c6b21 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:36865556.2 %
Date:2024-01-14 11:12:21Functions:476770.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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>)2175
mrs_uav_state_estimators::Correction<1>::isMsgComing()321141
mrs_uav_state_estimators::Correction<1>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)184504
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>)112565
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&)299684
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)112593
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()4842
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)599244
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>)2197
mrs_uav_state_estimators::Correction<1>::getCorrectionFromQuat(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)0
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)186524
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()4842
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)179
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)112621
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()895706
mrs_uav_state_estimators::Correction<1>::setR(double)296678
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)302623
mrs_uav_state_estimators::Correction<1>::isHealthy()321094
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)>)178
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)4638
mrs_uav_state_estimators::Correction<2>::isMsgComing()131596
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)104962
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> >)9382
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)9358
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&)118921
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()2694
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)239017
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>)4699
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>)106331
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()2694
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)65
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)9380
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()596361
mrs_uav_state_estimators::Correction<2>::setR(double)118677
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)120403
mrs_uav_state_estimators::Correction<2>::isHealthy()131590
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)>)69
mrs_uav_state_estimators::Correction<1>::getStateId() const296670
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const394
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const709
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const2197
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const356
mrs_uav_state_estimators::Correction<2>::getStateId() const118845
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const141
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const278
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const4699
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const138
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html new file mode 100644 index 0000000000..3b2b9aa9cc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html new file mode 100644 index 0000000000..21a267c0f9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html @@ -0,0 +1,1795 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36865556.2 %
Date:2024-01-14 11:12:21Functions:476770.1 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATORS_CORRECTION_H
+       3             : #define ESTIMATORS_CORRECTION_H
+       4             : 
+       5             : #include <Eigen/Dense>
+       6             : 
+       7             : #include <mrs_lib/subscribe_handler.h>
+       8             : #include <mrs_lib/publisher_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : #include <mrs_lib/param_loader.h>
+      11             : #include <mrs_lib/dynamic_reconfigure_mgr.h>
+      12             : #include <mrs_lib/gps_conversions.h>
+      13             : #include <mrs_lib/mutex.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : 
+      16             : #include <mrs_msgs/RtkGps.h>
+      17             : #include <mrs_msgs/EstimatorCorrection.h>
+      18             : #include <mrs_msgs/Float64Stamped.h>
+      19             : 
+      20             : #include <sensor_msgs/Range.h>
+      21             : #include <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         247 : 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         247 :       fun_apply_correction_(fun_apply_correction) {
+     235             : 
+     236             :   // | --------------------- load parameters -------------------- |
+     237             : 
+     238         494 :   std::string msg_type_string;
+     239             : 
+     240         247 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     241             : 
+     242         247 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     243         247 :   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         247 :   msg_type_ = map_msg_type.at(msg_type_string);
+     248             : 
+     249         247 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     250         247 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     251         247 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     252         247 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     253         247 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     254             : 
+     255             :   int state_id_tmp;
+     256         247 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     257         247 :   if (state_id_tmp < n_StateId_t) {
+     258         247 :     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         247 :   if (state_id_ == StateId_t::VELOCITY) {
+     265          69 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     266             :   }
+     267             : 
+     268         247 :   ph->param_loader->loadParam("noise", R_);
+     269         247 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     270         247 :   default_R_ = R_;
+     271             : 
+     272             :   // | --------------- processors initialization --------------- |
+     273         247 :   ph->param_loader->loadParam("processors", processor_names_);
+     274             : 
+     275         491 :   for (auto proc_name : processor_names_) {
+     276         244 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     277             :   }
+     278             : 
+     279             :   // | ------------- initialize dynamic reconfigure ------------- |
+     280         247 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     281         247 :   drmgr_->config.noise = R_;
+     282         247 :   drmgr_->update_config(drmgr_->config);
+     283             : 
+     284             :   // | -------------- initialize subscribe handlers ------------- |
+     285         494 :   mrs_lib::SubscribeHandlerOptions shopts;
+     286         247 :   shopts.nh                 = nh;
+     287         247 :   shopts.node_name          = getPrintName();
+     288         247 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     289         247 :   shopts.threadsafe         = true;
+     290         247 :   shopts.autostart          = true;
+     291         247 :   shopts.queue_size         = 10;
+     292         247 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     293             : 
+     294         247 :   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         111 :     case MessageType_t::RANGE: {
+     309         111 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     310         111 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     311         222 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     312         222 :       ser_toggle_range_ =
+     313         111 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     314         111 :       break;
+     315             :     }
+     316           6 :     case MessageType_t::RTK_GPS: {
+     317           6 :       sh_rtk_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, msg_topic_, &Correction::callbackRtk, this);
+     318           6 :       break;
+     319             :     }
+     320          61 :     case MessageType_t::POINT: {
+     321          61 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     322          61 :       break;
+     323             :     }
+     324          69 :     case MessageType_t::VECTOR: {
+     325          69 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     326          69 :       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         247 :   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         247 :   if (ch_->debug_topics.correction) {
+     351         247 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     352         247 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     353             :   }
+     354         247 :   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         247 :   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         247 :   healthy_time_ = ros::Time(0);
+     365             : 
+     366         247 :   is_initialized_ = true;
+     367         247 : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ getName() */
+     371             : template <int n_measurements>
+     372         494 : std::string Correction<n_measurements>::getName() const {
+     373         494 :   return name_;
+     374             : }
+     375             : /*//}*/
+     376             : 
+     377             : /*//{ getNamespacedName() */
+     378             : template <int n_measurements>
+     379         987 : std::string Correction<n_measurements>::getNamespacedName() const {
+     380         987 :   return est_name_ + "/" + name_;
+     381             : }
+     382             : /*//}*/
+     383             : 
+     384             : /*//{ getPrintName() */
+     385             : template <int n_measurements>
+     386         535 : std::string Correction<n_measurements>::getPrintName() const {
+     387         535 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     388             : }
+     389             : /*//}*/
+     390             : 
+     391             : /*//{ getR() */
+     392             : template <int n_measurements>
+     393     1492067 : double Correction<n_measurements>::getR() {
+     394     1492067 :   std::scoped_lock lock(mtx_R_);
+     395     1491945 :   default_R_ = drmgr_->config.noise;
+     396     2983450 :   return R_;
+     397             : }
+     398             : /*//}*/
+     399             : 
+     400             : /*//{ setR() */
+     401             : template <int n_measurements>
+     402      415355 : void Correction<n_measurements>::setR(const double R) {
+     403      415355 :   std::scoped_lock lock(mtx_R_);
+     404      415280 :   R_ = R;
+     405      415277 : }
+     406             : /*//}*/
+     407             : 
+     408             : /*//{ getStateId() */
+     409             : template <int n_measurements>
+     410      415515 : StateId_t Correction<n_measurements>::getStateId() const {
+     411      415515 :   return state_id_;
+     412             : }
+     413             : /*//}*/
+     414             : 
+     415             : /*//{ isHealthy() */
+     416             : template <int n_measurements>
+     417      452684 : bool Correction<n_measurements>::isHealthy() {
+     418             : 
+     419      452684 :   if (!is_initialized_) {
+     420           0 :     return false;
+     421             :   }
+     422             : 
+     423      452628 :   is_dt_ok_ = isMsgComing();
+     424             : 
+     425      452769 :   if (!is_delay_ok_) {
+     426           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     427             :   }
+     428             : 
+     429      452655 :   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      452593 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     440             : 
+     441      452591 :   return is_healthy_;
+     442             : }
+     443             : /*//}*/
+     444             : 
+     445             : /*//{ getRawCorrection() */
+     446             : template <int n_measurements>
+     447        7536 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     448             : 
+     449        7536 :   if (!is_initialized_) {
+     450           0 :     return {};
+     451             :   }
+     452             : 
+     453        7535 :   MeasurementStamped measurement_stamped;
+     454             : 
+     455        7533 :   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        4695 :     case MessageType_t::RANGE: {
+     516             : 
+     517        4695 :       if (!range_enabled_) {
+     518           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     519        1802 :         return {};
+     520             :       }
+     521             : 
+     522        4695 :       if (!sh_range_.hasMsg()) {
+     523        1585 :         return {};
+     524             :       }
+     525             : 
+     526        3105 :       auto msg                  = sh_range_.getMsg();
+     527        3106 :       measurement_stamped.stamp = msg->header.stamp;
+     528             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     529             : 
+     530             :       /* if (!is_delay_ok_) { */
+     531             :       /*   return {}; */
+     532             :       /* } */
+     533             : 
+     534        3103 :       auto res = getCorrectionFromRange(msg);
+     535        3106 :       if (res) {
+     536        2895 :         measurement_stamped.value = res.value();
+     537             :       } else {
+     538         211 :         return {};
+     539             :       }
+     540        2894 :       break;
+     541             :     }
+     542             : 
+     543          85 :     case MessageType_t::RTK_GPS: {
+     544             : 
+     545          85 :       if (!sh_rtk_.hasMsg()) {
+     546           1 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     547          15 :         return {};
+     548             :       }
+     549             : 
+     550          84 :       auto msg                  = sh_rtk_.getMsg();
+     551          84 :       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          84 :       auto res = getCorrectionFromRtk(msg);
+     560          84 :       if (res) {
+     561          70 :         measurement_stamped.value = res.value();
+     562             :       } else {
+     563          14 :         ROS_ERROR_THROTTLE(1.0, "[%s]: could not get rtk correction", ros::this_node::getName().c_str());
+     564          14 :         return {};
+     565             :       }
+     566             : 
+     567          70 :       break;
+     568             :     }
+     569             : 
+     570        2569 :     case MessageType_t::POINT: {
+     571             : 
+     572        2569 :       if (!sh_point_.hasMsg()) {
+     573        1213 :         return {};
+     574             :       }
+     575             : 
+     576        1356 :       auto msg                  = sh_point_.getMsg();
+     577        1356 :       measurement_stamped.stamp = msg->header.stamp;
+     578             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     579             : 
+     580             :       /* if (!is_delay_ok_) { */
+     581             :       /*   return {}; */
+     582             :       /* } */
+     583        1356 :       auto res = getCorrectionFromPoint(msg);
+     584        1356 :       if (res) {
+     585        1356 :         measurement_stamped.value = res.value();
+     586             :       } else {
+     587           0 :         return {};
+     588             :       }
+     589        1356 :       break;
+     590             :     }
+     591             : 
+     592         186 :     case MessageType_t::VECTOR: {
+     593             : 
+     594         186 :       if (!sh_vector_.hasMsg()) {
+     595         117 :         return {};
+     596             :       }
+     597             : 
+     598          89 :       auto msg                  = sh_vector_.getMsg();
+     599          89 :       measurement_stamped.stamp = msg->header.stamp;
+     600             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     601             : 
+     602             :       /* if (!is_delay_ok_) { */
+     603             :       /*   return {}; */
+     604             :       /* } */
+     605          89 :       auto res = getCorrectionFromVector(msg);
+     606          89 :       if (res) {
+     607          69 :         measurement_stamped.value = res.value();
+     608             :       } else {
+     609          20 :         return {};
+     610             :       }
+     611          69 :       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        4390 :   is_nan_free_ = true;
+     645       10201 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     646        5812 :     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        4390 :   got_first_msg_ = true;
+     654        4390 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     655             : 
+     656        4390 :   return measurement_stamped;
+     657             : }
+     658             : /*//}*/
+     659             : 
+     660             : /*//{ getProcessedCorrection() */
+     661             : template <int n_measurements>
+     662        7536 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     663             : 
+     664        7536 :   MeasurementStamped measurement_stamped;
+     665        7530 :   auto               res = getRawCorrection();
+     666        7533 :   if (res) {
+     667        4389 :     MeasurementStamped measurement_stamped = res.value();
+     668        4390 :     if (process(measurement_stamped.value)) {
+     669         311 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     670         311 :       return measurement_stamped;
+     671             :     } else {
+     672        4078 :       return {};  // invalid correction
+     673             :     }
+     674             :   } else {
+     675        3147 :     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      184504 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+     943             : 
+     944      184504 :   if (!is_initialized_) {
+     945           1 :     return;
+     946             :   }
+     947             : 
+     948      183762 :   auto res = getCorrectionFromRange(msg);
+     949      185124 :   if (res) {
+     950      184923 :     applyCorrection(res.value(), msg->header.stamp);
+     951             :   }
+     952             : }
+     953             : /*//}*/
+     954             : 
+     955             : /*//{ getCorrectionFromRange() */
+     956             : template <int n_measurements>
+     957      186524 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+     958             : 
+     959      186524 :   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      186524 :   if (!std::isfinite(msg->range)) {
+     965          16 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+     966          19 :     return {};
+     967             :   }
+     968             : 
+     969      373191 :   geometry_msgs::PoseStamped range_point;
+     970             : 
+     971      185482 :   range_point.header           = msg->header;
+     972      187440 :   range_point.pose.position.x  = msg->range;
+     973      184883 :   range_point.pose.position.y  = 0;
+     974      184883 :   range_point.pose.position.z  = 0;
+     975      184883 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     976             : 
+     977      374720 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+     978             : 
+     979      188215 :   Correction::measurement_t measurement;
+     980             : 
+     981      188216 :   if (res) {
+     982      187824 :     measurement(0) = -res.value().pose.position.z;
+     983      187821 :     return measurement;
+     984             :   } else {
+     985         391 :     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         391 :     return {};
+     988             :   }
+     989             : }
+     990             : /*//}*/
+     991             : 
+     992             : /*//{ callbackRtk() */
+     993             : template <int n_measurements>
+     994        6813 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+     995             : 
+     996        6813 :   if (!is_initialized_) {
+     997           0 :     return;
+     998             :   }
+     999             : 
+    1000        6803 :   auto res = getCorrectionFromRtk(msg);
+    1001        6813 :   if (res) {
+    1002        6805 :     applyCorrection(res.value(), msg->header.stamp);
+    1003             :   }
+    1004             : }
+    1005             : /*//}*/
+    1006             : 
+    1007             : /*//{ getCorrectionFromRtk() */
+    1008             : template <int n_measurements>
+    1009        6896 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1010             : 
+    1011       13793 :   geometry_msgs::PoseStamped rtk_pos;
+    1012             : 
+    1013        6882 :   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        6882 :   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        6885 :   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        6872 :   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        6874 :   rtk_pos.header = msg->header;
+    1034        6890 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1035        6863 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1036        6868 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1037             : 
+    1038        6882 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1039        6883 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1040             : 
+    1041        6884 :   Correction::measurement_t measurement;
+    1042             : 
+    1043             :   // transform the RTK position from antenna to FCU
+    1044        6890 :   auto res = transformRtkToFcu(rtk_pos);
+    1045        6897 :   if (res) {
+    1046        6897 :     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        6897 :   switch (est_type_) {
+    1053             : 
+    1054             :     // handle lateral estimators
+    1055        4700 :     case EstimatorType_t::LATERAL: {
+    1056             : 
+    1057        4700 :       switch (state_id_) {
+    1058             : 
+    1059        4700 :         case StateId_t::POSITION: {
+    1060        4700 :           measurement(0) = rtk_pos.pose.position.x;
+    1061        4700 :           measurement(1) = rtk_pos.pose.position.y;
+    1062        4700 :           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        2197 :     case EstimatorType_t::ALTITUDE: {
+    1076             : 
+    1077        2197 :       switch (state_id_) {
+    1078             : 
+    1079        2197 :         case StateId_t::POSITION: {
+    1080        2197 :           measurement(0) = rtk_pos.pose.position.z;
+    1081        2197 :           if (!got_avg_init_rtk_z_) {
+    1082          22 :             getAvgRtkInitZ(measurement(0));
+    1083          22 :             return {};
+    1084             :           }
+    1085        2175 :           measurement(0) -= rtk_init_z_avg_;
+    1086        2175 :           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      104962 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1113             : 
+    1114      104962 :   if (!is_initialized_) {
+    1115           0 :     return;
+    1116             :   }
+    1117             : 
+    1118      104919 :   auto res = getCorrectionFromPoint(msg);
+    1119      104822 :   if (res) {
+    1120      104787 :     applyCorrection(res.value(), msg->header.stamp);
+    1121             :   }
+    1122             : }
+    1123             : /*//}*/
+    1124             : 
+    1125             : /*//{ getCorrectionFromPoint() */
+    1126             : template <int n_measurements>
+    1127      106331 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1128             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1129             : 
+    1130      106331 :   switch (est_type_) {
+    1131             : 
+    1132             :     // handle lateral estimators
+    1133      106354 :     case EstimatorType_t::LATERAL: {
+    1134             : 
+    1135      106354 :       switch (state_id_) {
+    1136             : 
+    1137      106346 :         case StateId_t::POSITION: {
+    1138      106346 :           measurement_t measurement;
+    1139      106348 :           measurement(0) = msg->point.x;
+    1140      106185 :           measurement(1) = msg->point.y;
+    1141      106232 :           return measurement;
+    1142             :           break;
+    1143             :         }
+    1144             : 
+    1145           8 :         default: {
+    1146           8 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1147           0 :           return {};
+    1148             :         }
+    1149             :       }
+    1150             :       break;
+    1151             :     }
+    1152             : 
+    1153             :     // handle altitude estimators
+    1154           0 :     case EstimatorType_t::ALTITUDE: {
+    1155             : 
+    1156           0 :       switch (state_id_) {
+    1157             : 
+    1158           0 :         case StateId_t::POSITION: {
+    1159           0 :           measurement_t measurement;
+    1160           0 :           measurement(0) = msg->point.z;
+    1161           0 :           return measurement;
+    1162             :           break;
+    1163             :         }
+    1164             : 
+    1165           0 :         default: {
+    1166           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1167           0 :           return {};
+    1168             :         }
+    1169             :       }
+    1170             :       break;
+    1171             :     }
+    1172             : 
+    1173           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      121923 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1188             : 
+    1189      121923 :   if (!is_initialized_) {
+    1190           0 :     return;
+    1191             :   }
+    1192             : 
+    1193      121819 :   auto res = getCorrectionFromVector(msg);
+    1194      121957 :   if (res) {
+    1195      121933 :     applyCorrection(res.value(), msg->header.stamp);
+    1196             :   }
+    1197             : }
+    1198             : /*//}*/
+    1199             : 
+    1200             : /*//{ getCorrectionFromVector() */
+    1201             : template <int n_measurements>
+    1202      122001 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1203             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1204             : 
+    1205      122001 :   switch (est_type_) {
+    1206             : 
+    1207             :     // handle lateral estimators
+    1208        9381 :     case EstimatorType_t::LATERAL: {
+    1209             : 
+    1210        9381 :       switch (state_id_) {
+    1211             : 
+    1212        9382 :         case StateId_t::VELOCITY: {
+    1213        9382 :           auto res = getVelInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1214        9383 :           if (res) {
+    1215        9339 :             measurement_t measurement;
+    1216        9339 :             measurement = res.value();
+    1217        9339 :             return measurement;
+    1218             :           } else {
+    1219          44 :             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      112617 :     case EstimatorType_t::ALTITUDE: {
+    1234             : 
+    1235      112617 :       switch (state_id_) {
+    1236             : 
+    1237      112568 :         case StateId_t::VELOCITY: {
+    1238      112568 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1239      112666 :           if (res) {
+    1240      112666 :             measurement_t measurement;
+    1241      112662 :             measurement = res.value();
+    1242      112665 :             return measurement;
+    1243             :           } else {
+    1244           0 :             return {};
+    1245             :           }
+    1246             :           break;
+    1247             :         }
+    1248             : 
+    1249          49 :         default: {
+    1250          49 :           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           4 :   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      418605 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1342             : 
+    1343             :   {
+    1344      418605 :     std::scoped_lock lock(mtx_msg_time_);
+    1345      418556 :     if (first_timestamp_) {
+    1346         245 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1347         246 :       msg_time_        = stamp;
+    1348         246 :       healthy_time_    = ros::Time(0);
+    1349         245 :       first_timestamp_ = false;
+    1350             :     }
+    1351             : 
+    1352      418479 :     prev_msg_time_ = msg_time_;
+    1353      418479 :     msg_time_      = stamp;
+    1354      418479 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1355             :   }
+    1356             : 
+    1357      418475 :   MeasurementStamped meas_stamped;
+    1358      418451 :   meas_stamped.value = meas;
+    1359      418534 :   meas_stamped.stamp = stamp;
+    1360      418534 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1361      418669 :   if (process(meas_stamped.value)) {
+    1362      414990 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1363      415082 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1364             :   }
+    1365      418263 : }
+    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      112593 : 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      225258 :   geometry_msgs::PointStamped vel;
+    1408      112533 :   vel.point.x = msg.x;
+    1409      112533 :   vel.point.y = msg.y;
+    1410      112533 :   vel.point.z = msg.z;
+    1411      112533 :   vel.header  = header;
+    1412             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    1413      112614 :   vel.header.stamp = header.stamp;
+    1414             : 
+    1415      225280 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    1416      112666 :   if (res) {
+    1417      112666 :     measurement_t measurement;
+    1418      112665 :     measurement(0) = res.value().point.z;
+    1419      112665 :     return measurement;
+    1420             :   } else {
+    1421           0 :     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           0 :     return {};
+    1423             :   }
+    1424             : }
+    1425             : /*//}*/
+    1426             : 
+    1427             : /*//{ getVelInFrame() */
+    1428             : template <int n_measurements>
+    1429        9382 : 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        9382 :   measurement_t measurement;
+    1434             : 
+    1435       18763 :   geometry_msgs::Vector3Stamped vel;
+    1436        9378 :   vel.header = source_header;
+    1437        9380 :   vel.vector = vel_in;
+    1438             :   /* body.vector.x = vel.x; */
+    1439             :   /* body.vector.y = vel.y; */
+    1440             :   /* body.vector.z = vel.z; */
+    1441             : 
+    1442       18763 :   geometry_msgs::Vector3Stamped transformed_vel;
+    1443       18759 :   auto                          res = ch_->transformer->transformSingle(vel, target_frame);
+    1444        9383 :   if (res) {
+    1445        9339 :     transformed_vel = res.value();
+    1446        9339 :     measurement(0)  = transformed_vel.vector.x;
+    1447        9338 :     measurement(1)  = transformed_vel.vector.y;
+    1448        9339 :     return measurement;
+    1449             :   } else {
+    1450          44 :     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          44 :     return {};
+    1452             :   }
+    1453             : }
+    1454             : /*//}*/
+    1455             : 
+    1456             : /*//{ transformRtkToFcu() */
+    1457             : template <int n_measurements>
+    1458        6896 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    1459             : 
+    1460       13793 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    1461             : 
+    1462             :   // inject current orientation into rtk pose
+    1463       13782 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1464        6897 :   if (res1) {
+    1465        6897 :     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        6897 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    1474       13794 :   geometry_msgs::PoseStamped utm_in_antenna;
+    1475        6897 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    1476        6897 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    1477        6897 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    1478             : 
+    1479             :   // transform to fcu
+    1480       13794 :   geometry_msgs::PoseStamped utm_in_fcu;
+    1481        6897 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    1482        6897 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    1483       13794 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    1484             : 
+    1485        6897 :   if (res2) {
+    1486        6897 :     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        6897 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    1494        6897 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    1495             : 
+    1496        6897 :   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      452737 : bool Correction<n_measurements>::isMsgComing() {
+    1589             : 
+    1590      452737 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    1591      452657 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    1592             : 
+    1593      452647 :   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      452589 :   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      452589 :   return true;
+    1604             : }  // namespace mrs_uav_state_estimators
+    1605             : /*//}*/
+    1606             : 
+    1607             : /*//{ createProcessorFromName() */
+    1608             : template <int n_measurements>
+    1609         244 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    1610             : 
+    1611         244 :   if (name == "median_filter") {
+    1612          59 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1613         185 :   } else if (name == "saturate") {
+    1614          65 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    1615         120 :   } else if (name == "excessive_tilt") {
+    1616          59 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1617          61 :   } else if (name == "tf_to_world") {
+    1618          61 :     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      423026 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    1630             : 
+    1631      423026 :   bool ok_flag   = true;
+    1632      423026 :   bool fuse_flag = true;
+    1633             : 
+    1634      845197 :   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      422252 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    1638      422102 :     ok_flag &= is_ok;
+    1639      422102 :     fuse_flag &= should_fuse;
+    1640             :   }
+    1641      422921 :   if (fuse_flag) {
+    1642      415259 :     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      415256 :       setR(default_R_);
+    1648      415230 :       return true;
+    1649             :     }
+    1650             :   }
+    1651        7662 :   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      838261 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    1670             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    1671             : 
+    1672      838261 :   if (!ch_->debug_topics.correction) {
+    1673           0 :     return;
+    1674             :   }
+    1675             : 
+    1676     1676471 :   mrs_msgs::EstimatorCorrection msg;
+    1677      837906 :   msg.header.stamp    = measurement_stamped.stamp;
+    1678      837906 :   msg.header.frame_id = ns_frame_id_;
+    1679      838230 :   msg.name            = name_;
+    1680      838273 :   msg.estimator_name  = est_name_;
+    1681      838311 :   msg.state_id        = state_id_;
+    1682      838311 :   msg.covariance.resize(n_measurements * n_measurements);
+    1683     1914785 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    1684     1076550 :     msg.state.push_back(measurement_stamped.value(i));
+    1685     1077151 :     msg.covariance[n_measurements * i + i] = getR();
+    1686             :   }
+    1687             : 
+    1688      837973 :   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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..af6bbac2e2264dc565ae7240812321c614fb8295 GIT binary patch literal 5142 zcmV+x6zS`UP)A#g5TS5YfPmaA#a@Otb&SV$_2oM52-Q{u_E|<=3 z0Wh`UeL#1c(ewe^`^ZX+(6$HUIWGZ4`7jvy-fKV)MycB-jP6D;HgzqCXm1)7bZ)?v zU2kAA2;&ymC`Lmm6~K!dkN{hN?JTMoTWCyu8-NWMFHXQsxo*a_qU*ua;a2KOy7o4G0sbXen2l*6DfO!-0nk`%v!Dt8nu{9vF)>XEFe%GraVzqYJp&F- zz;1Jl(MQUxds-Tne#?bnX)CPkWk8Sa@m>4eV*|pLXb+9dpFH2Cp%f1i(og_ezaJHl zVv;&)p_->L59W{oT{uJ^XSW0c>$v z@gp(s7HDo?7ARxV$KC-@#L=T)QMIR+ez2NG8crx(X`7I0@#y}Wk3q|mb35KubVJ- z1!00&;0`Pr5mg(N_qHv5@*cOZz7-}U%-$M-6C_GWoB(>4_96NequG=!&<2J8YV5&J zO&ZsR11r9UV6U+Eo6H1V4Tg z9WHJN+4k3QPiE8{rN=R8_A%G2C3BOzcGJl7{KxeC2eo%GCS(%=94oLfcbeqh-S4m1 z9?PHQpXc(`>lr>-8Unnlt-C*UfCPAr!YH}fT;OAgHv*31{HOTRh4Gf%O2CT&GfU$* zjnP3(v;3!dtVN6zZHp-krVm9LUPwFsTX3Dl5;&3sE{tJ0irsbQ-@{C)j}KNGchScN zPca73WgBB9)bU;~OKVKpBM7*{*yzm))naq);b=vHst20lA~CM$ z`kDfVti0S9(jgoxr#eCJI}BkKPm&I*wxTKSnq^Q^2)x~>?@`B*6*v#*Y={{&Q}+Th zl@^LLCZSK9au>`*z$g)eYwXlSz$s!B{bSj+2{?I~S&-I_H=C=oEf|B==ni`ExX1&) zo`Pfj16+Lb0|OWB5qhxg zby%jD4Ee?5$e1-Yx>b2k@su*ktGJlS6yu(c5Rb9Vb_?;0*t4KTZWa+ItK-Gv*n!+4 zo;qWtCIKV3$aNhvD}ZLI@COCXOmVY*j#TU|0v|_@h(2IeutnKq*Q{BOG+xMdZLoB_ znr&MV=OU?kJ>C+0e+T4Sc2Ye(vn1kx!mMQtyxN5{AX8e^Rd z7I4zY03=#4aIiDrJ%K5V&44bxyJee%=SU^=oG6rY&4;bnWA+hJm1F@F?WuI5Hb@Zoh4tM4LCWwP&{lBw<=8BD=YE7INGeTPi+2@!YfTQSfEoV~$OW z?{T(!U_1S0cJd4}L^>MagU`+U{Su{d*=IX=me}6Iiu~;+@0@h}`(-d|oz9J!i6c|x z!#Sl`rf5?s?!p*yfKP9(d1J-BZ=N`Jx0XtUuj@N;05ZzYbO4l?(*b;n11Q78(*fv! z?zY=rg>s)lJ^FXF_|TY-fOZt;m*e(}g_hE}GupeNC|3#iN)3OY1?=+uGk&~ueRE{( zX26XzNQ4<(l0s%CXpY!EMJ2;xV@kgHluy z=Kx*%katkC>*l*i8U*g&TIB2cN)%U?XE`#{oFy4Uu4Li>KgzC|vngL=*D>K7Z*m&g z`+7gh0q}dTk9GhF;VqON;(zc_%t;-oxF6wCwhm{`2;dtdfa@1b?04s4!M`}WevB2W zdtH59U#ULo7(dPm%d>l@6$+xkT%X}J59n@t=ScroMG`JU`kJI{#E(}&?mmm}@tI58*q>DEhOaxKFPc4Wd< z@3ifE`I7-3`bMO$7#WyaEs3*da=EPoYc>o}3>DyqY&TJhR)=mk(Z+)U#xF^L#sPXF zGkP`!CFJToM7$L;@x5?WOTFPY0^0i1IitdiF_0>6>ud<(oZHPhXU`4C{D&T$$41x_S* z77))@k`_Z_S+`?IX5w(Z?{^~mfKC8(_{S2VR${wv>&+sGZ*=tRA zwsaWb{&XS| z+L-PHv3Mi`pDuxz>YB1<6=^Sd=1}hP)33~hK{*Z{;Zs7?WZbdpOxi0D`yzv zft54v^~-uSblz!c0wkm)oaJx^Fu%N!eo({ry_nF&uTCuS^713>$nCh6LH6C!s$lg@<= zHz8Ui=JSQtNkm4DXvR)oKPZikuDy3F9%G2W@)^#&2j^~SMi|qHon>VX@y>DO1$E|=V~!Ty@^#>mFMsPZNg2?2`J3xf zw~b#1?%>h3K8ak!UkdzvQZ7z;|Ej=yBhj^wh7TJdix|5ehEc^h|I8di1Za=p+_h_L zyf-T@WZ7W%pDJk-487^{(U3RSHqrB_<`39BaTG&xmW{CWlz`rw$81 zZKq42|ME-FrOn6%2pMJhoL<=`1daf`0(ZZ$sA&uVbhmg22;A-l2RenwziJKHnWn2y zA9h7`m#a{L#yIcFSuREv|BA-A#CiyQW*WU+ho@zinQmCrqfc=p)CSsS)q5OfYY-7& z{^EhZh#am_GuNG09*iLIbUG88#uEcNF}feM^b6cg<1YHhT#!~{bf-w%ZR=QXpJ=a~ zUitZ{rE2fyrUw%qE?VB>T2dr+jVf076dzrB3lc$^)O@-Qn==N309CJH(QewN{~hJ%zV9)p6~~c*Xfd zKu~XUQLzA8U60vjCdIfqh_222o*S@H;FTlcxF#Q@{RO0rD}0Z>Qvm~B>0J+R0`7P5 zRIK{M#daw6gaXj?qxVT!ZfcE_O0wkITNnLIyoP%*7WJMX+>*gCwanM7ogn4B!F;W5 z0!}oN->pz*z;~|3c$CvDs)*06Ub>?q-H~@_#F4S#u0&q>cF9uP*b5GgTL!~0N|*VS z!7u?7FtWs9rSP?Mr%Qc_iy$7%HH)zTls0o0SKf#`LyVg&L6TzgKKlmaGQ#yuj0;LH zkMPO2*-RWq&a+Wdh#&DTu+4|dT8IGMInrI{!hdq)BrEmGE9w-JXxS7ShbCESHrdq} zkw2dBH~Bh`sp&?^9BJNsrJGdQN#Zh>3Rz05Q4)oZUc(!0Y(=yuGVdz1w_n5 zlUBu(Wh1f0i)W&GKL+u5OKh9(`TB;X{RNk2NQ-Iq`L8xEptQa$HS?mgCS{pE$bFw8 zN&>0TgRtd&Cvo>l5=aK@%>sho6sYVV${)}RB~{ltLbpOTlDJ*Zi0ADPeyz>C;W9Hu z%h-Z;*%PHL@37?6Es@n`8$43mbKP+sh=0Cf0_QpJm3bb{%rfxy5Kd!O9%wA!j>ct~Sc7qK zrd5B`sNwnAP+7xK4T){JoElI2Kq^B*X<*C)R$-Konl!@CYK-#vYZYVq$(kH#at{yW zAd=M~z^#lc9|qzY+SPRY=_|(ppEoC@sx|IQi957CfX4pbwh3v1+0dxu;xf+_j%UZD zQ#_cr)UVSSmfmnua2r6r(SvJKv>8412sGYq*#@=rthY9NHGB^4dbFiTQ+ANuw*aGK znC9OY>C7{w)Tcdnb*_5|impwiaCdF@du=)@5rtx6{EU*uM!OY7e_L#XZrP6uTT<=) zxR2Z$9DRDicGmP3MCWz@^(JkpYwv{Qo@ZWmj2QsejP+()IUI4qO>_3e@B5jlAN=9n z#=%#sk$J+{n0Bk{s3KsRjHDng|F*g@7C**lIQvYI3y=&Aj1@gUv($mcajGX)G7E4A zZCC+SfYXec*~Yi;Gnx8?^byY9IC$!I0Af`tI@iXE)Pl0aC>NWY0^09%YLt@=2pMsa z + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-01-14 11:12:21Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.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..a63b87254f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-01-14 11:12:21Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..d9b5d32060 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html new file mode 100644 index 0000000000..4c44a4a5d4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html @@ -0,0 +1,240 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-01-14 11:12:21Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_HEADING_HDG_GENERIC_H
+       2             : #define ESTIMATORS_HEADING_HDG_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/repredictor.h>
+      12             : #include <mrs_lib/profiler.h>
+      13             : #include <mrs_lib/param_loader.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_uav_state_estimators/estimators/heading/heading_estimator.h>
+      18             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/HeadingEstimatorConfig.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace hdg_generic
+      28             : {
+      29             : 
+      30             : const int n_states       = 2;
+      31             : const int n_inputs       = 1;
+      32             : const int n_measurements = 1;
+      33             : 
+      34             : }  // namespace hdg_generic
+      35             : 
+      36             : class HdgGeneric : public HeadingEstimator<hdg_generic::n_states> {
+      37             : 
+      38             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      39             : 
+      40             :   typedef mrs_lib::DynamicReconfigureMgr<HeadingEstimatorConfig> drmgr_t;
+      41             : 
+      42             :   using lkf_t      = mrs_lib::LKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      43             :   using 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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html new file mode 100644 index 0000000000..90d85a2a54 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html @@ -0,0 +1,59 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..184fcd89b0f359d12d16f08ceb9b076b8700fff8 GIT binary patch literal 655 zcmV;A0&x9_P)0{{R38Wk~70000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpSTPn!rauAj>G z&`{Epo6QEOh>?TlaS6n$y7Q}{^By{A + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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)65
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()65
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().265
+
+
+ + + +
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..a6932ddf4f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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)65
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()65
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().265
+
+
+ + + +
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..2180f0822d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html @@ -0,0 +1,191 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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          65 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70          65 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71          65 :   }
+      72             : 
+      73         130 :   ~HdgPassthrough(void) {
+      74         130 :   }
+      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..e972536c3c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func-sort-c.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-01-14 11:12:21Functions: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&)65
+
+
+ + + +
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..136213cfcb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html @@ -0,0 +1,84 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-01-14 11:12:21Functions: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&)65
+
+
+ + + +
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..5b49838d9b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-01-14 11:12:21Functions: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          65 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23          65 :   }
+      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..da35999371 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-01-14 11:12:21Functions: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..9e1ae6db6b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-l.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-01-14 11:12:21Functions: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..50a30f558d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail.html @@ -0,0 +1,138 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-01-14 11:12:21Functions: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..af299205a5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-f.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-01-14 11:12:21Functions: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..ffc9a9f556 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-sort-l.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-01-14 11:12:21Functions: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..dd7fc01d74 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index.html @@ -0,0 +1,122 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/headingHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71258.3 %
Date:2024-01-14 11:12:21Functions: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..721d28f8dd --- /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:40269158.2 %
Date:2024-01-14 11:12:21Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.2%56.2%
+ 		56.2 %368 / 65570.1 %47 / 67
<unnamed>56.2 %368 / 65570.1 %47 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail-sort-l.html new file mode 100644 index 0000000000..52f48a771c --- /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:40269158.2 %
Date:2024-01-14 11:12:21Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.2%56.2%
+ 		56.2 %368 / 65570.1 %47 / 67
<unnamed>56.2 %368 / 65570.1 %47 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-detail.html new file mode 100644 index 0000000000..56c7f68441 --- /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:40269158.2 %
Date:2024-01-14 11:12:21Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.2%56.2%
+ 		56.2 %368 / 65570.1 %47 / 67
<unnamed>56.2 %368 / 65570.1 %47 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
<unnamed>94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-f.html new file mode 100644 index 0000000000..347583b42f --- /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:40269158.2 %
Date:2024-01-14 11:12:21Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.2%56.2%
+ 		56.2 %368 / 65570.1 %47 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index-sort-l.html new file mode 100644 index 0000000000..9779c22e18 --- /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:40269158.2 %
Date:2024-01-14 11:12:21Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.2%56.2%
+ 		56.2 %368 / 65570.1 %47 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/index.html new file mode 100644 index 0000000000..f54973fce0 --- /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:40269158.2 %
Date:2024-01-14 11:12:21Functions:669172.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
correction.h +
56.2%56.2%
+ 		56.2 %368 / 65570.1 %47 / 67
partial_estimator.h +
94.4%94.4%
+ 		94.4 %34 / 3679.2 %19 / 24
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html new file mode 100644 index 0000000000..7b0a7295d9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions: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..8f371063bb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions: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..83a4cf0b32 --- /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:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
lat_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-f.html new file mode 100644 index 0000000000..ed041352a2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %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-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-l.html new file mode 100644 index 0000000000..7eef417ee3 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %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.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html new file mode 100644 index 0000000000..96d41fb715 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
lat_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func-sort-c.html new file mode 100644 index 0000000000..c5703f1396 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)65
mrs_uav_state_estimators::LatGeneric::~LatGeneric()65
mrs_uav_state_estimators::LatGeneric::~LatGeneric().265
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html new file mode 100644 index 0000000000..9fa4011d4b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)65
mrs_uav_state_estimators::LatGeneric::~LatGeneric()65
mrs_uav_state_estimators::LatGeneric::~LatGeneric().265
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..7be2806e41 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html new file mode 100644 index 0000000000..7a7e53f3d6 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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          65 :   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          65 :       : 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          65 :   }
+     121             : 
+     122         130 :   ~LatGeneric(void) {
+     123         130 :   }
+     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html new file mode 100644 index 0000000000..56d2bbd4e6 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f922dc5e2df8de7ab7fe1ec72ccf6d7aab4af7d1 GIT binary patch literal 682 zcmV;b0#*HqP)#j#a4B1xM%6g0$cLW?W z{sYedbNSFLJhG;GaN>f2(D*bhtX%rik4O#+x40pXlovd;wa0_Wz8Os!R2G+BXPeS35%Z|eDxN8qorRp*|ALE; zf=R!COm2Vbs@H8l(IBJjM_ual^DbWv270Ul$W?%ycZ*XHjeCz1{SNtgQ{3z$)T)|Q z!1&z|@Q}{&&~0!N>0{qYqS=q7S+hT)Y>nc2C;Q3ASNwbDW4d-%w4Zll33eq5z*mcs zgu&ePx=iM5umB{bG4&Uuo40GcZuSgNfG}H3=YeJ`eS&?FYXS-oX-sQzO_~VP5GyZe zqdEf8cr9w)XZz_4w?#uHKX!YE=d}VXvYJ!}0*zt0hp@aBUM=|hx(4RJcZyF9Mic)= z)TB0kO-N;`!^KE7#%ZaTfeX^Ugy2`#$CMHJzM6H!zwDkT`*zVaomlbn7roo7qWsP3 Qf&c&j07*qoM6N<$f<09`?EnA( literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..6a288f75d9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func-sort-c.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().265
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html new file mode 100644 index 0000000000..67003f8dda --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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&)65
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().265
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..421acedc4b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.html new file mode 100644 index 0000000000..25956f35f8 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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          65 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24          65 :   }
+      25             : 
+      26          65 :   ~LateralEstimator(void) {
+      27          65 :   }
+      28             : 
+      29             : private:
+      30             :   static const int _n_axes_   = lateral::n_axes;
+      31             :   static const int _n_states_ = n_states;
+      32             :   static const int _n_inputs_;
+      33             :   static const int _n_measurements_;
+      34             : };
+      35             : 
+      36             : }  // namespace mrs_uav_state_estimation
+      37             : 
+      38             : #endif  // ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..e5433d137d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..463fd4e692090c58e2404f8d94bb0a27bf35e9a1 GIT binary patch literal 284 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$A!VDxAx-dEcDTx4|5ZC|z|E~gqo(Lf);IkB zKih&OP$28bu>u3%=xv5Up%7}X91nEC!(6qssq(S1+&l+1@+JxwXI-pyIterm(k zm#tmhJg2gI`;Ii4a?1#x-QnJ|iaF^W_vhMMmm^Nj4*76q=hq`i%l+g3ZEcx6r(A$z z@!KPZZk1oD-*7BGC5Pd7uj5YR+DC>{-?qhe>=g-rWL$nv%v)pLp`KFjGVv_k6V;t& ZA77ZC+PdV^7oe*dJYD@<);T3K0RRatb^`za literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html new file mode 100644 index 0000000000..f3685820cb --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-01-14 11:12:21Functions:192479.2 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
void mrs_uav_state_estimators::PartialEstimator<2, 1>::publishInput<Eigen::Matrix<double, 1, 1, 0, 1, 1> >(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().265
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&)65
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().265
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&)117
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2117
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const105165
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const107836
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&) const107844
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const107847
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const107848
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const123424
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const123431
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const123432
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&) const181839
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const182254
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const182263
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const182284
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const1659433
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-01-14 11:12:21Functions:192479.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::PartialEstimator<2, 1>::PartialEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)65
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().265
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&)117
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2117
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&)65
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().265
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() const123431
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const123432
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const123424
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&) const181839
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const182263
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const105165
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const182284
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const182254
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&) const107844
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const107847
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const1659433
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const107848
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const107836
+
+
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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/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..80671975de --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html @@ -0,0 +1,264 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-01-14 11:12:21Functions: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         247 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         247 :   }
+      63             : 
+      64         247 :   ~PartialEstimator(void) {
+      65         247 :   }
+      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      413564 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      413564 :   const states_t      states = getStates();
+     104      413476 :   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     1854055 :   for (int i = 0; i < states.size(); i++) {
+     109     1440391 :     states_vec.push_back(states(i));
+     110             :   }
+     111      826790 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      413514 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      413514 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      413407 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     1852981 :   for (int i = 0; i < covariance.rows(); i++) {
+     124     7453947 :     for (int j = 0; j < covariance.cols(); j++) {
+     125     6013642 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128      826712 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     1764598 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     1764598 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      413541 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      413541 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147      827042 :   mrs_msgs::EstimatorOutput msg;
+     148      413454 :   msg.header.stamp    = ros::Time::now();
+     149      413573 :   msg.header.frame_id = getFrameId();
+     150      413555 :   msg.state           = getStatesAsVector();
+     151      413291 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      413347 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      289683 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      289683 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166      578230 :   mrs_msgs::Float64ArrayStamped msg;
+     167      287564 :   msg.header.stamp = stamp;
+     168      684750 :   for (int i = 0; i < u.rows(); i++) {
+     169      395121 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      288934 :   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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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
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state_generic.h +
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passthrough.h +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions: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
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
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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_state_estimators/include/mrs_uav_state_estimators/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
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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/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-01-14 11:12:21Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
passthrough.h +
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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.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func-sort-c.html new file mode 100644 index 0000000000..673d956272 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.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/state/passthrough.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::passthrough::Passthrough::Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough().21
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+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.func.html new file mode 100644 index 0000000000..5048f196f8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/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/state/passthrough.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
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mrs_uav_state_estimators::passthrough::Passthrough::Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough().21
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..bf04eeb1cb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html new file mode 100644 index 0000000000..bdad811557 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html @@ -0,0 +1,173 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-01-14 11:12:21Functions: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           1 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      67           1 :   }
+      68             : 
+      69           2 :   ~Passthrough(void) {
+      70           2 :   }
+      71             : 
+      72             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      73             :   bool start(void) override;
+      74             :   bool pause(void) override;
+      75             :   bool reset(void) override;
+      76             : 
+      77             :   /* mrs_msgs::UavState  getUavState() override; */
+      78             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      79             :   /* std::vector<double> getPoseCovariance() const override; */
+      80             :   /* std::vector<double> getTwistCovariance() const override; */
+      81             : 
+      82             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      83             : };
+      84             : 
+      85             : }  // namespace passthrough
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html new file mode 100644 index 0000000000..88d95237e0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e44c5c845709562b6df9a8255e423f99ae0ac942 GIT binary patch literal 431 zcmV;g0Z{&lP)0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpfO*y3~prpJEFVmUx_krB1ErfufwoNp%&};z`6IVHe zcp7+wCJ?=_l=#9mnq$p<=SVIGyJdG{!>EreX941!LoLd-1=^Nd$^p8)B+kWgO+ibE+Soi~>yX!XLzaeKefFguZm-q|K zRsu&L69)Xr&V>2cwV0%$x?)mMi23O}bC|&P2;J)0x8LW + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)65
mrs_uav_state_estimators::StateGeneric::~StateGeneric().265
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html new file mode 100644 index 0000000000..be04aca2dc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:2366.7 %
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mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)65
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().265
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..fa3e046124 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html new file mode 100644 index 0000000000..6d60692599 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html @@ -0,0 +1,183 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state - state_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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          65 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79          65 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80          65 :   }
+      81             : 
+      82          65 :   ~StateGeneric(void) {
+      83          65 :   }
+      84             : 
+      85             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      86             :   bool start(void) override;
+      87             :   bool pause(void) override;
+      88             :   bool reset(void) override;
+      89             : 
+      90             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      91             : 
+      92             :   std::optional<double> getHeading() const;
+      93             : 
+      94             :   void updateUavState();
+      95             : };
+      96             : 
+      97             : }  // namespace mrs_uav_state_estimators
+      98             : 
+      99             : #endif  // ESTIMATORS_STATE_STATE_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html new file mode 100644 index 0000000000..e38bed99a7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ce4b3647eeeb837a14b19ec628cfa1df6eb92a02 GIT binary patch literal 438 zcmV;n0ZIOeP)Vz^Tt*~F@W@P<*6F01U09LCdGFD)a8j6o=J2p{;vfxW zTmvR#CNa*UrHl>IXwIO>SPp5cm|>sc#=+(ZuNG^GMUk{ zQBea#8B8mCE@mK|!s=en1Db;rbN#@)cC_5>SiyMbUa9H0Ar&dg*Fr-I gkFgQlPPSmrA6JucjdQ-?RR91007*qoM6N<$f^ZwfOaK4? literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-f.html new file mode 100644 index 0000000000..60b29b639e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-f.html @@ -0,0 +1,182 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13017474.7 %
Date:2024-01-14 11:12:21Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
<unnamed>68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
80.6%80.6%
+ 		80.6 %29 / 3633.3 %2 / 6
<unnamed>80.6 %29 / 3633.3 %2 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
<unnamed>78.7 %37 / 4737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-l.html new file mode 100644 index 0000000000..8349492637 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail-sort-l.html @@ -0,0 +1,182 @@ + + + + + + + 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:13017474.7 %
Date:2024-01-14 11:12:21Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
<unnamed>68.3 %28 / 4133.3 %2 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
<unnamed>78.7 %37 / 4737.5 %3 / 8
proc_median_filter.h +
80.6%80.6%
+ 		80.6 %29 / 3633.3 %2 / 6
<unnamed>80.6 %29 / 3633.3 %2 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html new file mode 100644 index 0000000000..f885132b7d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-detail.html @@ -0,0 +1,182 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13017474.7 %
Date:2024-01-14 11:12:21Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
<unnamed>68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
80.6%80.6%
+ 		80.6 %29 / 3633.3 %2 / 6
<unnamed>80.6 %29 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
<unnamed>78.7 %37 / 4737.5 %3 / 8
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-f.html new file mode 100644 index 0000000000..94c33c85e4 --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13017474.7 %
Date:2024-01-14 11:12:21Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
80.6%80.6%
+ 		80.6 %29 / 3633.3 %2 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
+
+
+ + + + +
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..125e346b0c --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13017474.7 %
Date:2024-01-14 11:12:21Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
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 +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
proc_median_filter.h +
80.6%80.6%
+ 		80.6 %29 / 3633.3 %2 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index.html new file mode 100644 index 0000000000..87c38cf310 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13017474.7 %
Date:2024-01-14 11:12:21Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
proc_excessive_tilt.h +
68.3%68.3%
+ 		68.3 %28 / 4133.3 %2 / 6
proc_median_filter.h +
80.6%80.6%
+ 		80.6 %29 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.7%78.7%
+ 		78.7 %37 / 4737.5 %3 / 8
processor.h +
70.0%70.0%
+ 		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/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..56f8eba930 --- /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:2024-01-14 11:12:21Functions:2633.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcExcessiveTilt<1>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcExcessiveTilt<1>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)59
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)103010
+
+
+ + + +
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..1cdd88068f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2024-01-14 11:12:21Functions: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>&)103010
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&)59
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
+
+ + + 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..2a21f023d8 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:284168.3 %
Date:2024-01-14 11:12:21Functions: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          59 : 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          59 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          59 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          59 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          59 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          59 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          59 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          59 :   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          59 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          59 :   shopts.nh                 = nh;
+      65          59 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          59 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          59 :   shopts.threadsafe         = true;
+      68          59 :   shopts.autostart          = true;
+      69          59 :   shopts.queue_size         = 10;
+      70          59 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          59 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          59 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78      103010 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process(measurement_t& measurement) {
+      79             : 
+      80      103010 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84      103010 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88      103009 :   bool ok_flag     = true;
+      89      103009 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92      103009 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94      103010 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96      103007 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98      102995 :     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      103012 :   return {ok_flag, should_fuse};
+     110             : }
+     111             : /*//}*/
+     112             : 
+     113             : /*//{ reset() */
+     114             : template <int n_measurements>
+     115           0 : void ProcExcessiveTilt<n_measurements>::reset() {
+     116             :   // no need to do anything
+     117           0 : }
+     118             : /*//}*/
+     119             : 
+     120             : }  // namespace mrs_uav_state_estimators
+     121             : 
+     122             : #endif  // PROCESSORS_PROC_EXCESSIVE_TILT_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html new file mode 100644 index 0000000000..8e05401d3b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.overview.html @@ -0,0 +1,51 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:293680.6 %
Date:2024-01-14 11:12:21Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)59
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)102994
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..888b926d4d --- /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 + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:293680.6 %
Date:2024-01-14 11:12:21Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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>&)102994
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&)59
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
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..8daf3d11c2 --- /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
Test:MRS UAV System - Test coverage reportLines:293680.6 %
Date:2024-01-14 11:12:21Functions:2633.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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          59 : 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          59 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          59 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          59 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          59 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          59 :   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          59 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          59 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58         118 :   for (int i = 0; i < n_measurements; i++) {
+      59          59 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          59 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      102994 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68      102994 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72      102994 :   bool ok_flag     = true;
+      73      102994 :   bool should_fuse = true;
+      74      205997 :   for (int i = 0; i < measurement.rows(); i++) {
+      75      103001 :     vec_mf_[i].add(measurement(i));
+      76      102998 :     if (vec_mf_[i].full()) {
+      77       97155 :       if (!vec_mf_[i].check(measurement(i))) {
+      78         136 :         std::stringstream ss_measurement_string;
+      79         136 :         ss_measurement_string << measurement(i);
+      80         136 :         ss_measurement_string << " ";
+      81         136 :         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         136 :         ok_flag     = false;
+      84         136 :         should_fuse = false;
+      85             :       }
+      86             :     } else {
+      87        5840 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        5841 :       ok_flag     = false;
+      89        5841 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93      102991 :   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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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)4
mrs_uav_state_estimators::ProcSaturate<1>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)61
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)4700
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)105175
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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>&)105175
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)>)61
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)4700
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)4
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+
          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          65 : 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          65 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          65 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          65 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          65 :   this->enabled_ = this->start_enabled_;
+      52          65 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          65 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          65 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          65 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          65 :   if (!ph->param_loader->loadedSuccessfully()) {
+      58           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      59           0 :     ros::shutdown();
+      60             :   }
+      61          65 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      109875 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69      109875 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73      109875 :   bool ok_flag     = true;
+      74      109875 :   bool should_fuse = true;
+      75      219885 :   for (int i = 0; i < measurement.rows(); i++) {
+      76      114562 :     const double state = fun_get_state_(state_id_, i);
+      77      114567 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79      114567 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80        4548 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83      110004 :     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      109810 :     } 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      105313 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105      105313 :   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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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&)61
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)53886
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)106361
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html new file mode 100644 index 0000000000..c9cbe8582a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:374778.7 %
Date:2024-01-14 11:12:21Functions:3837.5 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)53886
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)106361
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&)61
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html new file mode 100644 index 0000000000..6aab5842a6 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html new file mode 100644 index 0000000000..609a6a96b5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.html @@ -0,0 +1,222 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:374778.7 %
Date:2024-01-14 11:12:21Functions:3837.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_TF_TO_WORLD_H
+       3             : #define PROCESSORS_PROC_TF_TO_WORLD_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <sensor_msgs/NavSatFix.h>
+       8             : 
+       9             : #include <mrs_lib/gps_conversions.h>
+      10             : #include <mrs_lib/subscribe_handler.h>
+      11             : #include <mrs_lib/param_loader.h>
+      12             : 
+      13             : namespace mrs_uav_state_estimators
+      14             : {
+      15             : 
+      16             : using namespace mrs_uav_managers::estimation_manager;
+      17             : 
+      18             : template <int n_measurements>
+      19             : class ProcTfToWorld : public Processor<n_measurements> {
+      20             : 
+      21             : public:
+      22             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      23             : 
+      24             : public:
+      25             :   ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      26             :                 const std::shared_ptr<PrivateHandlers_t>& ph);
+      27             : 
+      28             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      29             :   void                   reset();
+      30             : 
+      31             : private:
+      32             :   bool is_initialized_ = false;
+      33             : 
+      34             :   std::string gnss_topic_;
+      35             : 
+      36             :   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          61 : 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          61 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      50             : 
+      51          61 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      52             : 
+      53          61 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      54             : 
+      55          61 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      56             : 
+      57          61 :   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          61 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          61 :   shopts.nh                 = nh;
+      65          61 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          61 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      67          61 :   shopts.threadsafe         = true;
+      68          61 :   shopts.autostart          = true;
+      69          61 :   shopts.queue_size         = 10;
+      70          61 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          61 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      73             : 
+      74          61 :   is_initialized_ = true;
+      75          61 : }
+      76             : /*//}*/
+      77             : 
+      78             : /*//{ callbackGnss() */
+      79             : template <int n_measurements>
+      80       53886 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      81             : 
+      82       53886 :   if (!is_initialized_) {
+      83           0 :     return;
+      84             :   }
+      85             : 
+      86       53886 :   if (got_gnss_) {
+      87       53827 :     return;
+      88             :   }
+      89             : 
+      90          59 :   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          61 :   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          61 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+      99          61 :   got_gnss_ = true;
+     100             : }
+     101             : /*//}*/
+     102             : 
+     103             : /*//{ process() */
+     104             : template <int n_measurements>
+     105      106361 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     106             : 
+     107      106361 :   if (!Processor<n_measurements>::enabled_) {
+     108           0 :     return {true, true};
+     109             :   }
+     110             : 
+     111      106361 :   if (!got_gnss_) {
+     112        1685 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     113        1685 :     return {false, false};
+     114             :   }
+     115             : 
+     116      104676 :   if (!is_gnss_offset_calculated_) {
+     117             : 
+     118          62 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     119          62 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     120          62 :     is_gnss_offset_calculated_ = true;
+     121             :   }
+     122             : 
+     123      104676 :   measurement(0) += gnss_x_;
+     124      104592 :   measurement(1) += gnss_y_;
+     125      104641 :   return {true, true};
+     126             : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ reset() */
+     130             : template <int n_measurements>
+     131           0 : void ProcTfToWorld<n_measurements>::reset() {
+     132           0 :   got_gnss_                  = false;
+     133           0 :   is_gnss_offset_calculated_ = false;
+     134           0 : }
+     135             : /*//}*/
+     136             : }  // namespace mrs_uav_state_estimators
+     137             : 
+     138             : #endif  // PROCESSORS_PROC_TF_TO_WORLD_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html new file mode 100644 index 0000000000..547cc3c590 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html @@ -0,0 +1,55 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c36e2d48ddbe16e7f9782c2a3dd82a0024d14e87 GIT binary patch literal 689 zcmV;i0#5yjP)v0{{R3&zjKJ0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp!uofd5*g)Qat11RYHFhk-x~tN)D!i`^E6Ah9Ea+9KyY%vB*UYHtkTKX4 z#r)W(T$7(uVnaga(JDg=~@!G6<$Qvj9xCJ0`<&ArqHB(!gCyT9OMIZo>54` zrW(`Q6{CJDH2B3GVj1UDfpqdpgrIK?A;{5y-)N7^3xG}qwKFB6OFW~;m=J9 zAB3)szOET1`$Ao(7>lk{3})j^qS%;OF&|?#Asro)U7yrP&+FSmy}hVoR>@Tz{x?Pv zU;ZAx;1qJIf17Cl&u;Xb;m^G>aB?SAZi#3wSlj_r@**U~8D_sb*Y726w?l2I0c09M zNE>5cO#GDkV*s>P{x9SEoubj!CZ>?KJ-^Q4)*{HwMbe+b@=!UB~n|2JC|-2QZC`~mp~ X<@_vk2t1d{00000NkvXXu0mjf+SEE; literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html new file mode 100644 index 0000000000..7bbb769972 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-01-14 11:12:21Functions:6875.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Processor<1>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::Processor(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)65
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const68
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const76
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const121
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&)179
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const238
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-01-14 11:12:21Functions: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&)179
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&)65
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const121
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const238
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const76
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const68
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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 - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-01-14 11:12:21Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROCESSOR_H
+       3             : #define PROCESSORS_PROCESSOR_H
+       4             : 
+       5             : namespace mrs_uav_state_estimators
+       6             : {
+       7             : 
+       8             : using namespace mrs_uav_managers::estimation_manager;
+       9             : 
+      10             : template <int n_measurements>
+      11             : class Processor {
+      12             : 
+      13             : public:
+      14             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      15             : 
+      16             : public:
+      17             :   std::string getName() const;
+      18             :   std::string getNamespacedName() const;
+      19             :   std::string getPrintName() const;
+      20             : 
+      21             :   void toggle(bool enable);
+      22             : 
+      23             :   virtual std::tuple<bool, bool> process(measurement_t& measurement) = 0;
+      24             :   virtual void                   reset()                             = 0;
+      25             : 
+      26             : protected:
+      27         244 :   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         244 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30         244 :   }  // 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         306 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         306 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58         197 : std::string Processor<n_measurements>::getPrintName() const {
+      59         197 :   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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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7310470.2 %
Date:2024-01-14 11:12:21Functions: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()52
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&)52
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()52
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)896
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)86502
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const91236
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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.func.html b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.func.html new file mode 100644 index 0000000000..0df9991597 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/garmin_agl.cpp.func.html @@ -0,0 +1,120 @@ + + + + + + + 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:7310470.2 %
Date:2024-01-14 11:12:21Functions: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()52
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&)52
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)86502
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)896
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()52
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const91236
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/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..6c40fd3a04 --- /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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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7310470.2 %
Date:2024-01-14 11:12:21Functions:61060.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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          52 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          52 :   ch_ = ch;
+      17          52 :   ph_ = ph;
+      18          52 :   nh_ = nh;
+      19             : 
+      20          52 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          52 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          52 :   if (is_core_plugin_) {
+      27             : 
+      28          52 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          52 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          52 :   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          52 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          52 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          52 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          52 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44         104 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          52 :   shopts.nh                 = nh;
+      46          52 :   shopts.node_name          = getPrintName();
+      47          52 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          52 :   shopts.threadsafe         = true;
+      49          52 :   shopts.autostart          = true;
+      50          52 :   shopts.queue_size         = 10;
+      51          52 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          52 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          52 :   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          52 :   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          52 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          52 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          52 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          52 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          52 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          52 :   if (changeState(INITIALIZED_STATE)) {
+      76          52 :     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          52 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          52 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87          52 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91          52 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94          52 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97          52 :     if (est_agl_garmin_start_successful) {
+      98          52 :       timer_update_.start();
+      99          52 :       changeState(STARTED_STATE);
+     100          52 :       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       86502 : void GarminAgl::timerUpdate(const ros::TimerEvent &event) {
+     147             : 
+     148       86502 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152       86502 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      173004 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155       86502 :   agl_height.header.stamp             = time_now;
+     156       86502 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      173004 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159       86502 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161       86502 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162       86502 :   agl_height_cov.values.resize(n_states * n_states);
+     163       86502 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164       86502 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166       86502 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167       86502 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169       86502 :   publishAglHeight();
+     170       86502 :   publishCovariance();
+     171       86502 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176         896 : void GarminAgl::timerCheckHealth(const ros::TimerEvent &event) {
+     177             : 
+     178         896 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182         896 :   if (isInState(INITIALIZED_STATE)) {
+     183             : 
+     184          52 :     if (est_agl_garmin_->isReady()) {
+     185          52 :       changeState(READY_STATE);
+     186          52 :       ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     187             :     } else {
+     188           0 :       ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     189           0 :       return;
+     190             :     }
+     191             :   }
+     192             : 
+     193             : 
+     194         896 :   if (isInState(STARTED_STATE)) {
+     195          54 :     ROS_INFO("[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     196             : 
+     197          54 :     if (est_agl_garmin_->isRunning()) {
+     198          52 :       ROS_INFO("[%s]: Subestimators converged", getPrintName().c_str());
+     199          52 :       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       91236 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     219       91236 :   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          52 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
+
+
+
+ + + + +
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Test:MRS UAV System - Test coverage reportLines:7310470.2 %
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Test:MRS UAV System - Test coverage reportLines:7310470.2 %
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions:223073.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)117
mrs_uav_state_estimators::AltGeneric::isConverged()117
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)117
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)184
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const763
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const907
mrs_uav_state_estimators::AltGeneric::start()3100
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) const105177
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const105183
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const119253
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)182225
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const182227
mrs_uav_state_estimators::AltGeneric::setDt(double const&)182250
mrs_uav_state_estimators::AltGeneric::getStates() const182272
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)218930
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) const296434
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&)296443
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)296469
mrs_uav_state_estimators::AltGeneric::generateA()364476
mrs_uav_state_estimators::AltGeneric::generateB()364536
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const411484
mrs_uav_state_estimators::AltGeneric::getState(int const&) const733199
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions: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&)117
mrs_uav_state_estimators::AltGeneric::isConverged()117
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)218930
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&)296443
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)296469
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)182225
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)117
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&)182250
mrs_uav_state_estimators::AltGeneric::start()3100
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)184
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()364476
mrs_uav_state_estimators::AltGeneric::generateB()364536
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const907
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const411484
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const119253
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const763
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const182227
mrs_uav_state_estimators::AltGeneric::getState(int const&) const733199
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const105183
mrs_uav_state_estimators::AltGeneric::getStates() const182272
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) const296434
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) const105177
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions: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         117 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         117 :   ch_ = ch;
+      17         117 :   ph_ = ph;
+      18             : 
+      19         117 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22         117 :   dt_ = 0.01;
+      23         117 :   input_coeff_ = 10;
+      24         117 :   default_input_coeff_ = 10;
+      25             : 
+      26         117 :   generateA();
+      27         117 :   generateB();
+      28             : 
+      29         117 :   H_ <<
+      30         117 :     1, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36         117 :   if (is_core_plugin_) {
+      37             : 
+      38         117 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39         117 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42         117 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45             : 
+      46         117 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47         117 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48         117 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49         117 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50         117 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51         117 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56         117 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58         295 :   for (auto corr_name : correction_names_) {
+      59         178 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      60      105533 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      296434 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      296434 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66         117 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      67             : 
+      68             :   // | ----------- initialize process noise covariance ---------- |
+      69         117 :   Q_ = Q_t::Zero();
+      70             :   double tmp_noise;
+      71         117 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      72         117 :   Q_(POSITION, POSITION) = tmp_noise;
+      73         117 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      74         117 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      75         117 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      76         117 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      77             : 
+      78             :   // | ------- check if all parameters loaded successfully ------ |
+      79         117 :   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         117 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      87         117 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      88         117 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      89         117 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      90         117 :   drmgr_->update_config(drmgr_->config);
+      91             : 
+      92             :   // | --------------- Kalman filter intialization -------------- |
+      93         117 :   const x_t        x0 = x_t::Zero();
+      94         117 :   const P_t        P0 = 1e3 * P_t::Identity();
+      95         117 :   const statecov_t sc0({x0, P0});
+      96         117 :   sc_ = sc0;
+      97             : 
+      98         117 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      99         117 :   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         117 :   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         234 :   mrs_lib::SubscribeHandlerOptions shopts;
+     121         117 :   shopts.nh                 = nh;
+     122         117 :   shopts.node_name          = getPrintName();
+     123         117 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     124         117 :   shopts.threadsafe         = true;
+     125         117 :   shopts.autostart          = true;
+     126         117 :   shopts.queue_size         = 10;
+     127         117 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     128             : 
+     129         117 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     130             : 
+     131             :   // | ---------------- publishers initialization --------------- |
+     132         117 :   if (ch_->debug_topics.input) {
+     133         117 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     134             :   }
+     135         117 :   if (ch_->debug_topics.output) {
+     136         117 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     137             :   }
+     138         117 :   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         117 :   if (changeState(INITIALIZED_STATE)) {
+     145         117 :     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         117 : }
+     150             : /*//}*/
+     151             : 
+     152             : /*//{ start() */
+     153        3100 : bool AltGeneric::start(void) {
+     154             : 
+     155        3100 :   if (isInState(READY_STATE)) {
+     156             :     /* timer_update_.start(); */
+     157         117 :     changeState(STARTED_STATE);
+     158         117 :     return true;
+     159             : 
+     160             :   } else {
+     161        2983 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     162        2983 :     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      218930 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     213             : 
+     214             : 
+     215      218930 :   if (!isInitialized()) {
+     216       36625 :     return;
+     217             :   }
+     218             : 
+     219      218858 :   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        4476 :     case READY_STATE: {
+     227        4476 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     228        4476 :       break;
+     229             :     }
+     230             : 
+     231        4775 :     case INITIALIZED_STATE: {
+     232             :       // initialize the estimator with current corrections
+     233        4960 :       for (auto correction : corrections_) {
+     234        4839 :         auto res = correction->getProcessedCorrection();
+     235        4833 :         if (res) {
+     236         184 :           auto measurement_stamped = res.value();
+     237         184 :           setState(measurement_stamped.value(0), correction->getStateId());
+     238         184 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     239             :         } else {
+     240        4647 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     241             :                             correction->getNamespacedName().c_str());
+     242        4653 :           return;
+     243             :         }
+     244             :       }
+     245         117 :       changeState(READY_STATE);
+     246         117 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     247         117 :       break;
+     248             :     }
+     249             : 
+     250         117 :     case STARTED_STATE: {
+     251         117 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     252             : 
+     253         117 :       if (isConverged()) {
+     254         117 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     255         117 :         changeState(RUNNING_STATE);
+     256             :       }
+     257         117 :       break;
+     258             :     }
+     259             : 
+     260      209477 :     case RUNNING_STATE: {
+     261      530515 :       for (auto correction : corrections_) {
+     262      321043 :         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      209542 :       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      214342 :   if (sh_control_input_.newMsg()) {
+     313      105102 :     is_input_ready_ = true;
+     314             :   }
+     315             : 
+     316             :   // check age of input
+     317      214230 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     318          22 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     319             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     320          22 :     is_input_ready_ = false;
+     321             :   }
+     322             : 
+     323      214111 :   if (!isRunning() && !isStarted()) {
+     324        4589 :     return;
+     325             :   }
+     326             : 
+     327      209501 :   if (first_iter_) {
+     328         117 :     first_iter_ = false;
+     329         117 :     return;
+     330             :   }
+     331             : 
+     332      209384 :   double dt = (event.current_real - event.last_real).toSec();
+     333      209442 :   if (dt <= 0.0) {
+     334       27246 :     return;
+     335             :   }
+     336             : 
+     337      182196 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     338      181972 :     setDt(dt);
+     339             :   }
+     340             : 
+     341             :   // prediction step
+     342      182292 :   u_t       u;
+     343      181878 :   ros::Time input_stamp;
+     344      182005 :   if (is_input_ready_) {
+     345      118109 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     346      118182 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     347      118394 :     input_stamp                                     = msg->header.stamp;
+     348      117780 :     setInputCoeff(default_input_coeff_);
+     349      118231 :     u(0) = des_acc_global.getZ();
+     350             :   } else {
+     351       63666 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     352       63814 :     input_stamp = ros::Time::now();
+     353       63845 :     setInputCoeff(0);
+     354       63775 :     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      181088 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     367      181206 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     368             : 
+     369             :   try {
+     370             :     // Apply the prediction step
+     371      363156 :     std::scoped_lock lock(mutex_lkf_);
+     372      181542 :     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      181542 :       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      180605 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     385             : 
+     386             :   // publishing
+     387      181344 :   publishInput(u, input_stamp);
+     388      182277 :   publishOutput();
+     389      182289 :   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      296469 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     489      296469 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     490      296058 : }
+     491             : /*//}*/
+     492             : 
+     493             : /*//{ doCorrection() */
+     494      296443 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     495             : 
+     496      296443 :   if (!isInitialized()) {
+     497        3217 :     return;
+     498             :   }
+     499             : 
+     500             :   // we do not want to perform corrections until the estimator is initialized
+     501      296385 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     502        3216 :     return;
+     503             :   }
+     504             : 
+     505             :   // for position state check the innovation
+     506      293048 :   if (H_idx == POSITION) {
+     507      183641 :     std::scoped_lock lock(mtx_innovation_);
+     508             : 
+     509      183696 :     is_mitigating_jump_ = false;
+     510      183765 :     innovation_(0)      = z(0) - getState(POSITION);
+     511             : 
+     512      183731 :     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      183733 :     innovation_ok_ = true;
+     541             :   }
+     542             : 
+     543      293141 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     544             :   try {
+     545             :     // Apply the correction step
+     546             :     {
+     547      583386 :       std::scoped_lock lock(mutex_lkf_);
+     548      293223 :       H_        = H_t::Zero();
+     549      293114 :       H_(H_idx) = 1;
+     550      292636 :       lkf_->H   = H_;
+     551      292340 :       if (is_repredictor_enabled_) {
+     552             : 
+     553           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     554             :       } else {
+     555      292340 :         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      290875 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     565             : }  // namespace mrs_uav_state_estimators
+     566             : /*//}*/
+     567             : 
+     568             : /*//{ isConverged() */
+     569         117 : bool AltGeneric::isConverged() {
+     570             : 
+     571             :   // TODO: check convergence by rate of change of determinant
+     572             : 
+     573         117 :   return true;
+     574             : }
+     575             : /*//}*/
+     576             : 
+     577             : /*//{ getState() */
+     578      105183 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     579      105183 :   return getState(stateIdToIndex(state_id_in, 0));
+     580             : }
+     581             : 
+     582      733199 : double AltGeneric::getState(const int &state_idx_in) const {
+     583      733199 :   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         184 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     593         184 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     594         184 : }
+     595             : /*//}*/
+     596             : 
+     597             : /*//{ getStates() */
+     598      182272 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     599      364488 :   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      411484 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     615      411484 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ getCovarianceMatrix() */
+     620      182227 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     621      364347 :   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      119253 : double AltGeneric::getInnovation(const int &state_idx) const {
+     633      119253 :   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      182250 : void AltGeneric::setDt(const double &dt) {
+     643      182250 :   dt_ = dt;
+     644      182250 :   generateA();
+     645      181946 :   generateB();
+     646      364002 :   std::scoped_lock lock(mutex_lkf_);
+     647      182009 :   lkf_->A = A_;
+     648      182025 :   lkf_->B = B_;
+     649      181916 : }
+     650             : /*//}*/
+     651             : 
+     652             : /*//{ setInputCoeff() */
+     653      182225 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     654      182225 :   input_coeff_ = input_coeff;
+     655      182225 :   generateA();
+     656      181752 :   generateB();
+     657      362986 :   std::scoped_lock lock(mutex_lkf_);
+     658      181324 :   lkf_->A = A_;
+     659      181548 :   lkf_->B = B_;
+     660      181729 : }
+     661             : /*//}*/
+     662             : 
+     663             : /*//{ generateA() */
+     664      364476 : void AltGeneric::generateA() {
+     665             : 
+     666             :   // clang-format off
+     667      364476 :     A_ <<
+     668      363243 :       1, dt_, 0.5 * dt_ * dt_,
+     669      363572 :       0, 1, dt_,
+     670      363918 :       0, 0, 1-(input_coeff_ * dt_);
+     671             :   // clang-format on
+     672      363451 : }
+     673             : /*//}*/
+     674             : 
+     675             : /*//{ generateB() */
+     676      364536 : void AltGeneric::generateB() {
+     677             : 
+     678             :   // clang-format off
+     679      364536 :     B_ <<
+     680             :       0,
+     681      362828 :       0,
+     682      363059 :       (input_coeff_ * dt_);
+     683             :   // clang-format on
+     684      362826 : }
+     685             : /*//}*/
+     686             : 
+     687             : /*//{ callbackReconfigure() */
+     688         117 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     689             : 
+     690         117 :   if (!isInitialized()) {
+     691         117 :     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         763 : std::string AltGeneric::getNamespacedName() const {
+     704        1526 :   return parent_state_est_name_ + "/" + getName();
+     705             : }
+     706             : /*//}*/
+     707             : 
+     708             : /*//{ getPrintName() */
+     709         907 : std::string AltGeneric::getPrintName() const {
+     710        1814 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     711             : }
+     712             : /*//}*/
+     713             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6ee805116614304acd38f3072d79ca11c3ef5173 GIT binary patch literal 2791 zcmVn zjQ7jWH@+{K&Cj?GH>o^&cYYD7*&au{r613D`4)#j#IZ@Q&u9J=!}#x#9}JUn4AaM$ zkGT|3zqB9ooc=t%%oowm2!w3V(Icb42JKM?*aYq-&y|4srDp}F{fs+gd*xFsyimKM zjd~?xFoNY8yY+bjWt*?TdP3qO46hpf1``n==696GY#K5!x?sq z@lQl>fp{1bQv=KmF#((zD;+15XQWe3Sj_xSMLI6aCJ!6GSeId07uD#Xc&1!Qsd5(b zSObDc6_nC5Ic9l&A^Bs7q|q5a{L)wgj?*actpF@p#?LrqV8;Kg*rS6}V12#!aid-* zdpo|dawDM#n$j>n?{<96j7fZ?S-Uy2f4oNE$e0uubB5hvF(cR> z>;AXfy8nj^kNfPtfdCt}=T0Mq1rn?joHGtYr8A;U!KQ!4r$Ur;%40?-dI7;UwZ)7T zieBkKQiI7#jr|cT%+Z7hGZH{BHv(W(g^KGQJbMK)YOJT?Jl_KqRtvS~wR-7YXLjAO z)~@SHj`Wr4$PTzeMwqH{IW=6?h7LwRZg~ABfI5BEYpYv%U&Zaf+TgkfdpvB*{>dgc zM*<8#0l?BxvV#f}n2~UW-RHe77YSnuuQ?b1dWvV`h!vidhiH<0ZmKe2 zVa-Y>Dyb_n4|2)^W(;qZlb@5}-dGii z4nwNgpg)GS(Qvl3kqLg#rxNKMC)U}e#g&oEm7AYzJZXE>qjWTR%pr<1>C<5ZW*W2) zPWr29nUap-lRMgMJPgjzQOW9Q_-K-kQ%`m#y0uL}8jQ+>>dF@C1a~5ka^5hH*sC*o zeA;_djy=9shX9z2AeOTUNX|!kBJHuoaJ{8aD_P@AJu%c`MpeklI-^r92S{ejU0^a} z!zm+xwiS@}>`^T}ap{(2(c7NCUMNI?2s478f7p63{Tn(*Z{Uo2DCM?C9;16bhEH#y z{+U89TaO|sAUGfbU_44!8J%JA({lJIC=<-+Pvn7hcq!U}JTBQWo1!PBD(~M? zSj1V=${v+VJ5>M`kPn6|%jHjo`0ua?uK`daxR2d6A4J;zE@2$Em~Km{Eq zC9}^UQ^&{eG1T9ZXPxlK0b?N$dP(>h{o-86UINbTATn0>U_POmmCAtmpt*(&(7?w* z0|e~>HF0jSG>C;MXN19QHlUSeY{xT`PJWzR=uC6Av07YMMrWo_1T%e!Dzr>9!$1;a zvMg-On9iUEV6nDI(wRm9SjlKA3HfU{qqjYZ%;Mo7;gcsg(C%PbkwaYoO8&J6)Er5@ zTBsoS^_)Qmdn?>44)!gb?#MfS@?ZyKs<>2;S*f=j0au(F=BD<5G)CaJ;H8IvSw1u_ z05=`rN`jRfP(^V{9?xPL|Evg5HS{bTjwm2CQ;Z=KQYg|wUD9KV5;7@05%FN+&4Z4L zjM#aT;$=vh@miCj9y!wBuTvT!@~kMopL$Z(C>IPJ56p9#6Y@aX$j@$blTsAVB`su> z<|hPqaJ9r5B~N?h4lV3rp+d^Kaw(VF@Ef}9XxJe+7O2iu?@+%X5I=00vu2G{2_Rzt zEhetwiXAmK?B1;JG|obgSu7W&S)vI7%oq^_5aq>Gl^3yK+iz$2%cJTYv5=4+`-R*bh0Nznj#yQPCI zH{nL;Chxwn*rq0FV5?@YtK!N5HjKEwG3~DA5XmN@vE@-XB(}VG^rvz9nnM(#c2nsb z;eAnO!T+ZC`I8)J%JtG_&Tl}bj!##j5_R}^ReK>v0x#W@R&-{WIlW3i+djNvmJ8++ z`d!$(S!5wdBLisD0TR1-QASg9zVb81lc~te@=G|A z$?f)+R7wBU;wmHeDMq-(H$sF^AT1cl((DO(_^8>tyyBy)u;XZWt+Yumw?rT6iVq+I zK?3I^4y;SDf^T*t2Iw(Ngj}9ctQ7W==kco&%~+V}85S-%(uBs0FUOtD0kpCS3Gk0# zZDNO2>UA@H@0)#p1GGi*j|3Wghp3 zDLYh6sTM#1a5~y;%lC>-ERB2JF-A1QzOe4h5z|;3P3gKJK%wO-*~fUbsc|Hw8~|Eg zoRPKnXvb^ZquvkK9PM2#F^d{&f#l#nu9DnE}vLUid(Onp$PgU8y`L74_C`NWeFJZ{alMwaP#QrZ%kQ^~IX- zm)0~5i4Q6geq-R%YN+_=YVo}V+E?gD>5CPvLK-XbSnTl&!;0DsVC(GYaKmtRr*DDf^WzwdXtjv9Jc%%|eAodiAr8`d_A_{B + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude + + + + + + + + + + + + + + +
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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/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions:223073.3 %
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alt_generic.cpp +
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+ 		56.3 %209 / 37173.3 %22 / 30
<unnamed>56.3 %209 / 37173.3 %22 / 30
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions:223073.3 %
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions:223073.3 %
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:20937156.3 %
Date:2024-01-14 11:12:21Functions:223073.3 %
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-14 11:12:21Functions: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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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html new file mode 100644 index 0000000000..14f4f90b52 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-14 11:12:21Functions: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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+ + + 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..f45f12dfc1 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html @@ -0,0 +1,754 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-01-14 11:12:21Functions:0310.0 %
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_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
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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..bd0eac777b --- /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:8813167.2 %
Date:2024-01-14 11:12:21Functions:122352.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgPassthrough::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgPassthrough::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getLastValidHdg() const0
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)65
mrs_uav_state_estimators::HdgPassthrough::start()116
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const130
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const368
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)111752
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)114762
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const123413
mrs_uav_state_estimators::HdgPassthrough::getStates() const123423
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)123429
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)124907
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)226507
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const434509
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html new file mode 100644 index 0000000000..0011195891 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8813167.2 %
Date:2024-01-14 11:12:21Functions:122352.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)65
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)123429
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)124907
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)114762
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>)111752
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()116
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)226507
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]() const368
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]() const130
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const123413
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const434509
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const123423
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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_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8813167.2 %
Date:2024-01-14 11:12:21Functions:122352.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          65 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          65 :   ch_ = ch;
+      17          65 :   ph_ = ph;
+      18             : 
+      19          65 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21          65 :   hdg_state_      = states_t::Zero();
+      22          65 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24             :   // | --------------- param loader initialization --------------- |
+      25             : 
+      26          65 :   if (is_core_plugin_) {
+      27             : 
+      28          65 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      29          65 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          65 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      33             : 
+      34             :   // | --------------------- load parameters -------------------- |
+      35          65 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      36             : 
+      37          65 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      38          65 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      39             : 
+      40          65 :   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          65 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      47          65 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      48             : 
+      49             :   // | --------------- subscribers initialization --------------- |
+      50             :   // subscriber to odometry
+      51         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+      52          65 :   shopts.nh                 = nh;
+      53          65 :   shopts.node_name          = getPrintName();
+      54          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      55          65 :   shopts.threadsafe         = true;
+      56          65 :   shopts.autostart          = true;
+      57          65 :   shopts.queue_size         = 10;
+      58          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      59             : 
+      60         130 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      61          65 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      62         130 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      63          65 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      64             : 
+      65             :   // | ---------------- publishers initialization --------------- |
+      66          65 :   if (ch_->debug_topics.output) {
+      67          65 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      68             :   }
+      69          65 :   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          65 :   if (changeState(INITIALIZED_STATE)) {
+      76          65 :     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          65 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84         116 : bool HdgPassthrough::start(void) {
+      85             : 
+      86         116 :   if (isInState(READY_STATE)) {
+      87          65 :     timer_update_.start();
+      88          65 :     changeState(STARTED_STATE);
+      89          65 :     return true;
+      90             : 
+      91             :   } else {
+      92          51 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      93          51 :     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      114762 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     129             : 
+     130      114762 :   if (!isInitialized()) {
+     131           2 :     return;
+     132             :   }
+     133             : 
+     134             :   double hdg;
+     135             :   try {
+     136      114752 :     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      114746 :   setState(hdg, POSITION);
+     143             : 
+     144      114727 :   if (!isError()) {
+     145      114713 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     146             :   }
+     147             : }
+     148             : /*//}*/
+     149             : 
+     150             : /*//{ callbackAngularVelocity() */
+     151      111752 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     152             : 
+     153      111752 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     154           0 :     return;
+     155             :   }
+     156             : 
+     157             :   double hdg_rate;
+     158             :   try {
+     159      111738 :     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      111602 :   setState(hdg_rate, VELOCITY);
+     166             : }
+     167             : /*//}*/
+     168             : 
+     169             : /* timerUpdate() //{*/
+     170      123429 : void HdgPassthrough::timerUpdate(const ros::TimerEvent &event) {
+     171             : 
+     172             : 
+     173      123429 :   if (!isInitialized()) {
+     174           0 :     return;
+     175             :   }
+     176             : 
+     177      123418 :   publishOutput();
+     178      123434 :   publishDiagnostics();
+     179             : }
+     180             : /*//}*/
+     181             : 
+     182             : /*//{ timerCheckHealth() */
+     183      124907 : void HdgPassthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     184             : 
+     185      124907 :   if (!isInitialized()) {
+     186           7 :     return;
+     187             :   }
+     188             : 
+     189      124890 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     190             : 
+     191          65 :     changeState(READY_STATE);
+     192          65 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     193             :   }
+     194             : 
+     195      124873 :   if (isInState(STARTED_STATE)) {
+     196             : 
+     197          65 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     198          65 :     changeState(RUNNING_STATE);
+     199             :   }
+     200             : 
+     201      124891 :   if (sh_orientation_.hasMsg()) {
+     202      124725 :     is_orient_ready_ = true;
+     203             :   } else {
+     204         168 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     205             :   }
+     206             : 
+     207      124910 :   if (sh_ang_vel_.hasMsg()) {
+     208      123512 :     is_ang_vel_ready_ = true;
+     209             :   } else {
+     210        1288 :     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      434509 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     221      434509 :   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      226507 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     231             : 
+     232      226507 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     233      226360 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     234      226373 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     235             : 
+     236      226350 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     237      226281 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     238      226392 : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ getStates() */
+     242      123423 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     243      123423 :   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      123413 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     265      123413 :   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         130 : std::string HdgPassthrough::getNamespacedName() const {
+     293         260 :   return parent_state_est_name_ + "/" + getName();
+     294             : }
+     295             : /*//}*/
+     296             : 
+     297             : /*//{ getPrintName() */
+     298         368 : std::string HdgPassthrough::getPrintName() const {
+     299         736 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     300             : }
+     301             : /*//}*/
+     302             : 
+     303             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
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Test:MRS UAV System - Test coverage reportLines:8846618.9 %
Date:2024-01-14 11:12:21Functions:125422.2 %
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hdg_generic.cpp +
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hdg_passthrough.cpp +
67.2%67.2%
+ 		67.2 %88 / 13152.2 %12 / 23
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
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lat_generic.cpp +
58.3%58.3%
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<unnamed>58.3 %236 / 40583.3 %25 / 30
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
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lat_generic.cpp +
58.3%58.3%
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<unnamed>58.3 %236 / 40583.3 %25 / 30
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2024-01-14 11:12:21Functions:253083.3 %
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lat_generic.cpp +
58.3%58.3%
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<unnamed>58.3 %236 / 40583.3 %25 / 30
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
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Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2024-01-14 11:12:21Functions:253083.3 %
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lat_generic.cpp +
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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:2024-01-14 11:12:21Functions:253083.3 %
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lat_generic.cpp +
58.3%58.3%
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+
+
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..cc2c64887a --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.func-sort-c.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2024-01-14 11:12:21Functions: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&)65
mrs_uav_state_estimators::LatGeneric::isConverged()65
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)65
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)254
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)254
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const394
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const585
mrs_uav_state_estimators::LatGeneric::start()1516
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) const9389
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)107826
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const107833
mrs_uav_state_estimators::LatGeneric::setDt(double const&)107843
mrs_uav_state_estimators::LatGeneric::getStates() const107849
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&)118563
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) const118580
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)118584
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)124749
mrs_uav_state_estimators::LatGeneric::generateB()215742
mrs_uav_state_estimators::LatGeneric::generateA()215744
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const238350
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const238424
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const476797
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const476843
mrs_uav_state_estimators::LatGeneric::getState(int const&) const942822
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const943047
+
+
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Generated by: LCOV version 1.14
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+ + + 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..2acaca94d7 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2024-01-14 11:12:21Functions:253083.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)65
mrs_uav_state_estimators::LatGeneric::isConverged()65
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)124749
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&)118563
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)118584
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)107826
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)65
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&)107843
mrs_uav_state_estimators::LatGeneric::start()1516
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)254
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)254
mrs_uav_state_estimators::LatGeneric::generateA()215744
mrs_uav_state_estimators::LatGeneric::generateB()215742
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const585
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const476797
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const476843
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const238350
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const238424
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const394
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const107833
mrs_uav_state_estimators::LatGeneric::getState(int const&) const942822
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const943047
mrs_uav_state_estimators::LatGeneric::getStates() const107849
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) const118580
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) const9389
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/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..2d6486d5dc --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23640558.3 %
Date:2024-01-14 11:12:21Functions: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          65 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15          65 :   ch_ = ch;
+      16          65 :   ph_ = ph;
+      17             : 
+      18          65 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21          65 :   dt_ = 0.01;
+      22          65 :   input_coeff_ = 10;
+      23          65 :   default_input_coeff_ = 10;
+      24             : 
+      25          65 :   generateA();
+      26          65 :   generateB();
+      27             : 
+      28          65 :   H_ <<
+      29          65 :     1, 0, 0, 0, 0, 0,
+      30          65 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32             :   // clang-format on
+      33             : 
+      34             :   // | --------------- initialize parameter loader -------------- |
+      35             : 
+      36          65 :   if (is_core_plugin_) {
+      37             : 
+      38          65 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      39          65 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      40             :   }
+      41             : 
+      42          65 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      43             : 
+      44             :   // | --------------------- load parameters -------------------- |
+      45          65 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      46          65 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      47          65 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      48          65 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      49          65 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      50          65 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      51          65 :   if (is_repredictor_enabled_) {
+      52           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      53             :   }
+      54             : 
+      55             :   // | --------------- corrections initialization --------------- |
+      56          65 :   ph->param_loader->loadParam("corrections", correction_names_);
+      57             : 
+      58         134 :   for (auto corr_name : correction_names_) {
+      59          69 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      60        9527 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      61      118580 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      62      118580 :           return this->doCorrection(meas, R, state);
+      63             :         }));
+      64             :   }
+      65             : 
+      66             :   // | ------- check if all parameters loaded successfully ------ |
+      67          65 :   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          65 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      73             : 
+      74             :   // | ----------- initialize process noise covariance ---------- |
+      75          65 :   Q_ = Q_t::Zero();
+      76             :   double tmp_noise;
+      77          65 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      78          65 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      79          65 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      80          65 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      81          65 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      82          65 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      83          65 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      84          65 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      85          65 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89          65 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      90          65 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      91          65 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      92          65 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      93          65 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96          65 :   const x_t        x0 = x_t::Zero();
+      97          65 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98          65 :   const statecov_t sc0({x0, P0});
+      99          65 :   sc_ = sc0;
+     100             : 
+     101          65 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102          65 :   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          65 :   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         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+     125          65 :   shopts.nh                 = nh;
+     126          65 :   shopts.node_name          = getPrintName();
+     127          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     128          65 :   shopts.threadsafe         = true;
+     129          65 :   shopts.autostart          = true;
+     130          65 :   shopts.queue_size         = 10;
+     131          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     132             : 
+     133          65 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     134             :   sh_hdg_state_ =
+     135          65 :       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          65 :   if (ch_->debug_topics.input) {
+     139          65 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     140             :   }
+     141          65 :   if (ch_->debug_topics.output) {
+     142          65 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     143             :   }
+     144          65 :   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          65 :   if (changeState(INITIALIZED_STATE)) {
+     151          65 :     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          65 : }
+     156             : /*//}*/
+     157             : 
+     158             : /*//{ start() */
+     159        1516 : bool LatGeneric::start(void) {
+     160             : 
+     161        1516 :   if (isInState(READY_STATE)) {
+     162             :     /* timer_update_.start(); */
+     163          65 :     changeState(STARTED_STATE);
+     164          65 :     return true;
+     165             : 
+     166             :   } else {
+     167        1451 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     168        1451 :     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      124749 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     219             : 
+     220      124749 :   if (!isInitialized()) {
+     221       16904 :     return;
+     222             :   }
+     223             : 
+     224      124721 :   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          28 :     case READY_STATE: {
+     232          28 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     233          28 :       break;
+     234             :     }
+     235             : 
+     236        2632 :     case INITIALIZED_STATE: {
+     237             :       // initialize the estimator with current corrections
+     238        2759 :       for (auto correction : corrections_) {
+     239        2694 :         auto res = correction->getProcessedCorrection();
+     240        2694 :         if (res) {
+     241         127 :           auto measurement_stamped = res.value(); 
+     242         127 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     243         127 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     244         127 :           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        2566 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     248        2567 :           return;
+     249             :         }
+     250             :       }
+     251          65 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     252          65 :       changeState(READY_STATE);
+     253          65 :       break;
+     254             :     }
+     255             : 
+     256          65 :     case STARTED_STATE: {
+     257          65 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     258          65 :       if (isConverged()) {
+     259          65 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     260          65 :         changeState(RUNNING_STATE);
+     261             :       }
+     262          65 :       break;
+     263             :     }
+     264             : 
+     265      122001 :     case RUNNING_STATE: {
+     266      253595 :       for (auto correction : corrections_) {
+     267      131587 :         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      122003 :       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      122163 :   if (sh_control_input_.newMsg()) {
+     319       61612 :     is_input_ready_ = true;
+     320             :   }
+     321             : 
+     322             :   // check age of input
+     323      122152 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     324          13 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     325             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     326          13 :     is_input_ready_ = false;
+     327             :   }
+     328             : 
+     329      122151 :   if (fun_get_hdg_()) {
+     330      122016 :     is_hdg_state_ready_ = true;
+     331             :   }
+     332             : 
+     333      122162 :   if (!isRunning() && !isStarted()) {
+     334          89 :     return;
+     335             :   }
+     336             : 
+     337      122062 :   if (first_iter_) {
+     338          65 :     first_iter_ = false;
+     339          65 :     return;
+     340             :   }
+     341             : 
+     342             :   // obtain dt for state prediction
+     343      121997 :   double dt = (event.current_real - event.last_real).toSec();
+     344      121999 :   if (dt <= 0.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick
+     345       14161 :     return;
+     346             :   }
+     347             : 
+     348      107838 :   if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+     349      107839 :     setDt(dt);
+     350             :   }
+     351             : 
+     352             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     353      107836 :   u_t       u;
+     354      107818 :   ros::Time input_stamp;
+     355      107809 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     356       69790 :     auto res = fun_get_hdg_();
+     357       69799 :     if (!res) {
+     358           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     359           0 :       return;
+     360             :     }
+     361             : 
+     362       69793 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     363       69716 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     364       69730 :     setInputCoeff(default_input_coeff_);
+     365       69809 :     u(0) = des_acc_global.getX();
+     366       69735 :     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       38010 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     370       38020 :     input_stamp = ros::Time::now();
+     371       38023 :     setInputCoeff(0);
+     372       38023 :     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      107775 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     386      107779 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     387             : 
+     388             :   // prediction step
+     389             :   try {
+     390             :     // Apply the prediction step
+     391      215630 :     std::scoped_lock lock(mutex_lkf_);
+     392      107777 :     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      107777 :       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      107726 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     406             : 
+     407             :   // publishing
+     408      107782 :   publishInput(u, input_stamp);
+     409      107849 :   publishOutput();
+     410      107849 :   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      118584 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     514      118584 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     515      118573 : }
+     516             : /*//}*/
+     517             : 
+     518             : /*//{ doCorrection() */
+     519      118563 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     520             : 
+     521      118563 :   if (!isInitialized()) {
+     522         123 :     return;
+     523             :   }
+     524             : 
+     525             :   // we do not want to perform corrections until the estimator is initialized
+     526      118532 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     527         120 :     return;
+     528             :   }
+     529             : 
+     530             :   // for position state check the innovation
+     531      118369 :   if (state_id == POSITION) {
+     532             :     {
+     533      109050 :       std::scoped_lock lock(mtx_innovation_);
+     534             : 
+     535      109105 :       is_mitigating_jump_ = false;
+     536      109132 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     537      109047 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     538             : 
+     539      109080 :       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      109123 :       innovation_ok_ = true;
+     572             :     }
+     573             :   }
+     574             : 
+     575      118403 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     576             :   try {
+     577             :     // Apply the correction step
+     578      236826 :     std::scoped_lock lock(mutex_lkf_);
+     579      118420 :     H_                           = H_t::Zero();
+     580      118404 :     H_(AXIS_X, state_id * 2)     = 1;
+     581      118355 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     582      118394 :     lkf_->H                      = H_;
+     583             : 
+     584      118262 :     if (is_repredictor_enabled_) {
+     585             : 
+     586           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     587             :     } else {
+     588      118262 :       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      118230 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     597             : }  // namespace mrs_uav_state_estimators
+     598             : /*//}*/
+     599             : 
+     600             : /*//{ isConverged() */
+     601          65 : bool LatGeneric::isConverged() {
+     602             : 
+     603             :   // TODO: check convergence by rate of change of determinant
+     604             : 
+     605          65 :   return true;
+     606             : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ getState() */
+     610      943047 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     611      943047 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     612             : }
+     613             : 
+     614      942822 : double LatGeneric::getState(const int &state_idx_in) const {
+     615      942822 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     616             : }
+     617             : /*//}*/
+     618             : 
+     619             : /*//{ setState() */
+     620         254 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     621         254 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     622         254 : }
+     623             : 
+     624         254 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     625         254 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     626         254 : }
+     627             : /*//}*/
+     628             : 
+     629             : /*//{ getStates() */
+     630      107849 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     631      215691 :   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      476843 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     643      476843 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     644             : }
+     645             : 
+     646      476797 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     647      476797 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     648             : }
+     649             : /*//}*/
+     650             : 
+     651             : /*//{ getCovarianceMatrix() */
+     652      107833 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     653      215670 :   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      238350 : double LatGeneric::getInnovation(const int &state_idx) const {
+     665      238350 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     666             : }
+     667             : 
+     668      238424 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     669      238424 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     670             : }
+     671             : /*//}*/
+     672             : 
+     673             : /*//{ setDt() */
+     674      107843 : void LatGeneric::setDt(const double &dt) {
+     675      107843 :   dt_ = dt;
+     676      107843 :   generateA();
+     677      107841 :   generateB();
+     678      215668 :   std::scoped_lock lock(mutex_lkf_);
+     679      107829 :   lkf_->A = A_;
+     680      107816 :   lkf_->B = B_;
+     681      107801 : }
+     682             : /*//}*/
+     683             : 
+     684             : /*//{ setInputCoeff() */
+     685      107826 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     686      107826 :   input_coeff_ = input_coeff;
+     687      107826 :   generateA();
+     688      107821 :   generateB();
+     689      215585 :   std::scoped_lock lock(mutex_lkf_);
+     690      107757 :   lkf_->A = A_;
+     691      107804 :   lkf_->B = B_;
+     692      107769 : }
+     693             : /*//}*/
+     694             : 
+     695             : /*//{ generateA() */
+     696      215744 : void LatGeneric::generateA() {
+     697             : 
+     698             :   // clang-format off
+     699      215744 :     A_ <<
+     700      215589 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     701      215701 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     702      215704 :       0, 0, 1, 0, dt_, 0,
+     703      215714 :       0, 0, 0, 1, 0, dt_,
+     704      215723 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     705      215728 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     706             :   // clang-format on
+     707      215693 : }
+     708             : /*//}*/
+     709             : 
+     710             : /*//{ generateB() */
+     711      215742 : void LatGeneric::generateB() {
+     712             : 
+     713             :   // clang-format off
+     714      215742 :     B_ <<
+     715      215691 :       0, 0,
+     716      215604 :       0, 0,
+     717      215670 :       0, 0,
+     718      215706 :       0, 0,
+     719      215717 :       input_coeff_ * dt_, 0,
+     720      215718 :       0, input_coeff_ * dt_;
+     721             :   // clang-format on
+     722      215614 : }
+     723             : /*//}*/
+     724             : 
+     725             : /*//{ callbackReconfigure() */
+     726          65 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     727             : 
+     728          65 :   if (!isInitialized()) {
+     729          65 :     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         394 : std::string LatGeneric::getNamespacedName() const {
+     745         788 :   return parent_state_est_name_ + "/" + getName();
+     746             : }
+     747             : /*//}*/
+     748             : 
+     749             : /*//{ getPrintName() */
+     750         585 : std::string LatGeneric::getPrintName() const {
+     751        1170 :   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 + + +
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c3b67fa41f0c650fd83d52174734d752690228e0 GIT binary patch literal 2974 zcmV;P3t{w$P)_0;S;5*sS;5}G*?*N6>jy}HP-&t2xe=DV_f0De-3RF5u(g9?kIKUGj@*F^*|@c>nOH z0@@!PhI8fb__BV89V0NZ!^c33ff_VN8({0zE3I1t*e)55ajC$3_*XN>1I|G8C2q`` zsYs3mkR9E@NAWgumod z^swKWqwcy+*>;EgnS!t}d#$5a^cvX_IsXC}6JX+&0$6iX1oR1`@a*={T|jRoCLnEB z+!sLOK#$hs2R0<%3yPK9H4T?BTIYzwY*xi=z=j)04jzCt2T(m)WK#~Ml=wDomhV1V zULc4SYJ*mdPg*ncXhSKUa)@1h`4MH%(Nx8B=#!d^YWbLc9Gm5qx0iSLXk6-LdRTI^ z%ScWtd(>S(>c-2A8cL?x1a~2jUUU%aJcWue(9@rzaZJ-}jy^COK`fn5M7o%iDRb;w zT&txpD_Likeq)%$jH=Kk>x@mc4nTsj_PzKP zh=dU$hiL1;^gq!)dcn$=hf!`vBM$wIJg~Q1E;W*i&WEX~;gTvT&ciBmG(P%}aFA@--dE|cVDR(*!;-lt zK#M${o;N#I#`RaQ4#Zt9o2A$XMglbOaWO9TJH+VpggK^SVsV%Y9W`LCYC;DMk1;%) zi^N+%*N+WzsS@xBMXFNMYzN6m`1b)*T#>$gVwbOzE-l(J$77hBQufig?u&R^04*6L zlc0qu8pW(-j&BsfH_0n4fcyrX>Dh38U2=qpR|dA04#ozhZ{@K8R8pTt{`?w-+ii~_ zVHo`$yz?Z#_}G|s?PlG_{rEnCv4av2zY{>q?@y%)tb8~d~D?#Su=@kc9DE+hZOz(csuq9wGMZD8FC2 zuJ$Y!3?C!qHO~oqAZ-+|Z?)}d%JGsGGD`C&3_sws#2RH!|H%VdIJATYDI3bAoNnw- z?=7tBT#^TZ>RfsQ{{<0yv}K1i>!eD67!PDI0T@>#@zK{zKhnVt9M1rU8hjXI`1Oyn z2T|RN*wHep(Z_XjbY7k6XA?uROWn?~yV9Q}W{O>Sx2QTwk};&ikW5qYCJp&6te#tP zp2t1l3zY6FmN3)eQ26Nb6kSo*Pt0*D&D%HhT^1|$c^_4)B{0!?4oU5$EP#xCWK?mg zQdbJbfU?`QvsAll^7S?pT_7(-@Jrs_G|kde8c87@Z%sWIdrY+oNQT5mvQer1Jw`y= zNNKnra<@5Er$`%3Dpyfr{3BU_k|-@LxWqnclSCN1htu?4VF0{BUE!231XFWcT*1b+ zG>>y7nEP}vdoJBcFe>mD;4C4j0H+&tI~CNo#^?vYcHF90;nD5?=GkL|vyUW!w|f=5 z)>~NWbZd09c5RX&b+wK*ecHokAQ>TOh%vXGB`3Fs7j&jr0YMdv?TUPp_6FyHaGs*B zOS3`bWQ_LKm>C97-Ag@F1GzmbyH}KP2;s7v(JVa4f%`KC*N9tBa#l);tTV>u|2$E$jfBy)_$vrhJaQxpVlJX<){ zgJh7&i#jwA-6u7${58e+Kgrpb+5_zw{sv-ndLWq!DN>-L2DB%o5BtsRUM=9(-@I~; z6z~b%Qf$_>m9i*i?*VRQOUljS@vTZ{TC`=3$1oM+*+=J1k;^sryA{{7bM_o__C^u* z=5SiiQW)lVsm=^nAX8CcCjvw&6`GXSsrap^W7S31=IoW)@JQv%1o%;ge@Q{?2aECR zFIkyNZlC`|G5*(8a-RbGKV0%f&FSfih;saNh6thIj$ln&`zR>vNA2V3g+*H<2ad0I zr5k^}E^M|G7J(QD5;$jaVttRj_+@)adlTP`2)T?=EJ$C*9z=D|ND)m{JgHxEYN#8p zGwt)jd0(1zarm6*yLpOU#-jlK2-Ue}4vn9F>?XwTKQs`k0Jm5qL4}c0vP+q2;R+_# zO2(&a!?(P(Y3HwUrPp`X#-5&CnDjM&U4n6tE@Z7Dj{uiYu7kX@C#pCEXrCiKa)Mvu z+sxRQE51nGgW;O4Kg zy#~M%405L`hXL7{)qw9YT#LCBhG!fX%<&jjpKJ8|j8iX7xS$MZ9wXIet8aEe$(Ot# z-C|g7iHUpW0jRa(WxyAx4v2my-Nig~li>xvmdU$M7)TPxBR} z^KO69qvE(PJqGwZulM!QZ?NE%6xpdZ4{?sw(O-6s=-Wh$Z{<>)S1Bz$pcOF5#{ zPPGwkG0pK9!2A!qrHlB9F}+zd#a%@gP$ zF9i?*Ewi)(et|n``;{9SDlM`xkQy + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()4
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()4
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()4
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().24
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html new file mode 100644 index 0000000000..cc87e679ce --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()4
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()4
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()4
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().24
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cdfd029a0c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html new file mode 100644 index 0000000000..12e8deb788 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_baro.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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           4 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15           4 :   }
+      16             : 
+      17           8 :   ~GpsBaro(void) {
+      18           8 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25           4 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_baro::GpsBaro, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html new file mode 100644 index 0000000000..2b03dc176f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..32cb0dad19f40488be4eb0ccd03a6cbd7fc1ac32 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()57
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()57
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()57
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().257
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html new file mode 100644 index 0000000000..a729ba0b62 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()57
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()57
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()57
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().257
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..716d11d216 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html new file mode 100644 index 0000000000..7fd8884438 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions: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          57 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          57 :   }
+      16             : 
+      17         114 :   ~GpsGarmin(void) {
+      18         114 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          57 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::gps_garmin::GpsGarmin, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html new file mode 100644 index 0000000000..88be0074b4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.overview.html @@ -0,0 +1,27 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/gps_garmin.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..606fb073ca70818dc0b3b5dba84fd6a7044d0512 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq^JNDtZ&EXPgU2N!e?RY*!@G!k?Ta()7BTAKis#>5!bv}um4PI*Z02~7mGQc zuCNw3Xkx0Ko_*uhD$z@81X?onZt12fEV|g{c9?_v+hwVbPc627Ikr{%)|^j!tT$gZ WJ^4%e>pP$W7(8A5T-G@yGywov30pG& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html new file mode 100644 index 0000000000..fe6d417660 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-14 11:12:21Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
<unnamed>76.4 %97 / 12755.6 %5 / 9
state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
<unnamed>66.2 %194 / 29358.3 %7 / 12
rtk.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html new file mode 100644 index 0000000000..8274e26ea2 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-14 11:12:21Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
<unnamed>66.2 %194 / 29358.3 %7 / 12
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
<unnamed>76.4 %97 / 12755.6 %5 / 9
rtk.cpp +
100.0%
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-14 11:12:21Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-14 11:12:21Functions:283775.7 %
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_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-14 11:12:21Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
passthrough.cpp +
76.4%76.4%
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index.html b/mrs_uav_state_estimators/src/estimators/state/index.html new file mode 100644 index 0000000000..1ef9edacb2 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-01-14 11:12:21Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html new file mode 100644 index 0000000000..047e9bb9f8 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-01-14 11:12:21Functions:5955.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::passthrough::Passthrough::isConverged()0
mrs_uav_state_estimators::passthrough::Passthrough::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)1
mrs_uav_state_estimators::passthrough::Passthrough::start()1
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)1019
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1036
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html new file mode 100644 index 0000000000..1f8ca50ccc --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-01-14 11:12:21Functions:5955.6 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_state_estimators::passthrough::Passthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)1
mrs_uav_state_estimators::passthrough::Passthrough::isConverged()0
mrs_uav_state_estimators::passthrough::Passthrough::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::passthrough::Passthrough::timerUpdate(ros::TimerEvent const&)1019
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1036
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
mrs_uav_state_estimators::passthrough::Passthrough::start()1
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cf08741b5f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html new file mode 100644 index 0000000000..40034361e0 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html @@ -0,0 +1,343 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-01-14 11:12:21Functions: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           1 : void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           1 :   ch_ = ch;
+      17           1 :   ph_ = ph;
+      18             : 
+      19           1 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // | --------------- param loader initialization -------------- |
+      22             : 
+      23           1 :   if (is_core_plugin_) {
+      24             : 
+      25           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      26           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      27             :   }
+      28             : 
+      29           1 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   // | --------------------- load parameters -------------------- |
+      32           1 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      33           1 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+      34           1 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      35             : 
+      36             :   // | ------------------ timers initialization ----------------- |
+      37           1 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this, false, false);  // not running after init
+      38           1 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerCheckHealth, this);
+      39             : 
+      40             :   // | --------------- subscribers initialization --------------- |
+      41           2 :   mrs_lib::SubscribeHandlerOptions shopts;
+      42           1 :   shopts.nh                 = nh;
+      43           1 :   shopts.node_name          = getPrintName();
+      44           1 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      45           1 :   shopts.threadsafe         = true;
+      46           1 :   shopts.autostart          = true;
+      47           1 :   shopts.queue_size         = 10;
+      48           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      49             : 
+      50           1 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
+      51             : 
+      52             :   // | ---------------- publishers initialization --------------- |
+      53           1 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      54           1 :   if (ch_->debug_topics.state) {
+      55           1 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      56             :   }
+      57           1 :   if (ch_->debug_topics.covariance) {
+      58           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      59           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      60             :   }
+      61           1 :   if (ch_->debug_topics.innovation) {
+      62           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      63             :   }
+      64           1 :   if (ch_->debug_topics.diag) {
+      65           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      66             :   }
+      67             : 
+      68             :   // | ------------------ initialize published messages ------------------ |
+      69           1 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      70           1 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      71             : 
+      72           1 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      73           1 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      74           1 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      75             : 
+      76           1 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      77           1 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      78           1 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      79             : 
+      80             :   // | ------------------ finish initialization ----------------- |
+      81             : 
+      82           1 :   if (changeState(INITIALIZED_STATE)) {
+      83           1 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      84             :   } else {
+      85           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      86             :   }
+      87           1 : }
+      88             : /*//}*/
+      89             : 
+      90             : /*//{ start() */
+      91           1 : bool Passthrough::start(void) {
+      92             : 
+      93             : 
+      94           1 :   if (isInState(READY_STATE)) {
+      95             : 
+      96           1 :     timer_update_.start();
+      97           1 :     changeState(STARTED_STATE);
+      98           1 :     return true;
+      99             : 
+     100             :   } else {
+     101           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     102           0 :     ros::Duration(1.0).sleep();
+     103             :   }
+     104           0 :   return false;
+     105             : 
+     106             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     107             :   return false;
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ pause() */
+     112           0 : bool Passthrough::pause(void) {
+     113             : 
+     114           0 :   if (isInState(RUNNING_STATE)) {
+     115           0 :     changeState(STOPPED_STATE);
+     116           0 :     return true;
+     117             :   }
+     118           0 :   return false;
+     119             : }
+     120             : /*//}*/
+     121             : 
+     122             : /*//{ reset() */
+     123           0 : bool Passthrough::reset(void) {
+     124             : 
+     125           0 :   if (!isInitialized()) {
+     126           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     127           0 :     return false;
+     128             :   }
+     129             : 
+     130           0 :   changeState(STOPPED_STATE);
+     131             : 
+     132           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     133             : 
+     134           0 :   return true;
+     135             : }
+     136             : /*//}*/
+     137             : 
+     138             : /* timerUpdate() //{*/
+     139        1019 : void Passthrough::timerUpdate(const ros::TimerEvent &event) {
+     140             : 
+     141             : 
+     142        1019 :   if (!isInitialized()) {
+     143           0 :     return;
+     144             :   }
+     145             : 
+     146        1019 :   const ros::Time time_now = ros::Time::now();
+     147             : 
+     148        2038 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     149             : 
+     150        1019 :   if (first_iter_) {
+     151           1 :     prev_msg_   = msg;
+     152           1 :     first_iter_ = false;
+     153             :   }
+     154             : 
+     155        2038 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     156             : 
+     157        1019 :   uav_state.header.stamp = time_now;
+     158             : 
+     159        1019 :   uav_state.pose.position    = msg->pose.pose.position;
+     160        1019 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     161             : 
+     162        1019 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     163        1019 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     164             : 
+     165        2038 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     166             : 
+     167        2038 :   nav_msgs::Odometry innovation = innovation_init_;
+     168        1019 :   innovation.header.stamp       = time_now;
+     169             : 
+     170        1019 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     171        1019 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     172        1019 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     173             : 
+     174        2038 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     175        1019 :   pose_covariance.header.stamp  = time_now;
+     176        1019 :   twist_covariance.header.stamp = time_now;
+     177             : 
+     178        1019 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     179        1019 :   pose_covariance.values.resize(n_states * n_states);
+     180        1019 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     181        1019 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     182        1019 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     183             : 
+     184        1019 :   twist_covariance.values.resize(n_states * n_states);
+     185        1019 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     186        1019 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     187        1019 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     188             : 
+     189        1019 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     190        1019 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     191        1019 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     192        1019 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     193        1019 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     194             : 
+     195        1019 :   publishUavState();
+     196        1019 :   publishOdom();
+     197        1019 :   publishCovariance();
+     198        1019 :   publishInnovation();
+     199        1019 :   publishDiagnostics();
+     200             : 
+     201        1019 :   prev_msg_ = msg;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /*//{ timerCheckHealth() */
+     206        1036 : void Passthrough::timerCheckHealth(const ros::TimerEvent &event) {
+     207             : 
+     208        1036 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212        1036 :   if (isInState(INITIALIZED_STATE)) {
+     213             : 
+     214          17 :     if (sh_passthrough_odom_.hasMsg()) {
+     215           1 :       changeState(READY_STATE);
+     216           1 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is ready to start", getPrintName().c_str());
+     217             :     } else {
+     218          16 :       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          16 :       return;
+     220             :     }
+     221             :   }
+     222             : 
+     223             : 
+     224        1020 :   if (isInState(STARTED_STATE)) {
+     225             : 
+     226           1 :     changeState(RUNNING_STATE);
+     227             :   }
+     228             : }
+     229             : /*//}*/
+     230             : 
+     231             : /*//{ isConverged() */
+     232           0 : bool Passthrough::isConverged() {
+     233             : 
+     234             :   // TODO: check convergence by rate of change of determinant
+     235             :   // most likely not used in top-level estimator
+     236             : 
+     237           0 :   return true;
+     238             : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ setUavState() */
+     242           0 : bool Passthrough::setUavState(const mrs_msgs::UavState &uav_state) {
+     243             : 
+     244           0 :   if (!isInState(STOPPED_STATE)) {
+     245           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     246           0 :     return false;
+     247             :   }
+     248             : 
+     249           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     250           0 :   return false;
+     251             : }
+     252             : /*//}*/
+     253             : 
+     254             : }  // namespace passthrough
+     255             : 
+     256             : }  // namespace mrs_uav_state_estimators
+     257             : 
+     258             : #include <pluginlib/class_list_macros.h>
+     259           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html new file mode 100644 index 0000000000..5a663b9a3d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html @@ -0,0 +1,85 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..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..e29ecd5f19 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html new file mode 100644 index 0000000000..7f95d95208 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
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(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5de9a9f3df --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html new file mode 100644 index 0000000000..bd11362ef3 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

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

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a73b427303050221946009b0afa810dd7c98d9b4 GIT binary patch literal 229 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gqp;PJr literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html new file mode 100644 index 0000000000..3a34450dca --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + +

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(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html new file mode 100644 index 0000000000..40abff9fbb --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5a40bb2c46 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html new file mode 100644 index 0000000000..2eb7468186 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-01-14 11:12:21Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

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

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..606fb073ca70818dc0b3b5dba84fd6a7044d0512 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq^JNDtZ&EXPgU2N!e?RY*!@G!k?Ta()7BTAKis#>5!bv}um4PI*Z02~7mGQc zuCNw3Xkx0Ko_*uhD$z@81X?onZt12fEV|g{c9?_v+hwVbPc627Ikr{%)|^j!tT$gZ WJ^4%e>pP$W7(8A5T-G@yGywov30pG& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..5bdfc9fa6c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/state_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - state_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19429366.2 %
Date:2024-01-14 11:12:21Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::isConverged()0
mrs_uav_state_estimators::StateGeneric::setUavState(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)65
mrs_uav_state_estimators::StateGeneric::start()4243
mrs_uav_state_estimators::StateGeneric::updateUavState()119278
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)124982
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)124986
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()() const191956
mrs_uav_state_estimators::StateGeneric::getHeading() const191959
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func.html new file mode 100644 index 0000000000..d643a1c764 --- /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:2024-01-14 11:12:21Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)65
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&)124982
mrs_uav_state_estimators::StateGeneric::updateUavState()119278
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)124986
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()4243
mrs_uav_state_estimators::StateGeneric::getHeading() const191959
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()() const191956
+
+
+ + + +
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..20ad8e5b5a --- /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:2024-01-14 11:12:21Functions: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          65 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13          65 :   ch_ = ch;
+      14          65 :   ph_ = ph;
+      15             : 
+      16         130 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18          65 :   if (is_core_plugin_) {
+      19             : 
+      20          65 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21          65 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24          65 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          65 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27          65 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28          65 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29          65 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31          65 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32          65 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36         130 :   std::string topic_orientation;
+      37          65 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38          65 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39         130 :   std::string topic_angular_velocity;
+      40          65 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41          65 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43          65 :   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          65 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51          65 :   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          65 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56         130 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57          65 :   shopts.nh                 = nh;
+      58          65 :   shopts.node_name          = getPrintName();
+      59          65 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60          65 :   shopts.threadsafe         = true;
+      61          65 :   shopts.autostart          = true;
+      62          65 :   shopts.queue_size         = 10;
+      63          65 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65          65 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66          65 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69          65 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70          65 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72          65 :   if (ch_->debug_topics.state) {
+      73          65 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75          65 :   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          65 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82          65 :   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         130 :   std::vector<double> max_altitudes;
+      88             : 
+      89          65 :   if (is_hdg_passthrough_) {
+      90          65 :     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          65 :   est_hdg_->initialize(nh, ch_, ph_);
+      95          65 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      192021 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98          65 :   est_lat_->initialize(nh, ch_, ph_);
+      99          65 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101          65 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102          65 :   est_alt_->initialize(nh, ch_, ph_);
+     103          65 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105          65 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108          65 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109          65 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111          65 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112          65 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113          65 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115          65 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116          65 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117          65 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121          65 :   if (changeState(INITIALIZED_STATE)) {
+     122          65 :     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          65 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130        4243 : bool StateGeneric::start(void) {
+     131             : 
+     132        4243 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136        4243 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137        2727 :       est_lat_start_successful = true;
+     138             :     } else {
+     139        1516 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142        4243 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143        1195 :       est_alt_start_successful = true;
+     144             :     } else {
+     145        3048 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148        4243 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149        4127 :       timer_pub_attitude_.start();
+     150        4127 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152         116 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155        4243 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157          65 :       changeState(STARTED_STATE);
+     158          65 :       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        4178 :   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      124982 : void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
+     209             : 
+     210             : 
+     211      124982 :   if (!isInitialized()) {
+     212        5688 :     return;
+     213             :   }
+     214             : 
+     215      248992 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     216             : 
+     217      124481 :   switch (getCurrentSmState()) {
+     218             : 
+     219           0 :     case UNINITIALIZED_STATE: {
+     220           0 :       break;
+     221             :     }
+     222         953 :     case INITIALIZED_STATE: {
+     223             : 
+     224         953 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     225          65 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     226          65 :           changeState(READY_STATE);
+     227          65 :           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         888 :         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         888 :         return;
+     235             :       }
+     236             : 
+     237          65 :       break;
+     238             :     }
+     239             : 
+     240        4236 :     case READY_STATE: {
+     241        4236 :       break;
+     242             :     }
+     243             : 
+     244          80 :     case STARTED_STATE: {
+     245             : 
+     246          80 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     247             : 
+     248          80 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     249          65 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     250          65 :         changeState(RUNNING_STATE);
+     251             :       } else {
+     252          15 :         return;
+     253             :       }
+     254          65 :       break;
+     255             :     }
+     256             : 
+     257      119229 :     case RUNNING_STATE: {
+     258      119229 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     259           0 :         changeState(ERROR_STATE);
+     260             :       }
+     261      119220 :       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      123569 :   if (!isRunning() && !isStarted()) {
+     277        4300 :     return;
+     278             :   }
+     279             : 
+     280      119287 :   updateUavState();
+     281             : 
+     282      119249 :   publishUavState();
+     283      119299 :   publishOdom();
+     284      119300 :   publishCovariance();
+     285      119300 :   publishInnovation();
+     286      119300 :   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      124986 : void StateGeneric::timerPubAttitude(const ros::TimerEvent &event) {
+     366             : 
+     367      124986 :   if (!isInitialized()) {
+     368        1583 :     return;
+     369             :   }
+     370             : 
+     371      248995 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     372             : 
+     373      124477 :   if (!sh_hw_api_orient_.hasMsg()) {
+     374         139 :     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         139 :     return;
+     376             :   }
+     377             : 
+     378      124351 :   if (!est_hdg_->isRunning() && !isError()) {
+     379         959 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     380         959 :     return;
+     381             :   }
+     382             : 
+     383      123383 :   scope_timer.checkpoint("checks");
+     384             : 
+     385      123382 :   const ros::Time time_now = ros::Time::now();
+     386             : 
+     387      123405 :   geometry_msgs::QuaternionStamped att;
+     388      123395 :   att.header.stamp    = time_now;
+     389      123395 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     390             : 
+     391             :   double hdg;
+     392      123398 :   if (isError()) {
+     393           0 :     hdg = est_hdg_->getLastValidHdg();
+     394             :   } else {
+     395      123375 :     hdg = est_hdg_->getState(POSITION);
+     396             :   }
+     397             : 
+     398      123356 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     399      123233 :   if (res) {
+     400      123314 :     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      123178 :   scope_timer.checkpoint("rotate");
+     407             : 
+     408      123307 :   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      123299 :   scope_timer.checkpoint("nan check");
+     414             : 
+     415      123227 :   ph_attitude_.publish(att);
+     416      123407 :   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      119278 : void StateGeneric::updateUavState() {
+     432             : 
+     433      119278 :   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      119262 :   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      238564 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     443             : 
+     444      119286 :   const ros::Time time_now = ros::Time::now();
+     445             : 
+     446      119300 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     447      119291 :   uav_state.header.stamp       = time_now;
+     448             : 
+     449             :   // do not rotate orientation if passthrough hdg
+     450      119291 :   if (est_hdg_name_ == "hdg_passthrough") {
+     451           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     452             :   } else {
+     453             :     double hdg;
+     454      119287 :     if (isError()) {
+     455           0 :       hdg = est_hdg_->getLastValidHdg();
+     456             :     } else {
+     457      119283 :       hdg = est_hdg_->getState(POSITION);
+     458             :     }
+     459             : 
+     460      119260 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     461      119195 :     if (res) {
+     462      119246 :       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      119154 :   scope_timer.checkpoint("rotate orientation");
+     470             : 
+     471      119262 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     472             : 
+     473      119196 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     474      119272 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     475      119258 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     476             : 
+     477      119221 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     478      119251 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     479      119268 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     480             : 
+     481      119238 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     482      119253 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     483      119273 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     484             : 
+     485      119255 :   scope_timer.checkpoint("fill uav state");
+     486             : 
+     487      238485 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     488      119293 :   scope_timer.checkpoint("uav state to odom");
+     489             : 
+     490      238481 :   nav_msgs::Odometry innovation = innovation_init_;
+     491      119290 :   innovation.header.stamp       = time_now;
+     492             : 
+     493      119290 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     494      119158 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     495      119214 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     496             : 
+     497      119172 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     498             : 
+     499      119281 :   scope_timer.checkpoint("innovation");
+     500             : 
+     501      238450 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     502      119121 :   pose_covariance.header.stamp  = time_now;
+     503      119121 :   twist_covariance.header.stamp = time_now;
+     504             : 
+     505      119121 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     506      119121 :   pose_covariance.values.resize(n_states * n_states);
+     507      119192 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     508      119100 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     509      119174 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     510             : 
+     511      119104 :   twist_covariance.values.resize(n_states * n_states);
+     512      119175 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     513      119240 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     514      119257 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     515             : 
+     516      119191 :   scope_timer.checkpoint("covariance");
+     517             : 
+     518      119183 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     519      119225 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     520      119172 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     521      119259 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     522      119175 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ getHeading() */
+     527      191959 : std::optional<double> StateGeneric::getHeading() const {
+     528      191959 :   if (!est_hdg_->isRunning()) {
+     529         115 :     return {};
+     530             :   }
+     531      191828 :   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             : 
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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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+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2900f2b854c8fdbf8391333f47e3b1b1066a5d06 GIT binary patch literal 1971 zcmV;k2Tb^hP)RX!#_;9zBJ-wZR?-u9;XlY|Hk&&Tum9N+(j ztHvAOj#M7a7{|+)BRq}>OP5m~oNnIKE4b%b&FRqos{JR!1dd^vwVw5*fH-N&{yblS zF{npf#N#yAhEi7HC?KH2oiscI%A2_~{h-}4St;CW70}bxmtmYwdN@FP$H*p^>_CGt zufkaE)fh9F?Fx)mTOVd^m-_gwjsV~OsZ{c-gPRi4vk(m+TRVjlT!**Dj;l`v07kW7 z!e#rvysfr|_wKrVKmaQy>}BiJCb8Oa^}G{J$im~1l0()TM^2i@kBljq!c|uHiLJ{> zPYLrN*C0(S4Cg%WJyg4LwmUF7KqpuMFcw?{)DELSJ0)EO)Tl5!($qLQ0D^;%F1ZAA ziW(qFnmEN+cZz9}=_<}+nZYI=qaY@qEY)(jENihwvm&gi-Gu&Q0$J6&~ zku3v`!ElVLWKrrA6^uOrEB%r%aP&h=y0LWXet(Mqsv@0W^&1F%=#m&6EMtoAHXg9+gweS^*rS zn32~glV52 zadp~%l(on8cyTYqQU)+~S)4g76l2u%9XwV8DK?@7q&nu7(yYgKdS0`+s$z_pNk}$` z)R3oUUM zzNom`gywqnT)s6m__udx>1O;l6q*&xXKr7CfDIVSu%`ga*%iK#)2plCmQy9%QCHzu zb^3+pddwMYDztSKfce$6S>SpY!e)}@^>qkf1*uVt_pOi^>4Fhkgo&D;Jl+S5*sTnnZvWBjreQl3SA^C3tLu-K4Y@mcsIRm$x=)~h{? zw8{EJm{u!u3K$~^Qsj3!zZcV?h--2);_<6gb!O*``^s_602X5p5>ZTtS!jO4aqsdT z^CRlHoyVqC+^?Gut-|lTUr4vkm2l@yENb%V*ORBVX#G|9J|aB|O}Qa$0cy(x?LsPl zV(~8Zu#HaZ^&2ZzCHh)tmUXMt-FwY zq3RA-hSGJ<%ggJ|rc00Mnph>9m~!elN)>Ya^n28!Z7BFqJ#@f;GVoV)G;3R>;*O>i zUK%#0Z8g^;9CjV;kG(|uA0O^O!^3Tqw3qWz|HQVPqt{$)HK!G+d`km#Gq^TO7xwPh zIqiNdcL#v>BciD=ix2n9+Ci8uTZ_7tT#Df=o)DY-;ioJ{l=QF#h2uz*j}YmM3%1tf zHC4PHH+v4#nGmd`;Bs#Q%e{Rej+A=?*bTGy*pYIt+ZKd+x#!e_?a*M~l!`w5+=l_n zJqK8y-1pw-<|B9h(d!W!Lss1xS2~F?c1%SvUIM5o>2p$NX{#;TTm@(kj9S2RJm%7e zC4VKLmA1BPoGSt6(>x~A z;JOERNhgudVGMl5rBV!7Fkw!OpL@8g;I`mlA4fp;AM3(H#&XYA$^dR)TF;TGdH|lZ z3{mD>1Kh!O!D)Kx0r-J1*E;St$nz^^8PILl%~Svx9?6wFFi8TO$-L1OK>EChujqV~ zSJ&J6I%VBS%&N+kv-bPf0bAqGK}xy+dBAT_cx$VP?wYdK)tA@Uh>wVtnpc!icUM!T4Yo>L2r{{ZriD^SDq$1eZ?002ovPDHLk FV1hK7w8;Pf literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..d0ff774665 --- /dev/null +++ b/mrs_uav_trackers/src/joy_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/joy_tracker + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:6614246.5 %
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Current view:top level - mrs_uav_trackers/src/joy_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
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joy_tracker.cpp +
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Current view:top level - mrs_uav_trackers/src/joy_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
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Current view:top level - mrs_uav_trackers/src/joy_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
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joy_tracker.cpp +
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+
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-01-14 11:12:21Functions: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&)3
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()17
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)70250
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-01-14 11:12:21Functions:71838.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()17
mrs_uav_trackers::joy_tracker::JoyTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
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&)203
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
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&)3
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&)70250
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-01-14 11:12:21Functions: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          62 : 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          62 :   this->common_handlers_  = common_handlers;
+     136          62 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138          62 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140          62 :   nh_ = nh;
+     141             : 
+     142          62 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164         124 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184          62 :   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          62 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196          62 :   shopts.nh              = nh_;
+     197          62 :   shopts.node_name       = "JoyTracker";
+     198          62 :   shopts.queue_size      = 1;
+     199          62 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201          62 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205          62 :   last_update = ros::Time(0);
+     206             : 
+     207          62 :   is_initialized_ = true;
+     208             : 
+     209          62 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211          62 :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* //{ activate() */
+     217             : 
+     218           0 : std::tuple<bool, std::string> JoyTracker::activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     219             : 
+     220           0 :   std::stringstream ss;
+     221             : 
+     222           0 :   if (!got_uav_state_) {
+     223             : 
+     224           0 :     ss << "odometry not set";
+     225           0 :     return std::tuple(false, ss.str());
+     226             :   }
+     227             : 
+     228           0 :   if (!sh_joystick_.hasMsg()) {
+     229             : 
+     230           0 :     ss << "missing joystick goal";
+     231           0 :     return std::tuple(false, ss.str());
+     232             :   }
+     233             : 
+     234           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     235             : 
+     236           0 :   double uav_heading = 0;
+     237             : 
+     238             :   try {
+     239           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     240             :   }
+     241           0 :   catch (...) {
+     242           0 :     ROS_ERROR_THROTTLE(1.0, "[JoyTracker]: could not calculate UAV heading");
+     243             :   }
+     244             : 
+     245             :   // initialized the heading and z from the last tracker command / odometry
+     246             :   {
+     247           0 :     std::scoped_lock lock(mutex_state_);
+     248             : 
+     249           0 :     if (last_tracker_cmd) {
+     250             : 
+     251             :       // the last command is usable
+     252           0 :       state_z_       = last_tracker_cmd->position.z;
+     253           0 :       state_heading_ = last_tracker_cmd->heading;
+     254             : 
+     255             :     } else {
+     256             : 
+     257           0 :       state_z_       = uav_state.pose.position.z;
+     258           0 :       state_heading_ = uav_heading;
+     259             : 
+     260           0 :       ROS_WARN("[JoyTracker]: the previous command is not usable for activation, using Odometry instead");
+     261             :     }
+     262             :   }
+     263             : 
+     264           0 :   is_active_ = true;
+     265             : 
+     266           0 :   ss << "activated";
+     267           0 :   ROS_INFO_STREAM("[JoyTracker]: " << ss.str());
+     268             : 
+     269           0 :   return std::tuple(true, ss.str());
+     270             : }
+     271             : 
+     272             : //}
+     273             : 
+     274             : /* //{ deactivate() */
+     275             : 
+     276          17 : void JoyTracker::deactivate(void) {
+     277             : 
+     278          17 :   is_active_ = false;
+     279             : 
+     280          17 :   ROS_INFO("[JoyTracker]: deactivated");
+     281          17 : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : /* //{ resetStatic() */
+     286             : 
+     287           0 : bool JoyTracker::resetStatic(void) {
+     288             : 
+     289           0 :   return false;
+     290             : }
+     291             : 
+     292             : //}
+     293             : 
+     294             : /* //{ update() */
+     295             : 
+     296       70250 : 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      210750 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      210750 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303       70250 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305       70250 :     uav_state_ = uav_state;
+     306             : 
+     307       70250 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310       70250 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312       70250 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315       70250 :   if (!is_active_) {
+     316       70250 :     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         172 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389         344 :   std_srvs::SetBoolResponse res;
+     390         344 :   std::stringstream         ss;
+     391             : 
+     392         172 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394          13 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396          13 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397          13 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401         159 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402         159 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405         172 :   res.message = ss.str();
+     406         172 :   res.success = true;
+     407             : 
+     408         344 :   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         203 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         203 :   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           3 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           3 :   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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
+
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Current view:top level - mrs_uav_trackers/src/landoff_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42859272.3 %
Date:2024-01-14 11:12:21Functions:213167.7 %
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landoff_tracker.cpp +
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+ 		72.3 %428 / 59267.7 %21 / 31
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/landoff_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:42859272.3 %
Date:2024-01-14 11:12:21Functions:213167.7 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
landoff_tracker.cpp +
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+ 		72.3 %428 / 59267.7 %21 / 31
+
+
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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.func-sort-c.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..4d9b6c9413 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func-sort-c.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp - functions + + + + + + + + + + + + + + +
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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:42859272.3 %
Date:2024-01-14 11:12:21Functions: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&)3
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)11
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)25
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()42
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_trackers::landoff_tracker::LandoffTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)82
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)102
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)124
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()189
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()189
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()1539
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()2464
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()11410
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()13874
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)15379
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)70250
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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/landoff_tracker/landoff_tracker.cpp.func.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html new file mode 100644 index 0000000000..f3bafb8424 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:42859272.3 %
Date:2024-01-14 11:12:21Functions:213167.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()42
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>)62
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)82
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)5
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()13874
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)11
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()11410
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()2464
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()189
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)124
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()189
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)102
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)3
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&)70250
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)25
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()1539
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)15379
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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..3e65604bc5 --- /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
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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:42859272.3 %
Date:2024-01-14 11:12:21Functions: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          62 : 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          62 :   this->common_handlers_  = common_handlers;
+     215          62 :   this->private_handlers_ = private_handlers;
+     216             : 
+     217          62 :   _uav_name_ = common_handlers->uav_name;
+     218             : 
+     219          62 :   nh_ = nh;
+     220             : 
+     221          62 :   ros::Time::waitForValid();
+     222             : 
+     223             :   // --------------------------------------------------------------
+     224             :   // |                     loading parameters                     |
+     225             :   // --------------------------------------------------------------
+     226             : 
+     227             :   // | ---------- loading params using the parent's nh ---------- |
+     228             : 
+     229         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     230             : 
+     231          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     232             : 
+     233          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     241          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     242             : 
+     243         124 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     244             : 
+     245          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     246          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     247             : 
+     248          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     249          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     250             : 
+     251          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     252          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     253             : 
+     254          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     255          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     256             : 
+     257          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     258          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     259             : 
+     260          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     261          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     262             : 
+     263          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     264             : 
+     265          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     266             : 
+     267          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     268             : 
+     269          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     270          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     271             : 
+     272          62 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     273           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     274           0 :     return false;
+     275             :   }
+     276             : 
+     277          62 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     278             : 
+     279          62 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     280             : 
+     281          62 :   state_x_       = 0;
+     282          62 :   state_y_       = 0;
+     283          62 :   state_z_       = 0;
+     284          62 :   state_heading_ = 0;
+     285             : 
+     286          62 :   speed_x_       = 0;
+     287          62 :   speed_y_       = 0;
+     288          62 :   speed_heading_ = 0;
+     289             : 
+     290          62 :   current_horizontal_speed_ = 0;
+     291          62 :   current_vertical_speed_   = 0;
+     292             : 
+     293          62 :   current_horizontal_acceleration_ = 0;
+     294          62 :   current_vertical_acceleration_   = 0;
+     295             : 
+     296          62 :   current_vertical_direction_ = 0;
+     297             : 
+     298          62 :   current_state_vertical_  = LANDED_STATE;
+     299          62 :   previous_state_vertical_ = LANDED_STATE;
+     300             : 
+     301          62 :   current_state_horizontal_  = LANDED_STATE;
+     302          62 :   previous_state_horizontal_ = LANDED_STATE;
+     303             : 
+     304             :   // | ------------------------ profiler ------------------------ |
+     305             : 
+     306          62 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     307             : 
+     308             :   // | ------------------------ services ------------------------ |
+     309             : 
+     310          62 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     311          62 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     312          62 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     313             : 
+     314             :   // | ------------------------- timers ------------------------- |
+     315             : 
+     316          62 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     317             : 
+     318             :   // | ----------------------- finish init ---------------------- |
+     319             : 
+     320          62 :   is_initialized_ = true;
+     321             : 
+     322          62 :   ROS_INFO("[LandoffTracker]: initialized");
+     323             : 
+     324          62 :   return true;
+     325             : }
+     326             : 
+     327             : //}
+     328             : 
+     329             : /* //{ activate() */
+     330             : 
+     331          25 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     332             : 
+     333          50 :   std::stringstream ss;
+     334             : 
+     335          25 :   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          50 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     344             : 
+     345             :   double uav_heading;
+     346             : 
+     347             :   try {
+     348          25 :     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          50 :     std::scoped_lock lock(mutex_goal_);
+     363             : 
+     364             :     // the last command is usable
+     365          25 :     state_x_       = uav_state.pose.position.x;
+     366          25 :     state_y_       = uav_state.pose.position.y;
+     367          25 :     state_z_       = uav_state.pose.position.z;
+     368          25 :     state_heading_ = uav_heading;
+     369             : 
+     370          25 :     speed_x_         = uav_state.velocity.linear.x;
+     371          25 :     speed_y_         = uav_state.velocity.linear.y;
+     372          25 :     current_heading_ = atan2(speed_y_, speed_x_);
+     373             : 
+     374          25 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     375             : 
+     376          25 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     377          25 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     378             : 
+     379          25 :     current_horizontal_acceleration_ = 0;
+     380          25 :     current_vertical_acceleration_   = 0;
+     381             : 
+     382          25 :     goal_heading_ = uav_heading;
+     383             : 
+     384          25 :     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          25 :     std::scoped_lock lock(mutex_state_);
+     395             : 
+     396          25 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     397          25 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     398          25 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     399          25 :     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          25 :     std::scoped_lock lock(mutex_state_);
+     410             : 
+     411          25 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     412          25 :     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          25 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     421             : 
+     422          25 :     goal_x_ = state_x_ + stop_dist_x;
+     423          25 :     goal_y_ = state_y_ + stop_dist_y;
+     424          25 :     goal_z_ = state_z_ + vertical_stop_dist;
+     425             :   }
+     426             : 
+     427          25 :   landing_        = false;
+     428          25 :   taking_off_     = false;
+     429          25 :   is_active_      = true;
+     430          25 :   have_goal_      = false;
+     431          25 :   cause_failsafe_ = false;
+     432             : 
+     433          25 :   timer_main_.start();
+     434             : 
+     435             :   {
+     436          50 :     std::scoped_lock lock(mutex_goal_);
+     437             : 
+     438          25 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     439             :   }
+     440             : 
+     441          25 :   changeState(STOP_MOTION_STATE);
+     442             : 
+     443          25 :   ss << "activated";
+     444          25 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     445             : 
+     446          25 :   return std::tuple(true, ss.str());
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : /* //{ deactivate() */
+     452             : 
+     453          42 : void LandoffTracker::deactivate(void) {
+     454             : 
+     455          42 :   is_active_                = false;
+     456          42 :   landing_                  = false;
+     457          42 :   taking_off_               = false;
+     458          42 :   current_state_vertical_   = IDLE_STATE;
+     459          42 :   current_state_horizontal_ = IDLE_STATE;
+     460             : 
+     461          42 :   timer_main_.stop();
+     462             : 
+     463          42 :   ROS_INFO("[LandoffTracker]: deactivated");
+     464          42 : }
+     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       70250 : 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      210750 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     483      210750 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     484             : 
+     485             :   {
+     486       70250 :     std::scoped_lock lock(mutex_uav_state_);
+     487             : 
+     488       70250 :     uav_state_ = uav_state;
+     489             : 
+     490       70250 :     got_uav_state_ = true;
+     491             :   }
+     492             : 
+     493             :   // up to this part the update() method is evaluated even when the tracker is not active
+     494       70250 :   if (!is_active_ || cause_failsafe_) {
+     495       58960 :     return {};
+     496             :   }
+     497             : 
+     498       11290 :   position_output_.header.stamp    = ros::Time::now();
+     499       11290 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     500             : 
+     501             :   {
+     502       11290 :     std::scoped_lock lock(mutex_state_);
+     503             : 
+     504       11290 :     position_output_.position.x = state_x_;
+     505       11290 :     position_output_.position.y = state_y_;
+     506       11290 :     position_output_.position.z = state_z_;
+     507       11290 :     position_output_.heading    = state_heading_;
+     508             : 
+     509       11290 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     510       11290 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     511       11290 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     512       11290 :     position_output_.heading_rate = speed_heading_;
+     513             : 
+     514       11290 :     position_output_.use_position_vertical   = 1;
+     515       11290 :     position_output_.use_position_horizontal = 1;
+     516       11290 :     position_output_.use_heading             = 1;
+     517       11290 :     position_output_.use_heading_rate        = 1;
+     518       11290 :     position_output_.use_velocity_vertical   = 1;
+     519       11290 :     position_output_.use_velocity_horizontal = 1;
+     520             :   }
+     521             : 
+     522             :   {
+     523       22580 :     std::scoped_lock lock(mutex_last_control_output_);
+     524             : 
+     525       11290 :     last_control_output_ = last_control_output;
+     526             :   }
+     527             : 
+     528       11290 :   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       11290 :     position_output_.disable_position_gains = false;
+     532             :   }
+     533             : 
+     534       11290 :   if (taking_off_) {
+     535        4679 :     position_output_.disable_antiwindups = true;
+     536             :   } else {
+     537        6611 :     position_output_.disable_antiwindups = false;
+     538             :   }
+     539             : 
+     540       11290 :   return {position_output_};
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* //{ getStatus() */
+     546             : 
+     547        1539 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     548             : 
+     549        1539 :   mrs_msgs::TrackerStatus tracker_status;
+     550             : 
+     551        1539 :   tracker_status.active            = is_active_;
+     552        1539 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     553             : 
+     554        1539 :   bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     555        1539 :   bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     556             : 
+     557        1539 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     558             : 
+     559        1539 :   tracker_status.tracking_trajectory = false;
+     560             : 
+     561        1539 :   return tracker_status;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* //{ enableCallbacks() */
+     567             : 
+     568         172 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     569             : 
+     570         344 :   std_srvs::SetBoolResponse res;
+     571         344 :   std::stringstream         ss;
+     572             : 
+     573         172 :   if (cmd->data != callbacks_enabled_) {
+     574             : 
+     575          13 :     callbacks_enabled_ = cmd->data;
+     576             : 
+     577          13 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     578          13 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     579             : 
+     580             :   } else {
+     581             : 
+     582         159 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     583         159 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     584             :   }
+     585             : 
+     586         172 :   res.message = ss.str();
+     587         172 :   res.success = true;
+     588             : 
+     589         344 :   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         203 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     755             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     756             : 
+     757             : 
+     758         203 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     759             : 
+     760         203 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     761             : 
+     762         406 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     763         203 :   res.success = true;
+     764         203 :   res.message = "constraints updated";
+     765             : 
+     766         406 :   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           3 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     792             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     793           3 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     794             : }
+     795             : 
+     796             : //}
+     797             : 
+     798             : // | ----------------- state machine routines ----------------- |
+     799             : 
+     800             : /* //{ changeStateHorizontal() */
+     801             : 
+     802         102 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     803             : 
+     804         102 :   previous_state_horizontal_ = current_state_horizontal_;
+     805         102 :   current_state_horizontal_  = new_state;
+     806             : 
+     807         102 :   switch (current_state_horizontal_) {
+     808             : 
+     809          33 :     case STOPPING_STATE: {
+     810             : 
+     811          66 :       std::scoped_lock lock(mutex_state_);
+     812          33 :       current_horizontal_speed_ = 0;
+     813             : 
+     814          33 :       break;
+     815             :     };
+     816             : 
+     817          69 :     default: {
+     818             : 
+     819          69 :       break;
+     820             :     }
+     821             :   }
+     822             : 
+     823         102 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     824         102 : }
+     825             : 
+     826             : //}
+     827             : 
+     828             : /* //{ changeStateVertical() */
+     829             : 
+     830         124 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     831             : 
+     832         124 :   previous_state_vertical_ = current_state_vertical_;
+     833         124 :   current_state_vertical_  = new_state;
+     834             : 
+     835         124 :   switch (current_state_vertical_) {
+     836             : 
+     837          24 :     case HOVER_STATE: {
+     838          24 :       taking_off_ = false;
+     839          24 :       break;
+     840             :     }
+     841             : 
+     842         100 :     default: {
+     843         100 :       break;
+     844             :     }
+     845             :   }
+     846             : 
+     847         124 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     848         124 : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* //{ changeState() */
+     853             : 
+     854          82 : void LandoffTracker::changeState(States_t new_state) {
+     855             : 
+     856          82 :   changeStateVertical(new_state);
+     857          82 :   changeStateHorizontal(new_state);
+     858          82 : }
+     859             : 
+     860             : //}
+     861             : 
+     862             : // | --------------------- motion routines -------------------- |
+     863             : 
+     864             : /* //{ stopHorizontalMotion() */
+     865             : 
+     866         189 : void LandoffTracker::stopHorizontalMotion(void) {
+     867             : 
+     868             :   {
+     869         378 :     std::scoped_lock lock(mutex_state_);
+     870             : 
+     871         189 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     872             : 
+     873         189 :     if (current_horizontal_speed_ < 0) {
+     874          47 :       current_horizontal_speed_        = 0;
+     875          47 :       current_horizontal_acceleration_ = 0;
+     876             :     } else {
+     877         142 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     878             :     }
+     879             :   }
+     880         189 : }
+     881             : 
+     882             : //}
+     883             : 
+     884             : /* //{ stopVerticalMotion() */
+     885             : 
+     886         189 : void LandoffTracker::stopVerticalMotion(void) {
+     887             : 
+     888             :   {
+     889         378 :     std::scoped_lock lock(mutex_state_);
+     890             : 
+     891         189 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     892             : 
+     893         189 :     if (current_vertical_speed_ < 0) {
+     894         114 :       current_vertical_speed_        = 0;
+     895         114 :       current_vertical_acceleration_ = 0;
+     896             :     } else {
+     897          75 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     898             :     }
+     899             :   }
+     900         189 : }
+     901             : 
+     902             : //}
+     903             : 
+     904             : /* //{ accelerateVertical() */
+     905             : 
+     906       11410 : void LandoffTracker::accelerateVertical(void) {
+     907             : 
+     908             :   // copy member variables
+     909       11410 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     910       11410 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     911       11410 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     912             : 
+     913             :   double used_acceleration;
+     914             :   double used_speed;
+     915             : 
+     916       11410 :   if (taking_off_) {
+     917             : 
+     918        2464 :     used_speed        = _takeoff_speed_;
+     919        2464 :     used_acceleration = _takeoff_acceleration_;
+     920             : 
+     921        2464 :     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        2464 :     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        8946 :   } else if (landing_) {
+     932             : 
+     933        8946 :     if (elanding_) {
+     934             : 
+     935        5576 :       used_speed        = _elanding_speed_;
+     936        5576 :       used_acceleration = _elanding_acceleration_;
+     937             : 
+     938             :     } else {
+     939             : 
+     940        3370 :       used_speed        = _landing_speed_;
+     941        3370 :       used_acceleration = _landing_acceleration_;
+     942             : 
+     943        3370 :       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        3370 :       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       11410 :   double tar_z = goal_z - state_z;
+     963             : 
+     964             :   // set the right vertical direction
+     965             :   {
+     966       11410 :     std::scoped_lock lock(mutex_state_);
+     967             : 
+     968       11410 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     969             :   }
+     970             : 
+     971       11410 :   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       11410 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     975       11410 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     976       11410 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+     977             : 
+     978             :   {
+     979       22820 :     std::scoped_lock lock(mutex_state_);
+     980             : 
+     981       11410 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+     982             : 
+     983       11410 :     if (current_vertical_speed_ >= used_speed) {
+     984        3091 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     985        3091 :       current_vertical_acceleration_ = 0;
+     986             :     } else {
+     987        8319 :       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       11410 :   if (!elanding_ && !landing_) {
+     997        2464 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+     998             : 
+     999             :       {
+    1000          11 :         std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002          11 :         current_vertical_acceleration_ = 0;
+    1003             :       }
+    1004             : 
+    1005          11 :       changeStateVertical(DECELERATING_STATE);
+    1006             :     }
+    1007             :   }
+    1008       11410 : }
+    1009             : 
+    1010             : //}
+    1011             : 
+    1012             : /* //{ decelerateVertical() */
+    1013             : 
+    1014        2464 : void LandoffTracker::decelerateVertical(void) {
+    1015             : 
+    1016             :   double used_acceleration;
+    1017             : 
+    1018        2464 :   if (taking_off_) {
+    1019             : 
+    1020        2464 :     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        4928 :     std::scoped_lock lock(mutex_state_);
+    1039             : 
+    1040        2464 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1041             : 
+    1042        2464 :     if (current_vertical_speed_ < 0) {
+    1043          11 :       current_vertical_speed_ = 0;
+    1044             :     } else {
+    1045        2453 :       current_vertical_acceleration_ = -used_acceleration;
+    1046             :     }
+    1047             :   }
+    1048             : 
+    1049        2464 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1050             : 
+    1051        2464 :   if (current_vertical_speed == 0) {
+    1052             : 
+    1053             :     {
+    1054          11 :       std::scoped_lock lock(mutex_state_);
+    1055             : 
+    1056          11 :       current_vertical_acceleration_ = 0;
+    1057             :     }
+    1058             : 
+    1059          11 :     changeStateVertical(STOPPING_STATE);
+    1060             :   }
+    1061        2464 : }
+    1062             : 
+    1063             : //}
+    1064             : 
+    1065             : /* //{ stopHorizontal() */
+    1066             : 
+    1067       13874 : void LandoffTracker::stopHorizontal(void) {
+    1068             : 
+    1069             :   {
+    1070       13874 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1071             : 
+    1072       13874 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1073       13874 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1074             : 
+    1075       13874 :     double dist_x = new_state_x - state_x_;
+    1076       13874 :     double dist_y = new_state_y - state_y_;
+    1077             : 
+    1078       13874 :     double dt = 1.0 / _main_timer_rate_;
+    1079             : 
+    1080       13874 :     if (std::abs(dist_x / dt) > 1.0) {
+    1081           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1082             :     }
+    1083             : 
+    1084       13874 :     if (std::abs(dist_y / dt) > 1.0) {
+    1085           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1086             :     }
+    1087             : 
+    1088       13874 :     state_x_ += dist_x;
+    1089       13874 :     state_y_ += dist_y;
+    1090             : 
+    1091       13874 :     current_horizontal_acceleration_ = 0;
+    1092             :   }
+    1093       13874 : }
+    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       15379 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1127             : 
+    1128       15379 :   std::scoped_lock lock(mutex_main_timer_);
+    1129             : 
+    1130       15379 :   if (!is_active_) {
+    1131           1 :     return;
+    1132             :   }
+    1133             : 
+    1134             :   // copy member variables
+    1135       30756 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1136       15378 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1137       15378 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1138       15378 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1139       30756 :   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       15378 :   uav_x = uav_state.pose.position.x;
+    1143       15378 :   uav_y = uav_state.pose.position.y;
+    1144       15378 :   uav_z = uav_state.pose.position.z;
+    1145             : 
+    1146       46134 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1147       46134 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1148             : 
+    1149       15378 :   bool takeoff_saturated = false;
+    1150             : 
+    1151       15378 :   if (taking_off_) {
+    1152             : 
+    1153             :     // calculate the vector
+    1154        5142 :     double err_x      = uav_x - state_x;
+    1155        5142 :     double err_y      = uav_y - state_y;
+    1156        5142 :     double err_z      = uav_z - state_z;
+    1157        5142 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1158             : 
+    1159        5142 :     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        5142 :     if (last_control_output.diagnostics.ramping_up) {
+    1181             : 
+    1182         214 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1183         214 :       takeoff_saturated = true;
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187       15378 :   if (!takeoff_saturated) {
+    1188             : 
+    1189       15164 :     switch (current_state_horizontal_) {
+    1190             : 
+    1191         189 :       case STOP_MOTION_STATE: {
+    1192             : 
+    1193         189 :         stopHorizontalMotion();
+    1194         189 :         break;
+    1195             :       }
+    1196             : 
+    1197       13874 :       case STOPPING_STATE: {
+    1198             : 
+    1199       13874 :         stopHorizontal();
+    1200       13874 :         break;
+    1201             :       }
+    1202             : 
+    1203        1101 :       default: {
+    1204             : 
+    1205        1101 :         break;
+    1206             :       }
+    1207             :     }
+    1208             : 
+    1209       15164 :     switch (current_state_vertical_) {
+    1210             : 
+    1211         189 :       case STOP_MOTION_STATE: {
+    1212             : 
+    1213         189 :         stopVerticalMotion();
+    1214         189 :         break;
+    1215             :       }
+    1216             : 
+    1217       11410 :       case ACCELERATING_STATE: {
+    1218             : 
+    1219       11410 :         accelerateVertical();
+    1220       11410 :         break;
+    1221             :       }
+    1222             : 
+    1223        2464 :       case DECELERATING_STATE: {
+    1224             : 
+    1225        2464 :         decelerateVertical();
+    1226        2464 :         break;
+    1227             :       }
+    1228             : 
+    1229           0 :       case STOPPING_STATE: {
+    1230             : 
+    1231           0 :         stopVertical();
+    1232           0 :         break;
+    1233             :       }
+    1234             : 
+    1235        1101 :       default: {
+    1236             : 
+    1237        1101 :         break;
+    1238             :       }
+    1239             :     }
+    1240             :   }
+    1241             : 
+    1242       15378 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1243         200 :     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          33 :       if (have_goal_) {
+    1250             : 
+    1251          20 :         changeStateVertical(ACCELERATING_STATE);
+    1252          20 :         changeStateHorizontal(STOPPING_STATE);
+    1253             : 
+    1254             :       } else {
+    1255             : 
+    1256          13 :         changeState(STOPPING_STATE);
+    1257             : 
+    1258             :         {
+    1259          13 :           std::scoped_lock lock(mutex_state_);
+    1260             : 
+    1261          13 :           current_horizontal_speed_ = 0;
+    1262          13 :           current_vertical_speed_   = 0;
+    1263             :         }
+    1264             :       }
+    1265             :     }
+    1266             :   }
+    1267             : 
+    1268       15378 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1269             : 
+    1270          24 :     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          24 :     } 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          24 :         std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          24 :         if (!taking_off_) {
+    1285          13 :           state_x_ = goal_x;
+    1286          13 :           state_y_ = goal_y;
+    1287          13 :           state_z_ = goal_z;
+    1288             :         }
+    1289             : 
+    1290          24 :         current_horizontal_speed_ = 0;
+    1291          24 :         current_vertical_speed_   = 0;
+    1292             :       }
+    1293             : 
+    1294          24 :       changeState(HOVER_STATE);
+    1295             : 
+    1296          24 :       have_goal_ = false;
+    1297             :     }
+    1298             :   }
+    1299             : 
+    1300       15378 :   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       15378 :   if (!takeoff_saturated) {
+    1318             :     {
+    1319       15164 :       std::scoped_lock lock(mutex_state_);
+    1320             : 
+    1321       15164 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1322       15164 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1323       15164 :       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       30756 :     std::scoped_lock lock(mutex_state_);
+    1334             : 
+    1335             :     double current_heading_rate;
+    1336             : 
+    1337       15378 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1338           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1339             :     else
+    1340       15378 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1341             : 
+    1342       15378 :     if (current_heading_rate > _heading_rate_) {
+    1343           0 :       current_heading_rate = _heading_rate_;
+    1344       15378 :     } 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       15378 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1350             : 
+    1351       15378 :     if (state_heading_ > M_PI) {
+    1352           0 :       state_heading_ -= 2 * M_PI;
+    1353       15378 :     } else if (state_heading_ < -M_PI) {
+    1354           0 :       state_heading_ += 2 * M_PI;
+    1355             :     }
+    1356             : 
+    1357       15378 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1358       15378 :       state_heading_ = goal_heading_;
+    1359             :     }
+    1360             :   }
+    1361             : 
+    1362             :   // --------------------------------------------------------------
+    1363             :   // |                      landing setpoint                      |
+    1364             :   // --------------------------------------------------------------
+    1365             : 
+    1366       15378 :   if (landing_) {
+    1367             :     {
+    1368        9054 :       std::scoped_lock lock(mutex_goal_);
+    1369             : 
+    1370        9054 :       goal_z_ = uav_z + _landing_reference_;
+    1371             :     }
+    1372             :   }
+    1373             : }
+    1374             : 
+    1375             : //}
+    1376             : 
+    1377             : // | ------------------------ callbacks ----------------------- |
+    1378             : 
+    1379             : /* //{ callbackTakeoff() */
+    1380             : 
+    1381          11 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1382             : 
+    1383          22 :   std::stringstream ss;
+    1384             : 
+    1385             :   // copy member variables
+    1386          22 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1387             : 
+    1388          11 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1389             : 
+    1390             :   double uav_x, uav_y, uav_z;
+    1391          11 :   uav_x = uav_state.pose.position.x;
+    1392          11 :   uav_y = uav_state.pose.position.y;
+    1393          11 :   uav_z = uav_state.pose.position.z;
+    1394             : 
+    1395          11 :   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          11 :   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          11 :   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          22 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1422             : 
+    1423          11 :     state_x_ = uav_x;
+    1424          11 :     goal_x_  = uav_x;
+    1425             : 
+    1426          11 :     state_y_ = uav_y;
+    1427          11 :     goal_y_  = uav_y;
+    1428             : 
+    1429          11 :     state_z_ = uav_z;
+    1430          11 :     goal_z_  = uav_z + req.goal;
+    1431             : 
+    1432          11 :     state_heading_ = uav_heading;
+    1433          11 :     goal_heading_  = uav_heading;
+    1434             : 
+    1435          11 :     speed_x_                = 0;
+    1436          11 :     speed_y_                = 0;
+    1437          11 :     current_vertical_speed_ = 0;
+    1438             : 
+    1439          11 :     have_goal_ = true;
+    1440             :   }
+    1441             : 
+    1442          11 :   ROS_INFO("[LandoffTracker]: taking off");
+    1443             : 
+    1444          11 :   taking_off_ = true;
+    1445          11 :   landing_    = false;
+    1446          11 :   elanding_   = false;
+    1447             : 
+    1448          11 :   res.success = true;
+    1449          11 :   res.message = "taking off";
+    1450             : 
+    1451          11 :   changeState(STOP_MOTION_STATE);
+    1452             : 
+    1453          11 :   return true;
+    1454             : }
+    1455             : 
+    1456             : //}
+    1457             : 
+    1458             : /* //{ callbackLand() */
+    1459             : 
+    1460           4 : bool LandoffTracker::callbackLand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1461             : 
+    1462           8 :   std::scoped_lock lock(mutex_main_timer_);
+    1463             : 
+    1464           8 :   std::stringstream ss;
+    1465             : 
+    1466             :   // copy member variables
+    1467           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1468             : 
+    1469           4 :   if (!is_active_) {
+    1470           0 :     ss << "can not land, the tracker is not active";
+    1471           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1472           0 :     res.success = false;
+    1473           0 :     res.message = ss.str();
+    1474           0 :     return true;
+    1475             :   }
+    1476             : 
+    1477             :   {
+    1478           4 :     std::scoped_lock lock(mutex_goal_);
+    1479             : 
+    1480           4 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1481             :   }
+    1482             : 
+    1483           4 :   ROS_INFO("[LandoffTracker]: landing");
+    1484             : 
+    1485           4 :   landing_    = true;
+    1486           4 :   elanding_   = false;
+    1487           4 :   taking_off_ = false;
+    1488           4 :   have_goal_  = true;
+    1489             : 
+    1490           4 :   res.success = true;
+    1491           4 :   res.message = "landing";
+    1492             : 
+    1493           4 :   changeState(STOP_MOTION_STATE);
+    1494             : 
+    1495           4 :   return true;
+    1496             : }
+    1497             : 
+    1498             : //}
+    1499             : 
+    1500             : /* //{ callbackELand() */
+    1501             : 
+    1502           5 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1503             : 
+    1504          10 :   std::scoped_lock lock(mutex_main_timer_);
+    1505             : 
+    1506          10 :   std::stringstream ss;
+    1507             : 
+    1508             :   // copy member variables
+    1509          10 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1510             : 
+    1511           5 :   if (!is_active_) {
+    1512             : 
+    1513           0 :     ss << "can not eland, the tracker is not active";
+    1514           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[LandoffTracker]: " << ss.str());
+    1515           0 :     res.success = false;
+    1516           0 :     res.message = ss.str();
+    1517           0 :     taking_off_ = false;
+    1518           0 :     landing_    = false;
+    1519           0 :     elanding_   = false;
+    1520           0 :     changeState(LANDED_STATE);
+    1521           0 :     return true;
+    1522             :   }
+    1523             : 
+    1524             :   {
+    1525           5 :     std::scoped_lock lock(mutex_goal_);
+    1526             : 
+    1527           5 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1528             :   }
+    1529             : 
+    1530           5 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1531             : 
+    1532           5 :   landing_    = true;
+    1533           5 :   elanding_   = true;
+    1534           5 :   taking_off_ = false;
+    1535           5 :   have_goal_  = true;
+    1536             : 
+    1537           5 :   res.success = true;
+    1538           5 :   res.message = "elanding";
+    1539             : 
+    1540           5 :   changeState(STOP_MOTION_STATE);
+    1541             : 
+    1542           5 :   return true;
+    1543             : }
+    1544             : 
+    1545             : //}
+    1546             : 
+    1547             : }  // namespace landoff_tracker
+    1548             : 
+    1549             : }  // namespace mrs_uav_trackers
+    1550             : 
+    1551             : #include <pluginlib/class_list_macros.h>
+    1552          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..a184a445d4 --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.overview.html @@ -0,0 +1,408 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.png b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8501c8e3546737d7384e8b29f163906460cb0019 GIT binary patch literal 4774 zcmV;X5?SquP)qz4wE;;L<#dr}lsEooyb`PJ|O zK}EC|%`seeW%{9+p2{PZ4HQ;APeq-y9n-Jw0X<{Yr!-!=*Nm#pQXf$Dq%~64-D3u^ z^vXcRG=pM)t{-guV{0ng)UpjSdz?st{p30KCHF9v!j6S$>O|9!bi>;y`~=?#+qhVR z=80Z4%oxZOj&F-2H^mOl0>6+gd}bV_2~|%xR{>SWGC`39HW(Lz!}$?5bXs87fTmHk z2mOY42QQ1jMXWs}MN7ePGbgIHVB{rdfIN4a)y6sIog*IgmIa)+zzfL$&Zdp6J>wc@ z$Vv!u>jxFga~GRRasgEw0rOuMHpf@S0nUQym|JzGm`*7JXMXSLs;7n5bBZdOdrWQN zcL5+z7E$UVNbIZ6a8_0y$m?+5Erm7Q->g?UC*Y0_Yw^r#d$ha>OZ91v9vj#_f&U83Jc6aA5=I z1W>?C7?Mg5jADSPijm%S=s@6EdX^bL-7O5@oB>w0G22QuMOJ7p0kmA@KM7Q zxAd}B;kq!8O+y=t(Hi$h&r;)R1v3-OTg?J@ibZe6A!hwoLY%k>#U>8e)0_am$OhDk z(FVV}WmG($+Y^`FzS!WO9&1pZiNdcMl2~1>VLj`LfV%_k1dv$_#SO6@)00trw~Qju z*v7P26#$tO*~JW+d2wcbGV}XXH)wzyLsdtg*Y-?E$19VB zBHgqt1ioHhs2taS$JhD(r^`zh4SfIgeC5mIRYF*xxC<8_V4C3+($t07A^-~dT3a0R zbB~Fw(!Nd>L|p*;fgMB383dzYy?qYL+cz)YTo@`ktsO z_ZvR$@5Vx-k86yxj`!yFtyaJMKm(AddJNE8fYitkm}XmbKDk;7j7TX}Q>d;v2?{aZj&x{sRV#gaI0&Fn4{*lC(^&ka?xxq%EQKS0d_Ekkd1Ys2NH6M|o0F zK)Rv}^?1+vDJ?)+(FXLjb9?rLYP+f}13aLnm=C%DAcLZjP!`B6FpN_Gaw&e$vnRY1 z@0z$5Lo7w;!*y`jRdb6SLu~_Y=9~3Z`#zy4IpCclaYHlMx@^1Hx9P#{jT8&$w6F-Y zO1meOH`)+O1DOR-9I|Pb3re#UmtFNh#qD-U4G2iNz*Hg}#*9fZH|<{!W{^t|Jo_XguQZT|mng|Gt?soAdc4< zw!#4M6lj1uv^JHiVZ}&LvHsPPnM#hq+E7y#c&owHZG2IQUc?e@uT6^0?F~E7^)|hj z5@&}&Z6NUr>V21|E2~7o|)plht3FB0nIa zc)8jcsCc0AuTen%hZEZE%AUE%ylH+2Xs}sDlNkHpG9vh#fa<=!(%s8PZN~sL_N&ia z=zWR<{yyBRvyS3vPMxH4_W>}^ca8IbOZeHHwo}Us;qP!XQ(efGBlqae5RddAsNmO! z7EfMt&T2WDZ>ND=il5Bp=4$whP@gugamP?@q7dVhm7(NP8NP4dnLq9TLgmJcE@7%O6ijL3cRl`}2X~vG3;a zDF#2_a2jDLPN+4GYqoe4MJ?##ASm?!>Ryk5gVu$obD~o7#~@D%mK5Fp+c$HieYb+| z#8Gmj#B)PAb_l!v$+3?h|K!+b5Awg4W2bcB#FZV zJ#%KiaweVOQ0O-lcn^v9H}*M`04S`ot2=*bvUMFT=TD;i0VxM@6j{R;6_&$H~Wu0)?5i29$Bm# z9%J1Dd+zVcmgU)FxunkmglbD(j~4=U%V;3)&>2k;z4a7%T(i6I9-|PBxgN10dd$R= z{QbrZ9x~{L`RXx~8Zx2cCWj2A;Yncin88B^Qe^P_H)cv@z?hNVQtfm+>TUh8JK6|K z4BVccViqX7N*^XGWxK`#J9LT>5Bsz zJ<4?p@@H%Y|EYkyAhMumfFVuYc(XxfzS3tu1k8M?2zz&Cc7L9?(1qf@E&|yU3C%4y zakyiutL}fSl4K^wb!iyNpL z;gb+h`5}vnj9D3TP&-_)heiEeCh)}{Uz^R1X6lYJ`;pRSd`SeX7hF5OhOuVf!0>+Q z9RRPEL^qbZ&bswVGklO){Yo?C4}>etZi+_(J`5; z0B3j6ctr8~`)n4P*PGdZXZxSAu&#|@_!;N~7lF?8C^(xydp6*#Z1y1@@K!foxoYP= zYlt_zL@pOgb1xuE&$u1^AT*rj<}a4=gJUV&@B_CDiz+<(1q;+&cE;(>x`jON(LA54 zOixCU=i~}bHg$LHQ*9)kO4d87z~<$XYlYwJa&d$ExkvQ&h}j1edCUySEZ7j&VKILd z-$rJ?o|3mL)Wp?CeySUj8G(DvWro``gp)$Ik-H?lne)-@fC!Nsl5jM6TsJ+5#r&$Q zdi4wJYrVar7nML^)o8Vmydawg6jl8u1ng4+$fxM9bXQ~(vx0UNP_*~`=8W!a7`vPD zliT<-E7wxWAREZ?v5#6HIbmfhv_$CA# z`vj0r5!@MZCT~3dq@{S-yQ~U#5!7D(qF8Bs5;Xfz6%+URh8#_F!lx}qv*Xp}q08ka zvS(wSeLBTnOi^;@K4WSa^q9=f&$YKe`v;tH>R$PU&rbXRUvT%Z+yA2#9fwMw3L=)cO*!Y+(60k1+QUMo(haZdKaP>&|@W$;fLOU(-YyW z=f-Jq?`^ih3wTIjIlymG)epDBzSup;8C)c)HwPb}k^b>w;JQ61a1`?GaI+Gin7>K; zrJ>jhKg_G+u&?c`v|yhD?8TVh7mDjljN2S``>iv%NfaKHNDZ&rXd#OE?CPKTcz;4* z_9BhXMuxYPM5@K}3_Zi<=TyMCE8WWKZRtG4#6%DQN9up~{mg2e0zZmIn?<`~E%l zai}}<#JL41JBM%!w>>&KHQTwp`hkM1c$aT_ySbKA&M@)g#dNo$bx4Ckt! z2zWh2F$v^Y05;PDaO^_oXh)~>CC>)LiM#I~*5=^%f=s}0^Fy5`Qjh4-Kh+EB*#+0< zXB-izN$~6S*sY+ANs@euD>%HTgK@jJ;o$v!GNr8&78l}9tG*q`H2};}xbm(ei&yL! z;Mhd+K1(TQ7YYmU9}yS=b}=}lq8ub<8(%~s0C~l+)TA7C}JEhsSu%+0EbGv>A-0o9FrR}h+*$QXZ z%{f3}TdMqU%uNKOnIYS_G%^Aihv-$OymDUQ7c1uE>mu*~B;fYoMQl=ZP;VsE@ETIZ1k zIXf+F{NxV%*tAA_vKxHRcJ*YR%trbct5c7vvr_KMouaM-QU)c=q%YC&<-bkvW9GzN zxk{&f+_nzZo%UTYbK%e)dZHkBx~}9I-N0MROp7inzBp<2Kb?wwIGG&D*ysN(M;Clf zIcSogbSUt{JhA(<|NYMbZ&??T?x8UAsu)zXz?}vBl~wDRt5?;2D$Jx*o1QHLMOE9k z$z$wdpegBt@pAFRVT1@c;<_!!jUHQ#CrON4SPw+g2Ok)~odX=xMzcj$%>V2Ryxl9RCZ!5a6UeaM4QreyQbC42U$P3O$CnUV! zBf~V`G9fizZlFmpjXi6g@e<(xIaM=D<>N*>R-LtY6%>Er%+>4UaB}9tkr>I2Ph=?Q ze*Bxc3P3JJIK^dRSD&Ba_!RZ6&J5tm1-eoI{!POlorcM&Wau=^pW-;c&ridBjtz#U zt_#IqGY!uZ+AZrqKcLuQSqf4QmMqnHVxy + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/line_tracker + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
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67.9%67.9%
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
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line_tracker.cpp +
67.9%67.9%
+ 		67.9 %322 / 47463.3 %19 / 30
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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line_tracker.cpp +
67.9%67.9%
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
line_tracker.cpp +
67.9%67.9%
+ 		67.9 %322 / 47463.3 %19 / 30
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..e888981b7b --- /dev/null +++ b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.func-sort-c.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/line_tracker/line_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)4
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()28
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()28
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::getStatus()180
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()201
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()849
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1687
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2305
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions: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)4
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()849
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()201
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()28
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()28
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1687
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::getStatus()180
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2305
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-01-14 11:12:21Functions: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        1687 : 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        5061 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        5061 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        1687 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        1687 :     uav_state_ = uav_state;
+     525        1687 :     uav_x_     = uav_state_.pose.position.x;
+     526        1687 :     uav_y_     = uav_state_.pose.position.y;
+     527        1687 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        1687 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        1687 :   if (!is_active_) {
+     534          99 :     return {};
+     535             :   }
+     536             : 
+     537        3176 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        1588 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        1588 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        1588 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        1588 :     tracker_cmd.position.x = state_x_;
+     546        1588 :     tracker_cmd.position.y = state_y_;
+     547        1588 :     tracker_cmd.position.z = state_z_;
+     548        1588 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        1588 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        1588 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        1588 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        1588 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        1588 :     tracker_cmd.acceleration.x = 0;
+     556        1588 :     tracker_cmd.acceleration.y = 0;
+     557        1588 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        1588 :     tracker_cmd.use_position_vertical   = 1;
+     560        1588 :     tracker_cmd.use_position_horizontal = 1;
+     561        1588 :     tracker_cmd.use_heading             = 1;
+     562        1588 :     tracker_cmd.use_heading_rate        = 1;
+     563        1588 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        1588 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        1588 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        1588 :   return {tracker_cmd};
+     569             : }
+     570             : 
+     571             : //}
+     572             : 
+     573             : /* //{ getStatus() */
+     574             : 
+     575         180 : const mrs_msgs::TrackerStatus LineTracker::getStatus() {
+     576             : 
+     577         180 :   mrs_msgs::TrackerStatus tracker_status;
+     578             : 
+     579         180 :   tracker_status.active            = is_active_;
+     580         180 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     581             : 
+     582         180 :   bool idling = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     583             : 
+     584         180 :   tracker_status.have_goal = !idling;
+     585             : 
+     586         180 :   tracker_status.tracking_trajectory = false;
+     587             : 
+     588         180 :   return tracker_status;
+     589             : }
+     590             : 
+     591             : //}
+     592             : 
+     593             : /* //{ enableCallbacks() */
+     594             : 
+     595           0 : const std_srvs::SetBoolResponse::ConstPtr LineTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     596             : 
+     597           0 :   std_srvs::SetBoolResponse res;
+     598           0 :   std::stringstream         ss;
+     599             : 
+     600           0 :   if (cmd->data != callbacks_enabled_) {
+     601             : 
+     602           0 :     callbacks_enabled_ = cmd->data;
+     603             : 
+     604           0 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     605           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     606             : 
+     607             :   } else {
+     608             : 
+     609           0 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     610           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LineTracker]: " << ss.str());
+     611             :   }
+     612             : 
+     613           0 :   res.message = ss.str();
+     614           0 :   res.success = true;
+     615             : 
+     616           0 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+     617             : }
+     618             : 
+     619             : //}
+     620             : 
+     621             : /* switchOdometrySource() //{ */
+     622             : 
+     623           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::switchOdometrySource(const mrs_msgs::UavState &new_uav_state) {
+     624             : 
+     625           0 :   std::scoped_lock lock(mutex_goal_, mutex_state_);
+     626             : 
+     627           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     628             : 
+     629           0 :   double old_heading  = 0;
+     630           0 :   double new_heading  = 0;
+     631           0 :   bool   got_headings = true;
+     632             : 
+     633             :   try {
+     634           0 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     635             :   }
+     636           0 :   catch (...) {
+     637           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+     638           0 :     got_headings = false;
+     639             :   }
+     640             : 
+     641             :   try {
+     642           0 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+     643             :   }
+     644           0 :   catch (...) {
+     645           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+     646           0 :     got_headings = false;
+     647             :   }
+     648             : 
+     649           0 :   std_srvs::TriggerResponse res;
+     650             : 
+     651           0 :   if (!got_headings) {
+     652           0 :     res.message = "could not calculate the heading difference";
+     653           0 :     res.success = false;
+     654             : 
+     655           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     656             :   }
+     657             : 
+     658             :   // | --------- recalculate the goal to new coordinates -------- |
+     659             : 
+     660           0 :   double dx       = new_uav_state.pose.position.x - uav_state.pose.position.x;
+     661           0 :   double dy       = new_uav_state.pose.position.y - uav_state.pose.position.y;
+     662           0 :   double dz       = new_uav_state.pose.position.z - uav_state.pose.position.z;
+     663           0 :   double dheading = new_heading - old_heading;
+     664             : 
+     665           0 :   goal_x_ += dx;
+     666           0 :   goal_y_ += dy;
+     667           0 :   goal_z_ += dz;
+     668           0 :   goal_heading_ += dheading;
+     669             : 
+     670             :   // | -------------------- update the state -------------------- |
+     671             : 
+     672           0 :   state_x_ += dx;
+     673           0 :   state_y_ += dy;
+     674           0 :   state_z_ += dz;
+     675           0 :   state_heading_ += dheading;
+     676             : 
+     677           0 :   current_heading_ = atan2(goal_y_ - state_y_, goal_x_ - state_x_);
+     678             : 
+     679           0 :   res.message = "odometry source switched";
+     680           0 :   res.success = true;
+     681             : 
+     682           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     683             : }
+     684             : 
+     685             : //}
+     686             : 
+     687             : /* //{ hover() */
+     688             : 
+     689           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     690             : 
+     691           0 :   std_srvs::TriggerResponse res;
+     692             : 
+     693             :   // --------------------------------------------------------------
+     694             :   // |          horizontal initial conditions prediction          |
+     695             :   // --------------------------------------------------------------
+     696             :   {
+     697           0 :     std::scoped_lock lock(mutex_state_, mutex_uav_state_);
+     698             : 
+     699           0 :     current_horizontal_speed_ = sqrt(pow(uav_state_.velocity.linear.x, 2) + pow(uav_state_.velocity.linear.y, 2));
+     700           0 :     current_vertical_speed_   = uav_state_.velocity.linear.z;
+     701           0 :     current_heading_          = atan2(uav_state_.velocity.linear.y, uav_state_.velocity.linear.x);
+     702             :   }
+     703             : 
+     704             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     705             : 
+     706             :   {
+     707           0 :     std::scoped_lock lock(mutex_state_);
+     708             : 
+     709           0 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     710           0 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     711           0 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     712           0 :     stop_dist_y          = sin(current_heading_) * horizontal_stop_dist;
+     713             :   }
+     714             : 
+     715             :   // --------------------------------------------------------------
+     716             :   // |           vertical initial conditions prediction           |
+     717             :   // --------------------------------------------------------------
+     718             : 
+     719             :   double vertical_t_stop, vertical_stop_dist;
+     720             : 
+     721             :   {
+     722           0 :     std::scoped_lock lock(mutex_state_);
+     723             : 
+     724           0 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     725           0 :     vertical_stop_dist = current_vertical_direction_ * (vertical_t_stop * current_vertical_speed_) / 2.0;
+     726             :   }
+     727             : 
+     728             :   // --------------------------------------------------------------
+     729             :   // |                        set the goal                        |
+     730             :   // --------------------------------------------------------------
+     731             : 
+     732             :   {
+     733           0 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     734             : 
+     735           0 :     goal_x_ = state_x_ + stop_dist_x;
+     736           0 :     goal_y_ = state_y_ + stop_dist_y;
+     737           0 :     goal_z_ = state_z_ + vertical_stop_dist;
+     738             :   }
+     739             : 
+     740           0 :   res.message = "hover initiated";
+     741           0 :   res.success = true;
+     742             : 
+     743           0 :   changeState(STOP_MOTION_STATE);
+     744             : 
+     745           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+     746             : }
+     747             : 
+     748             : //}
+     749             : 
+     750             : /* //{ startTrajectoryTracking() */
+     751             : 
+     752           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     753           0 :   return std_srvs::TriggerResponse::Ptr();
+     754             : }
+     755             : 
+     756             : //}
+     757             : 
+     758             : /* //{ stopTrajectoryTracking() */
+     759             : 
+     760           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     761           0 :   return std_srvs::TriggerResponse::Ptr();
+     762             : }
+     763             : 
+     764             : //}
+     765             : 
+     766             : /* //{ resumeTrajectoryTracking() */
+     767             : 
+     768           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     769           0 :   return std_srvs::TriggerResponse::Ptr();
+     770             : }
+     771             : 
+     772             : //}
+     773             : 
+     774             : /* //{ gotoTrajectoryStart() */
+     775             : 
+     776           0 : const std_srvs::TriggerResponse::ConstPtr LineTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     777           0 :   return std_srvs::TriggerResponse::Ptr();
+     778             : }
+     779             : 
+     780             : //}
+     781             : 
+     782             : /* //{ setConstraints() */
+     783             : 
+     784           3 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LineTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     785             : 
+     786           6 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     787             : 
+     788             :   // this is the place to copy the constraints
+     789             :   {
+     790           3 :     std::scoped_lock lock(mutex_constraints_);
+     791             : 
+     792           3 :     _horizontal_speed_        = cmd->constraints.horizontal_speed;
+     793           3 :     _horizontal_acceleration_ = cmd->constraints.horizontal_acceleration;
+     794             : 
+     795           3 :     _vertical_speed_        = cmd->constraints.vertical_ascending_speed;
+     796           3 :     _vertical_acceleration_ = cmd->constraints.vertical_ascending_acceleration;
+     797             : 
+     798           3 :     _heading_rate_ = cmd->constraints.heading_speed;
+     799             :   }
+     800             : 
+     801           3 :   res.success = true;
+     802           3 :   res.message = "constraints updated";
+     803             : 
+     804           6 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     805             : }
+     806             : 
+     807             : //}
+     808             : 
+     809             : /* //{ setReference() */
+     810             : 
+     811           1 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LineTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     812             : 
+     813           2 :   mrs_msgs::ReferenceSrvResponse res;
+     814             : 
+     815           1 :   auto state_heading = mrs_lib::get_mutexed(mutex_state_, state_heading_);
+     816             : 
+     817             :   {
+     818           1 :     std::scoped_lock lock(mutex_goal_);
+     819             : 
+     820           1 :     goal_x_       = cmd->reference.position.x;
+     821           1 :     goal_y_       = cmd->reference.position.y;
+     822           1 :     goal_z_       = cmd->reference.position.z;
+     823           1 :     goal_heading_ = radians::unwrap(cmd->reference.heading, state_heading);
+     824             : 
+     825           1 :     ROS_INFO("[LineTracker]: received new setpoint %.2f, %.2f, %.2f, %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     826             : 
+     827           1 :     have_goal_ = true;
+     828             :   }
+     829             : 
+     830           1 :   changeState(STOP_MOTION_STATE);
+     831             : 
+     832           1 :   res.success = true;
+     833           1 :   res.message = "reference set";
+     834             : 
+     835           2 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+     836             : }
+     837             : 
+     838             : //}
+     839             : 
+     840             : /* //{ setVelocityReference() */
+     841             : 
+     842           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LineTracker::setVelocityReference([
+     843             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     844           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     845             : }
+     846             : 
+     847             : //}
+     848             : 
+     849             : /* //{ setTrajectoryReference() */
+     850             : 
+     851           0 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LineTracker::setTrajectoryReference([
+     852             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     853           0 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     854             : }
+     855             : 
+     856             : //}
+     857             : 
+     858             : // | ----------------- state machine routines ----------------- |
+     859             : 
+     860             : /* //{ changeStateHorizontal() */
+     861             : 
+     862           6 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     863             : 
+     864           6 :   previous_state_horizontal_ = current_state_horizontal_;
+     865           6 :   current_state_horizontal_  = new_state;
+     866             : 
+     867             :   // just for ROS_INFO
+     868           6 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     869           6 : }
+     870             : 
+     871             : //}
+     872             : 
+     873             : /* //{ changeStateVertical() */
+     874             : 
+     875           6 : void LineTracker::changeStateVertical(States_t new_state) {
+     876             : 
+     877           6 :   previous_state_vertical_ = current_state_vertical_;
+     878           6 :   current_state_vertical_  = new_state;
+     879             : 
+     880             :   // just for ROS_INFO
+     881           6 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     882           6 : }
+     883             : 
+     884             : //}
+     885             : 
+     886             : /* //{ changeState() */
+     887             : 
+     888           4 : void LineTracker::changeState(States_t new_state) {
+     889             : 
+     890           4 :   changeStateVertical(new_state);
+     891           4 :   changeStateHorizontal(new_state);
+     892           4 : }
+     893             : 
+     894             : //}
+     895             : 
+     896             : // | --------------------- motion routines -------------------- |
+     897             : 
+     898             : /* //{ stopHorizontalMotion() */
+     899             : 
+     900          28 : void LineTracker::stopHorizontalMotion(void) {
+     901             : 
+     902             :   {
+     903          56 :     std::scoped_lock lock(mutex_state_);
+     904             : 
+     905          28 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     906             : 
+     907          28 :     if (current_horizontal_speed_ < 0) {
+     908          28 :       current_horizontal_speed_        = 0;
+     909          28 :       current_horizontal_acceleration_ = 0;
+     910             :     } else {
+     911           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     912             :     }
+     913             :   }
+     914          28 : }
+     915             : 
+     916             : //}
+     917             : 
+     918             : /* //{ stopVerticalMotion() */
+     919             : 
+     920          28 : void LineTracker::stopVerticalMotion(void) {
+     921             : 
+     922             :   {
+     923          56 :     std::scoped_lock lock(mutex_state_);
+     924             : 
+     925          28 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     926             : 
+     927          28 :     if (current_vertical_speed_ < 0) {
+     928           1 :       current_vertical_speed_        = 0;
+     929           1 :       current_vertical_acceleration_ = 0;
+     930             :     } else {
+     931          27 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     932             :     }
+     933             :   }
+     934          28 : }
+     935             : 
+     936             : //}
+     937             : 
+     938             : /* //{ accelerateHorizontal() */
+     939             : 
+     940        1004 : void LineTracker::accelerateHorizontal(void) {
+     941             : 
+     942             :   // copy member variables
+     943        1004 :   auto [goal_x, goal_y]                             = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_);
+     944        1004 :   auto [state_x, state_y, current_horizontal_speed] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, current_horizontal_speed_);
+     945             : 
+     946             :   {
+     947        1004 :     std::scoped_lock lock(mutex_state_);
+     948             : 
+     949        1004 :     current_heading_ = atan2(goal_y - state_y, goal_x - state_x);
+     950             :   }
+     951             : 
+     952        1004 :   auto current_heading = mrs_lib::get_mutexed(mutex_state_, current_heading_);
+     953             : 
+     954             :   double horizontal_t_stop, horizontal_stop_dist, stop_dist_x, stop_dist_y;
+     955             : 
+     956        1004 :   horizontal_t_stop    = current_horizontal_speed / _horizontal_acceleration_;
+     957        1004 :   horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed) / 2.0;
+     958        1004 :   stop_dist_x          = cos(current_heading) * horizontal_stop_dist;
+     959        1004 :   stop_dist_y          = sin(current_heading) * horizontal_stop_dist;
+     960             : 
+     961             :   {
+     962        2008 :     std::scoped_lock lock(mutex_state_);
+     963             : 
+     964        1004 :     current_horizontal_speed_ += _horizontal_acceleration_ * _tracker_dt_;
+     965             : 
+     966        1004 :     if (current_horizontal_speed_ >= _horizontal_speed_) {
+     967         905 :       current_horizontal_speed_        = _horizontal_speed_;
+     968         905 :       current_horizontal_acceleration_ = 0;
+     969             :     } else {
+     970          99 :       current_horizontal_acceleration_ = _horizontal_acceleration_;
+     971             :     }
+     972             :   }
+     973             : 
+     974        1004 :   if (sqrt(pow(state_x + stop_dist_x - goal_x, 2) + pow(state_y + stop_dist_y - goal_y, 2)) < (2 * (_horizontal_speed_ * _tracker_dt_))) {
+     975             : 
+     976             :     {
+     977           1 :       std::scoped_lock lock(mutex_state_);
+     978             : 
+     979           1 :       current_horizontal_acceleration_ = 0;
+     980             :     }
+     981             : 
+     982           1 :     changeStateHorizontal(DECELERATING_STATE);
+     983             :   }
+     984        1004 : }
+     985             : 
+     986             : //}
+     987             : 
+     988             : /* //{ accelerateVertical() */
+     989             : 
+     990         201 : void LineTracker::accelerateVertical(void) {
+     991             : 
+     992         201 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     993         201 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     994             : 
+     995             :   // set the right heading
+     996         201 :   double tar_z = goal_z - state_z;
+     997             : 
+     998             :   // set the right vertical direction
+     999             :   {
+    1000         201 :     std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002         201 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1003             :   }
+    1004             : 
+    1005         201 :   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         201 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1009         201 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1010         201 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1011             : 
+    1012             :   {
+    1013         402 :     std::scoped_lock lock(mutex_state_);
+    1014             : 
+    1015         201 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1016             : 
+    1017         201 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1018         102 :       current_vertical_speed_        = _vertical_speed_;
+    1019         102 :       current_vertical_acceleration_ = 0;
+    1020             :     } else {
+    1021          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025         201 :   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         201 : }
+    1036             : 
+    1037             : //}
+    1038             : 
+    1039             : /* //{ decelerateHorizontal() */
+    1040             : 
+    1041         100 : void LineTracker::decelerateHorizontal(void) {
+    1042             : 
+    1043             :   {
+    1044         200 :     std::scoped_lock lock(mutex_state_);
+    1045             : 
+    1046         100 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+    1047             : 
+    1048         100 :     if (current_horizontal_speed_ < 0) {
+    1049           1 :       current_horizontal_speed_ = 0;
+    1050             :     } else {
+    1051          99 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+    1052             :     }
+    1053             :   }
+    1054             : 
+    1055         100 :   auto current_horizontal_speed = mrs_lib::get_mutexed(mutex_state_, current_horizontal_speed_);
+    1056             : 
+    1057         100 :   if (current_horizontal_speed == 0) {
+    1058             : 
+    1059             :     {
+    1060           1 :       std::scoped_lock lock(mutex_state_);
+    1061             : 
+    1062           1 :       current_horizontal_acceleration_ = 0;
+    1063             :     }
+    1064             : 
+    1065           1 :     changeStateHorizontal(STOPPING_STATE);
+    1066             :   }
+    1067         100 : }
+    1068             : 
+    1069             : //}
+    1070             : 
+    1071             : /* //{ decelerateVertical() */
+    1072             : 
+    1073         100 : void LineTracker::decelerateVertical(void) {
+    1074             : 
+    1075             :   {
+    1076         200 :     std::scoped_lock lock(mutex_state_);
+    1077             : 
+    1078         100 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+    1079             : 
+    1080         100 :     if (current_vertical_speed_ < 0) {
+    1081           1 :       current_vertical_speed_ = 0;
+    1082             :     } else {
+    1083          99 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+    1084             :     }
+    1085             :   }
+    1086             : 
+    1087         100 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1088             : 
+    1089         100 :   if (current_vertical_speed == 0) {
+    1090           1 :     current_vertical_acceleration_ = 0;
+    1091           1 :     changeStateVertical(STOPPING_STATE);
+    1092             :   }
+    1093         100 : }
+    1094             : 
+    1095             : //}
+    1096             : 
+    1097             : /* //{ stopHorizontal() */
+    1098             : 
+    1099          46 : void LineTracker::stopHorizontal(void) {
+    1100             : 
+    1101             :   {
+    1102          46 :     std::scoped_lock lock(mutex_state_);
+    1103             : 
+    1104          46 :     state_x_                         = 0.95 * state_x_ + 0.05 * goal_x_;
+    1105          46 :     state_y_                         = 0.95 * state_y_ + 0.05 * goal_y_;
+    1106          46 :     current_horizontal_acceleration_ = 0;
+    1107             :   }
+    1108          46 : }
+    1109             : 
+    1110             : //}
+    1111             : 
+    1112             : /* //{ stopVertical() */
+    1113             : 
+    1114         849 : void LineTracker::stopVertical(void) {
+    1115             : 
+    1116             :   {
+    1117         849 :     std::scoped_lock lock(mutex_state_);
+    1118             : 
+    1119         849 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1120         849 :     current_vertical_acceleration_ = 0;
+    1121             :   }
+    1122         849 : }
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : // | ------------------------- timers ------------------------- |
+    1127             : 
+    1128             : /* //{ mainTimer() */
+    1129             : 
+    1130        2305 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1131             : 
+    1132        2305 :   if (!is_active_) {
+    1133         507 :     return;
+    1134             :   }
+    1135             : 
+    1136        5394 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _tracker_loop_rate_, 0.01, event);
+    1137        5394 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("LineTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1138             : 
+    1139        1798 :   auto [goal_x, goal_y, goal_z]    = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1140        1798 :   auto [state_x, state_y, state_z] = mrs_lib::get_mutexed(mutex_state_, state_x_, state_y_, state_z_);
+    1141             : 
+    1142        1798 :   switch (current_state_horizontal_) {
+    1143             : 
+    1144         620 :     case IDLE_STATE:
+    1145             : 
+    1146         620 :       break;
+    1147             : 
+    1148          28 :     case STOP_MOTION_STATE:
+    1149             : 
+    1150          28 :       stopHorizontalMotion();
+    1151             : 
+    1152          28 :       break;
+    1153             : 
+    1154        1004 :     case ACCELERATING_STATE:
+    1155             : 
+    1156        1004 :       accelerateHorizontal();
+    1157             : 
+    1158        1004 :       break;
+    1159             : 
+    1160         100 :     case DECELERATING_STATE:
+    1161             : 
+    1162         100 :       decelerateHorizontal();
+    1163             : 
+    1164         100 :       break;
+    1165             : 
+    1166          46 :     case STOPPING_STATE:
+    1167             : 
+    1168          46 :       stopHorizontal();
+    1169             : 
+    1170          46 :       break;
+    1171             :   }
+    1172             : 
+    1173        1798 :   switch (current_state_vertical_) {
+    1174             : 
+    1175         620 :     case IDLE_STATE:
+    1176             : 
+    1177         620 :       break;
+    1178             : 
+    1179          28 :     case STOP_MOTION_STATE:
+    1180             : 
+    1181          28 :       stopVerticalMotion();
+    1182             : 
+    1183          28 :       break;
+    1184             : 
+    1185         201 :     case ACCELERATING_STATE:
+    1186             : 
+    1187         201 :       accelerateVertical();
+    1188             : 
+    1189         201 :       break;
+    1190             : 
+    1191         100 :     case DECELERATING_STATE:
+    1192             : 
+    1193         100 :       decelerateVertical();
+    1194             : 
+    1195         100 :       break;
+    1196             : 
+    1197         849 :     case STOPPING_STATE:
+    1198             : 
+    1199         849 :       stopVertical();
+    1200             : 
+    1201         849 :       break;
+    1202             :   }
+    1203             : 
+    1204        1798 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1205          28 :     if (current_vertical_speed_ == 0 && current_horizontal_speed_ == 0) {
+    1206           1 :       if (have_goal_) {
+    1207           1 :         changeState(ACCELERATING_STATE);
+    1208             :       } else {
+    1209           0 :         changeState(STOPPING_STATE);
+    1210             :       }
+    1211             :     }
+    1212             :   }
+    1213             : 
+    1214        1798 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1215          47 :     if (fabs(state_x - goal_x) < 1e-3 && fabs(state_y - goal_y) < 1e-3 && fabs(state_z - goal_z) < 1e-3) {
+    1216             : 
+    1217             :       {
+    1218           1 :         std::scoped_lock lock(mutex_state_);
+    1219             : 
+    1220           1 :         state_x_ = goal_x;
+    1221           1 :         state_y_ = goal_y;
+    1222           1 :         state_z_ = goal_z;
+    1223             :       }
+    1224             : 
+    1225           1 :       changeState(IDLE_STATE);
+    1226             : 
+    1227           1 :       have_goal_ = false;
+    1228             :     }
+    1229             :   }
+    1230             : 
+    1231             :   {
+    1232        1798 :     std::scoped_lock lock(mutex_state_);
+    1233             : 
+    1234        1798 :     state_x_ += cos(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1235        1798 :     state_y_ += sin(current_heading_) * current_horizontal_speed_ * _tracker_dt_;
+    1236        1798 :     state_z_ += current_vertical_direction_ * current_vertical_speed_ * _tracker_dt_;
+    1237             :   }
+    1238             : 
+    1239             :   // --------------------------------------------------------------
+    1240             :   // |                        heading tracking                        |
+    1241             :   // --------------------------------------------------------------
+    1242             : 
+    1243             :   {
+    1244        3596 :     std::scoped_lock lock(mutex_state_);
+    1245             : 
+    1246             :     // compute the desired heading rate
+    1247             :     double current_heading_rate;
+    1248        1798 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1249           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1250             :     else
+    1251        1798 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1252             : 
+    1253        1798 :     if (current_heading_rate > _heading_rate_) {
+    1254          50 :       current_heading_rate = _heading_rate_;
+    1255        1748 :     } 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        1798 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1261             : 
+    1262        1798 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1263        1359 :       state_heading_ = goal_heading_;
+    1264             :     }
+    1265             :   }
+    1266             : }
+    1267             : 
+    1268             : //}
+    1269             : 
+    1270             : }  // namespace line_tracker
+    1271             : 
+    1272             : }  // namespace mrs_uav_trackers
+    1273             : 
+    1274             : #include <pluginlib/class_list_macros.h>
+    1275           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::line_tracker::LineTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.gcov.png b/mrs_uav_trackers/src/line_tracker/line_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..0daa33884f86b1f8c9d5c8db38aec9bcd1856369 GIT binary patch literal 3780 zcmV;#4mQIT0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpoi( zl&+^U`rpwAKEXdo7L_!p9fH;Y6a%XEi&#PiSTQ^i5{|c^qT^Y|5n;ezhZG^uQ3zjV zfwl%JVPcAw0+5CU9$?TvN#KNlwRH?AmKY5zBlwvVW{ls8fP)mcBL%?G)KM<96zv%( z+EhX@QB3vnz)>gl4O->cWPkvz-)Oiw1fs@*kUjvkVvVBKeUgv8mY$9K+uQ`-eK+{- zA>odWXsRo$qbP{$02G(A{myVR*$b1@4SHaXwfE^mlDh@I5ow^f0DU~OPIekyrH@d@ zO{5rCHUy4R;3Ni)wQeKM3o!(vBp1gRDNkkXXx38TFQUl9FffIa7hp5MSirESr?^*5 zQcVn$Q{>ew0&=xSK(R0xVB^j~qw6?@GpU-M5zMc90drU%&agwequ4Q=@wp$u6zr#Y zirs*1RIG@#7}&m!S&~yUbhTuiq!+TTSIS5jPI>}Z&srMqNht<%g|J=A=L*@mtozb& zqvOq%0l1;qVcBH>Qu`l6c{2_!W7epS_xo~3WpTe(`0;H$Xc%*y5Q zW+*cn(2kteE`)}QdnTmgl}SU9uG$g;ACDI(+y4Li$MgN)`N6}K6Ziz5Fy;2hAuLec zg_DbdPp@A-wPzbVC<>sWuTPI-ey$;@)dCe1xq_%GfPbtTuwK*@-{S`!Lc#%{u#SuU zX=_(Z@%>_1(xXx@;L$!gps-x0jzFk zTxr!GJUOVN1xGbrs~ou;+*l#UU7wneS4g4 zHrqc=dyF%F+84C;d`Kyz9Wpz6U4j?5-4x~u>~&2vzCz86=Q|Tai9HDOEX$@GtSM6< z>nH`T8UJ(w_kKJb2^!!jHIoBH`Xg5!wjBfcKHNM%AT?EECv_xvm;>1B_%cHcDuI_d zrOvya6KKaI+(ft>KuPsa5@3JrTl(IHNh%u1>()pPJ)`1iaC>lY` zzoQG`KTDBWUG&vRQoMsni6&H#c@%juCiDK49+LV2b6(H5W{J6a)@KPurgEVB&;r9* z5(FOKdx}r{dfWd%EsSryc$_6!L*D1x_XqD5E@o}Ii0B;x_+Wub)>euHP)X4Ua?Dh= zr~Fje!sA1~em%L#anJQ@d^#w2Su#!vo`~r`@Y}~no&tnTt1rbvG#7dg6@GDAgyR6-pmTT?3>)|I{WH@&9%qx zH_O&hD$IK(#M>SM;xnJf57o18URYI1)bE#j?cKC`lWNtS#a z;q0R(m(paCyO49d2sj66J(_iUpiY?V%(+j#XFPYCSew`<118-zocE{f`%wJGw9Fdq zDa<0+gxD+nfHbY;wr{YQ8fO)dGVsfgKV)2$QbTD@J^uhO%*CTtFBFE&u?NZhLLkP5 znK=6mRmT!x5~n&UfXv(CI^Ma{9|Vv-Sb>2?5D`T&uyGxeth>0q#Qt$l@lt8UX4m-Q zPz-ryG?o<}-N9-Z01GIdgqX87)DbA8az(6{V8pVia}=$W9&A`xwX8YXxRb3t8PED- z2)vZdG&38YUjno7=#%HGFmb-6X2T#+ux}LQfpXU8c65-NCiAaFS%oLR)m=%^sPqBF@s)-^;+Iklm6z1GpgPPu_coo8QN|BfbPWFrgwp>G^wljyHT_u;| zSMr;rRAj#ARpNWXRPz=B6%-qKGiLs42s;rP+<${Twj=WrZR^Vf6gue>>A+3Ojoc%br+ zUO@i^yG*0=;d|urA>hl!xGA8p;M?)W30^;WepJ-gdtjJfmhJ<5+5HJE#zG%cJmK%> zE0_{!DVm7%#h;=5i%2sRPmk2_F;KFIbn7x37B~0@4-Hi8`S8tHBsF`^2I%m%g)_}9 z8XG8z$9uNpyNs?MJ5xdQ45^bPJ+lSdXYf1JGybcfE1ypXJenQSfUhBI0kF&c6e=tH zzs^*2RI@a6(ue+Jk+mtbo#i$D_l5Xgmr}bQmFQ`FD|w(rPWq@#-&6znU%W~!kZYNf}-6j z9q+>jI{Y(RfonHF&xS_&Vx?}tJL65jw!4~>@#{%w0spJ6U;@VwGQhr@-MNmQ^}Fn} zZZ9Ev3%7?m|6*>hmFuJ9&!aHO)Q$g>{VR5A{|XQ9UMzI&I3=Z8T-4y_HVMALQHx)s z!To+yzlh|L$u&>>YBr7I9Ll-1+53^wP=UVVLY=spQnXs(CzK*m2%XgO*eqns9n-o-&p>O9 z9;jJ8Dzu2CXa^9VX}#V#&EU9>^F>;UcvxHM^S;r|#WV9PD$T9Hq6?sB`aV+h)&xlH zukgHv6+)Y9k#`|&hUls5*$g%rU@;Xo!@&3ccbi6EEao{@78Zz~Cb;yQkVUEBLMZH&93YcKm`;ug#swxyR()7Pzc0&+JT zhc{KA#|Sew9PjU35^%3Cpa_wxX>c)6+&tf)W@qPi2)V%91p|qYix8_r$VE~ND>HW) zJ`@_h1a&)p*#~L3UkWvoR&o~VnMNt(T__bs+K%KRJGDL|b)=Vz0KPP8Ha9h(590x6 z!2>&OuZJlpA7JXv|D>cg3ptA$cUfVISdXcJ?^{NN;4%#a>=}H-yn&Ru2A}-tzR~6w z2XiCXU=NGnJ2W6)9AegQ*g;P&}1 z2o+GEuz1ZhuPz!Y@LebsM%s>Ks6es)wV}edCJVmA?R_>WP2Im{fUPDzcTZ6!Ob>4s z<{zUfA3rsLChoLUMpG#DH~GiUPNm2?{#yU|rBkVI@sA%}fZ*KYHP#ix1^Y+VJr?^% z);&h^LiQe3(o@jDU+O8E9XW~fA$3xJ+*81h_DQmRRG3e%Xn}c!{HUK3Xyy6(^BYfa^>9$6jBFXm5J$GKf0Q;SQNIdyse;+*g z;@}de!|%$2h;EJjPF+=RzK_?~nHA!iqY|~gXLb=%7AU4TXQ^o^!W42Fio~t*4JgWh zQi?e@uc!DY_4iBNisGCXxqzYs*z+L=DX;hE_VTPHmhe4Nw|4-4Qdd%x0i_iCxxL&m zRvkqNu!GyF-M`7_ z%{}*yR1uV#;;Esn6 zZ1pF2Ops5}q9M-ZQR2Hd@Ch+@Hq5^8SIZu!_eJB(3_XQq?bOWGMR&c?5|fNaQJOXF z!&lB^@N>@S=7|Sf#Q{2b@n@D@PM%83``e$^So)xO3K|@AoqGv3eT5y(QEctQ+xz + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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72.8%72.8%
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<unnamed>72.8 %67 / 9250.0 %9 / 18
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
<unnamed>72.8 %67 / 9250.0 %9 / 18
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/index-sort-l.html b/mrs_uav_trackers/src/midair_activation_tracker/index-sort-l.html new file mode 100644 index 0000000000..ce1bd3f5e5 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/index-sort-l.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/index.html b/mrs_uav_trackers/src/midair_activation_tracker/index.html new file mode 100644 index 0000000000..fa463ad728 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
72.8%72.8%
+ 		72.8 %67 / 9250.0 %9 / 18
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..8170454450 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func-sort-c.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions:91850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resetStatic()0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()29
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)89
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()106
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)70250
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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..4ec69ef31c --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions: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()62
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()106
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
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&)203
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
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&)3
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&)70250
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)89
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()29
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-01-14 11:12:21Functions: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          62 : 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          62 :   this->common_handlers_  = common_handlers;
+      81          62 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83          62 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85          62 :   nh_ = nh;
+      86             : 
+      87          62 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109         124 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111          62 :   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          62 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122          62 :   is_initialized_ = true;
+     123             : 
+     124          62 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126          62 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133          89 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135          89 :   std::stringstream ss;
+     136             : 
+     137          89 :   is_active_ = true;
+     138             : 
+     139          89 :   ss << "activated";
+     140          89 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         178 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149         106 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151         106 :   is_active_ = false;
+     152             : 
+     153         106 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154         106 : }
+     155             : 
+     156             : //}
+     157             : 
+     158             : /* //{ resetStatic() */
+     159             : 
+     160           0 : bool MidairActivationTracker::resetStatic(void) {
+     161             : 
+     162           0 :   return false;
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* //{ update() */
+     168             : 
+     169       70250 : 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       70250 :   if (!is_active_) {
+     174       70046 :     return {};
+     175             :   }
+     176             : 
+     177         612 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179         612 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181         408 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         204 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         204 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         204 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         204 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         204 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         204 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         204 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         204 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         204 :     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         204 :   tracker_cmd.use_position_vertical   = true;
+     203         204 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         204 :   tracker_cmd.use_velocity_vertical   = true;
+     206         204 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         204 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         204 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         204 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          29 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          29 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          29 :   tracker_status.active            = is_active_;
+     224          29 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          29 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233         172 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235         344 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237         172 :   res.message = "callbacks are always disabled";
+     238         172 :   res.success = true;
+     239             : 
+     240         344 :   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         203 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         406 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         203 :   res.success = true;
+     303         203 :   res.message = "constraints updated";
+     304             : 
+     305         406 :   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           3 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           3 :   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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..92abe9ea3b --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.overview.html @@ -0,0 +1,106 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.png b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..4f71e52c409a351c83f61f35774f7a90c3d741d3 GIT binary patch literal 1153 zcmV-{1b+L8P)J!}>NZyyuFasP|62uJU5*aFu zjmS0d?pPuUM>KcvwhD9>G)*Rz=p=yIWPvvr_@@Y55pdMTNMg%6%JYb>a|plxWB~;i zsF4hyv^Mf5%|!6`TAz(e^Ad~0QdkGdHqTsTA!J->1xS#7+h-UE z*P@GUim)73fPB?L#8jXQJ(B^lO1%0Hy*7GM^Lkq^aejm3Xq5Ox^wTJOU7cj(=d*u^ zvHRc3yjeD4P`C0`Z{V&?`FF`cK;?mo05XS_xFh>hd2JFe%P0|pHs)z*m$(ouAWnKA z&Vrl78WM~f0LYZc9(K`4`~U8>&3;z&EgHZh8S3tOuV-R8A(&bu(x&Y(@Hl>xaq559 z%g^;=E*yse{@m}2V>xOF2W)oX>USL`>-&o%E-a1)V1uts#<8zzg2Y@HVvoPg*Kv6p z@pX=7aJeb%0h5I7(8Q>X*344QA4(}UN>l`Fk+_%Yh66H+mI1QI6P=XJ{?pn%%yMp3 zcU6T-AJEgK)PQ`6yPYaab+Y`F;Y$G^Uv;RDs$jya;_>-DJms;4a1%XcMjuF0Y!|Xs zKj^~Y^IJE5T}_Tkc3gB9UJ=$nUR^&HW?gS6?2i#X@u?J*q2dcR%-|>|mggwRMhYbW&05|Ly{-x8L`mb* zz31AUMYQS;iE+o71#VmR0HRNI=@8-x;JA%g;s4nf~I@b)c)wInYn^?NK z=JKZERbBI}j%&dMpIF(uQ}uJ5)$C6qGwtFQ4vE` zht6!K@}##)v_)&z-lR9r0625IM{P>uYj24ja7sC26LL2I>G3R8*qQbENDBWoDBz2> zd(%?=m++cIfgi?=GtVddALemFs`&CahsZCFbMonb&*P*s$kKBo*d&GH2UWO5^?r8- z=uA4Xo<_6QKf;dG%rgUQQC)Z@9*$>U(rAjQQARFTYGDrcJ;ZZ{x2@|*q-O|ENDoJL zXa1J+KC+_;Pe^|u;WHSYpGZq71!j>~q!cN_cSk+zQzeeuXun#61_{jPc|86AD!MUP TVQf$600000NkvXXu0mjfd_WxL literal 0 HcmV?d00001 diff --git a/mrs_uav_trackers/src/mpc_tracker/index-detail-sort-f.html b/mrs_uav_trackers/src/mpc_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..4aadcd938a --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
Date:2024-01-14 11:12:21Functions:314963.3 %
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mpc_tracker.cpp +
72.0%72.0%
+ 		72.0 %1205 / 167363.3 %31 / 49
<unnamed>72.0 %1205 / 167363.3 %31 / 49
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Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
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Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
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Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
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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:1205167372.0 %
Date:2024-01-14 11:12:21Functions:314963.3 %
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::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::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()31
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)54
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)62
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)125
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)125
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::mpc_tracker::MpcTracker::timerTrajectoryTracking(ros::TimerEvent const&)420
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)468
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)496
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)497
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)635
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)689
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)734
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)814
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)1278
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)2347
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()5229
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)11885
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()13647
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)42569
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)49059
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()49153
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)49153
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)49153
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()49153
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)49153
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)70250
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
Date:2024-01-14 11:12:21Functions:314963.3 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()31
mrs_uav_trackers::mpc_tracker::MpcTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)635
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)734
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()49153
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)42569
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)125
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> >)497
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)1278
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)689
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)49153
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)11885
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)49153
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()49153
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()13647
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&)468
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)496
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&)3
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)814
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&)420
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&)2347
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)62
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&)49059
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&)70250
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)125
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)54
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)49153
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()5229
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1205167372.0 %
Date:2024-01-14 11:12:21Functions:314963.3 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : #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          62 : 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          62 :   nh_ = nh;
+     412             : 
+     413          62 :   common_handlers_  = common_handlers;
+     414          62 :   private_handlers_ = private_handlers;
+     415             : 
+     416          62 :   _uav_name_ = common_handlers->uav_name;
+     417             : 
+     418          62 :   ros::Time::waitForValid();
+     419             : 
+     420             :   // --------------------------------------------------------------
+     421             :   // |                     loading parameters                     |
+     422             :   // --------------------------------------------------------------
+     423             : 
+     424             :   // | ---------- loading params using the parent's nh ---------- |
+     425             : 
+     426         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     427             : 
+     428          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     429             : 
+     430          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     438          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     439             : 
+     440         124 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     441             : 
+     442          62 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     443             : 
+     444          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     445          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     446             : 
+     447          62 :   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          62 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     453             : 
+     454          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     455          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     456          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     457             : 
+     458          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_states", _mpc_n_states_);
+     459          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/translation/n_inputs", _mpc_m_states_);
+     460          62 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/A", _mat_A_, _mpc_n_states_, _mpc_n_states_);
+     461          62 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/translation/B", _mat_B_, _mpc_n_states_, _mpc_m_states_);
+     462             : 
+     463          62 :   A_ = _mat_A_;
+     464          62 :   B_ = _mat_B_;
+     465             : 
+     466          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_states", _mpc_n_states_heading_);
+     467          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "model/heading/n_inputs", _mpc_n_inputs_heading_);
+     468          62 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/A", _mat_A_heading_, _mpc_n_states_heading_, _mpc_n_states_heading_);
+     469          62 :   private_handlers->param_loader->loadMatrixStatic(yaml_prefix + "model/heading/B", _mat_B_heading_, _mpc_n_states_heading_, _mpc_n_inputs_heading_);
+     470             : 
+     471          62 :   A_heading_ = _mat_A_heading_;
+     472          62 :   B_heading_ = _mat_B_heading_;
+     473             : 
+     474             :   // load the MPC parameters
+     475          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/horizon_len", _mpc_horizon_len_);
+     476             : 
+     477          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     478             : 
+     479          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     480          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     481          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     482             : 
+     483          62 :   bool verbose_xy      = false;
+     484          62 :   bool verbose_z       = false;
+     485          62 :   bool verbose_heading = false;
+     486             : 
+     487         124 :   std::vector<double> xy_Q;
+     488         124 :   std::vector<double> z_Q;
+     489         124 :   std::vector<double> heading_Q;
+     490             : 
+     491          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     492          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     493          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     494             : 
+     495          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     496          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     497          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     498             : 
+     499          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     500          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     501          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     502             : 
+     503          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     504          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     505          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     506             : 
+     507          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     508          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     509          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     510          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     511          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     512          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     513          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     514          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     515          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     516          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     517          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     518             : 
+     519          62 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     520           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     521           0 :     return false;
+     522             :   }
+     523             : 
+     524          62 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     525             : 
+     526          62 :   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          62 :   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          62 :   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          62 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     531             : 
+     532          62 :   mpc_x_         = MatrixXd::Zero(_mpc_n_states_, 1);
+     533          62 :   mpc_x_heading_ = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     534             : 
+     535          62 :   mpc_u_ = VectorXd::Zero(_mpc_m_states_);
+     536             : 
+     537          62 :   coef_time = ros::Time(0);
+     538             : 
+     539          62 :   des_x_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     540          62 :   des_y_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     541          62 :   des_z_trajectory_       = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     542          62 :   des_z_filtered_offset_  = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     543          62 :   des_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_, 1);
+     544             : 
+     545          62 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     546             : 
+     547          62 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     548          62 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     549             : 
+     550             :   // extract the numerical name
+     551          62 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     552          62 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     553          62 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     554             : 
+     555             :   // exclude this drone from the list
+     556          62 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     557         124 :   while (it != _avoidance_other_uav_names_.end()) {
+     558             : 
+     559          62 :     std::string temp_str = *it;
+     560             : 
+     561             :     int other_uav_priority;
+     562          62 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     563             : 
+     564          62 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     565             : 
+     566          62 :       _avoidance_other_uav_names_.erase(it);
+     567          62 :       continue;
+     568             :     }
+     569             : 
+     570           0 :     it++;
+     571             :   }
+     572             : 
+     573             :   // initialize velocity tracker
+     574             : 
+     575          62 :   velocity_reference_time_ = ros::Time(0);
+     576             : 
+     577             :   // create publishers for predicted trajectory
+     578             : 
+     579          62 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     580          62 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     581          62 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     582          62 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     583             : 
+     584          62 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     585          62 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     586             : 
+     587             :   // preallocate predicted trajectory
+     588          62 :   predicted_trajectory_         = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     589          62 :   predicted_heading_trajectory_ = MatrixXd::Zero(_mpc_horizon_len_ * _mpc_n_states_, 1);
+     590             : 
+     591          62 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     592             : 
+     593             :   // collision avoidance toggle service
+     594          62 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     595             : 
+     596         124 :   mrs_lib::SubscribeHandlerOptions shopts;
+     597          62 :   shopts.nh                 = nh_;
+     598          62 :   shopts.node_name          = "MpcTracker";
+     599          62 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     600          62 :   shopts.threadsafe         = true;
+     601          62 :   shopts.autostart          = true;
+     602          62 :   shopts.queue_size         = 10;
+     603          62 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     604             : 
+     605             :   // create subscribers on other drones diagnostics
+     606          62 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     607             : 
+     608          62 :     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          62 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     626             : 
+     627             :   // | --------------- dynamic reconfigure server --------------- |
+     628             : 
+     629          62 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     630          62 :   reconfigure_server_->updateConfig(drs_params_);
+     631          62 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     632          62 :   reconfigure_server_->setCallback(f);
+     633             : 
+     634             :   // | ------------------------ profiler ------------------------ |
+     635             : 
+     636          62 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     637             : 
+     638             :   // | ------------------------- timers ------------------------- |
+     639             : 
+     640         124 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     641         124 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     642          62 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     643          62 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     644          62 :   timer_trajectory_tracking_  = nh_.createTimer(ros::Rate(1.0), &MpcTracker::timerTrajectoryTracking, this, false, false);
+     645          62 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     646          62 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     647             : 
+     648             :   // | ----------------------- finish init ---------------------- |
+     649             : 
+     650          62 :   is_initialized_ = true;
+     651             : 
+     652          62 :   ROS_INFO("[MpcTracker]: initialized");
+     653             : 
+     654          62 :   return true;
+     655             : }
+     656             : 
+     657             : //}
+     658             : 
+     659             : /* //{ activate() */
+     660             : 
+     661          54 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     662             : 
+     663         108 :   std::stringstream ss;
+     664             : 
+     665          54 :   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         108 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     674             : 
+     675             :   double uav_state_heading;
+     676             : 
+     677             :   try {
+     678          54 :     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         108 :   MatrixXd mpc_x         = MatrixXd::Zero(_mpc_n_states_, 1);
+     687          54 :   MatrixXd mpc_x_heading = MatrixXd::Zero(_mpc_n_states_heading_, 1);
+     688             : 
+     689          54 :   if (last_tracker_cmd) {
+     690             : 
+     691             :     // set the initial condition from the last tracker's cmd
+     692             : 
+     693          53 :     if (last_tracker_cmd->use_position_horizontal) {
+     694          53 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     695          53 :       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          53 :     if (last_tracker_cmd->use_position_vertical) {
+     702          53 :       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          53 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     708          53 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     709          53 :       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          53 :     if (last_tracker_cmd->use_velocity_vertical) {
+     716          53 :       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          53 :     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          53 :       mpc_x(2, 0)  = 0;
+     727          53 :       mpc_x(6, 0)  = 0;
+     728          53 :       mpc_x(10, 0) = 0;
+     729             :     }
+     730             : 
+     731             :     // the jerks
+     732          53 :     mpc_x(3, 0)  = 0;
+     733          53 :     mpc_x(7, 0)  = 0;
+     734          53 :     mpc_x(11, 0) = 0;
+     735             : 
+     736          53 :     if (last_tracker_cmd->use_heading) {
+     737          53 :       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          53 :     if (last_tracker_cmd->use_heading_rate) {
+     750          11 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     751             :     } else {
+     752          42 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     753             :     }
+     754             : 
+     755          53 :     mpc_x_heading(2, 0) = 0;
+     756          53 :     mpc_x_heading(3, 0) = 0;
+     757             : 
+     758          53 :     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           1 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     765           1 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     766           1 :     mpc_x(2, 0) = 0;
+     767           1 :     mpc_x(3, 0) = 0;
+     768             : 
+     769           1 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     770           1 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     771           1 :     mpc_x(6, 0) = 0;
+     772           1 :     mpc_x(7, 0) = 0;
+     773             : 
+     774           1 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     775           1 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     776           1 :     mpc_x(10, 0) = 0;
+     777           1 :     mpc_x(11, 0) = 0;
+     778             : 
+     779           1 :     mpc_x_heading(0, 0) = uav_state_heading;
+     780           1 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     781           1 :     mpc_x_heading(2, 0) = 0;
+     782           1 :     mpc_x_heading(3, 0) = 0;
+     783             : 
+     784           1 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     785             :   }
+     786             : 
+     787             :   {
+     788         108 :     std::scoped_lock lock(mutex_mpc_x_);
+     789             : 
+     790          54 :     mpc_x_         = mpc_x;
+     791          54 :     mpc_x_heading_ = mpc_x_heading;
+     792             :   }
+     793             : 
+     794          54 :   trajectory_tracking_in_progress_ = false;
+     795             : 
+     796          54 :   timer_trajectory_tracking_.stop();
+     797             : 
+     798          54 :   ss << "activated";
+     799          54 :   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          54 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     805             : 
+     806          54 :   toggleHover(true);
+     807             : 
+     808          54 :   model_first_iteration_ = true;
+     809             : 
+     810          54 :   A_ = _mat_A_;
+     811          54 :   B_ = _mat_B_;
+     812             : 
+     813          54 :   A_heading_ = _mat_A_heading_;
+     814          54 :   B_heading_ = _mat_B_heading_;
+     815             : 
+     816          54 :   is_active_ = true;
+     817             : 
+     818          54 :   if (!mpc_synchronous_) {
+     819          48 :     timer_mpc_iteration_.start();
+     820             :   }
+     821             : 
+     822          54 :   return std::tuple(true, ss.str());
+     823             : }
+     824             : 
+     825             : //}
+     826             : 
+     827             : /* //{ deactivate() */
+     828             : 
+     829          31 : void MpcTracker::deactivate(void) {
+     830             : 
+     831          31 :   toggleHover(false);
+     832             : 
+     833          31 :   is_active_                       = false;
+     834          31 :   trajectory_tracking_in_progress_ = false;
+     835          31 :   model_first_iteration_           = true;
+     836             : 
+     837          31 :   timer_trajectory_tracking_.stop();
+     838             : 
+     839             :   {
+     840          31 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     841             : 
+     842          31 :     trajectory_tracking_idx_     = 0;
+     843          31 :     trajectory_tracking_sub_idx_ = 0;
+     844             :   }
+     845             : 
+     846          31 :   ROS_INFO("[MpcTracker]: deactivated");
+     847             : 
+     848          31 :   timer_mpc_iteration_.stop();
+     849             : 
+     850          31 :   publishDiagnostics();
+     851          31 : }
+     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       70250 : 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      210750 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     931      210750 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     932             : 
+     933      140500 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     934             : 
+     935             :   // calculate dt
+     936       70250 :   double dt = (uav_state.header.stamp - old_uav_state.header.stamp).toSec();
+     937             : 
+     938             :   // save the uav state
+     939       70250 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     940             : 
+     941       70250 :   if (dt > 0) {
+     942             : 
+     943       70250 :     double rate = 1.0 / dt;
+     944             : 
+     945       70250 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     946             : 
+     947       70250 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     948           1 :       mpc_synchronous_ = false;
+     949           1 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     950           1 :       if (is_active_) {
+     951           1 :         timer_mpc_iteration_.start();
+     952             :       }
+     953       70249 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     954           7 :       mpc_synchronous_ = true;
+     955           7 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     956           7 :       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       70250 :   if (!is_active_) {
+     962       27634 :     return {};
+     963             :   }
+     964             : 
+     965       85232 :   mrs_msgs::TrackerCommand tracker_cmd;
+     966             : 
+     967       42616 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     968             : 
+     969          47 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     970             : 
+     971             :     // set the header
+     972          47 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     973          47 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     974             : 
+     975             :     // set positions from odom
+     976          47 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     977          47 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     978          47 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     979          47 :     tracker_cmd.use_position_vertical   = 1;
+     980          47 :     tracker_cmd.use_position_horizontal = 1;
+     981             : 
+     982             :     // set velocities from odom
+     983          47 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     984          47 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     985          47 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     986          47 :     tracker_cmd.use_velocity_vertical   = 1;
+     987          47 :     tracker_cmd.use_velocity_horizontal = 1;
+     988             : 
+     989             :     // set zero accelerations
+     990          47 :     tracker_cmd.acceleration.x   = 0;
+     991          47 :     tracker_cmd.acceleration.y   = 0;
+     992          47 :     tracker_cmd.acceleration.z   = 0;
+     993          47 :     tracker_cmd.use_acceleration = 1;
+     994             : 
+     995             :     try {
+     996          47 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     997          47 :       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          47 :     tracker_cmd.jerk.x = 0;
+    1006          47 :     tracker_cmd.jerk.y = 0;
+    1007          47 :     tracker_cmd.jerk.z = 0;
+    1008             : 
+    1009             :     try {
+    1010          47 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+    1011          47 :       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          47 :     return {tracker_cmd};
+    1019             :   }
+    1020             : 
+    1021       42569 :   ros::TimerEvent event;
+    1022             : 
+    1023       42569 :   if (mpc_synchronous_) {
+    1024        1381 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1025        1381 :     timerMPC(event);
+    1026             :   } else {
+    1027       41188 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1028             :   }
+    1029             : 
+    1030       42569 :   if (dt > 0) {
+    1031       42569 :     iterateModel(dt);
+    1032             :   } else {
+    1033           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1034             :   }
+    1035             : 
+    1036       85138 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1037       85138 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1038             : 
+    1039             :   // check whether all outputs are finite
+    1040       42569 :   bool arefinite = true;
+    1041      553397 :   for (int i = 0; i < 12; i++) {
+    1042      510828 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1043           0 :       arefinite = false;
+    1044             :     }
+    1045             :   }
+    1046             : 
+    1047       42569 :   if (arefinite) {
+    1048             : 
+    1049             :     // set the desired states base on the result of the mpc
+    1050       42569 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1051       42569 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1052       42569 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1053       42569 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1054             : 
+    1055       42569 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1056       42569 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1057       42569 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1058       42569 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1059             : 
+    1060       42569 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1061       42569 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1062       42569 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1063       42569 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1064             : 
+    1065       42569 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1066             : 
+    1067       42569 :     tracker_cmd.use_position_vertical     = 1;
+    1068       42569 :     tracker_cmd.use_position_horizontal   = 1;
+    1069       42569 :     tracker_cmd.use_velocity_vertical     = 1;
+    1070       42569 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1071       42569 :     tracker_cmd.use_acceleration          = 1;
+    1072       42569 :     tracker_cmd.use_jerk                  = 1;
+    1073       42569 :     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       42569 :   bool heading_finite = true;
+    1083      212845 :   for (int i = 0; i < _mpc_n_states_heading_; i++) {
+    1084      170276 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1085           0 :       heading_finite = false;
+    1086             :     }
+    1087             :   }
+    1088             : 
+    1089       42569 :   if (heading_finite) {
+    1090             : 
+    1091       42569 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1092       42569 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1093       42569 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1094       42569 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1095             : 
+    1096       42569 :     tracker_cmd.use_heading              = 1;
+    1097       42569 :     tracker_cmd.use_heading_rate         = 1;
+    1098       42569 :     tracker_cmd.use_heading_acceleration = 1;
+    1099       42569 :     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       42569 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1110       42569 :   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       42569 :   return {tracker_cmd};
+    1115             : }  // namespace mpc_tracker
+    1116             : 
+    1117             : //}
+    1118             : 
+    1119             : /* //{ getStatus() */
+    1120             : 
+    1121        5229 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1122             : 
+    1123       10458 :   auto [mpc_x, mpc_x_heading]  = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1124        5229 :   auto trajectory_size         = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1125        5229 :   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        5229 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1130             : 
+    1131        5229 :     des_x       = des_x_trajectory_(0);
+    1132        5229 :     des_y       = des_y_trajectory_(0);
+    1133        5229 :     des_z       = des_z_trajectory_(0);
+    1134        5229 :     des_heading = des_heading_trajectory_(0);
+    1135             :   }
+    1136             : 
+    1137        5229 :   mrs_msgs::TrackerStatus tracker_status;
+    1138             : 
+    1139        5229 :   tracker_status.active            = is_active_;
+    1140        5229 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1141             : 
+    1142        5229 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1143             : 
+    1144        5229 :   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        5229 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1146        5229 :   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        5229 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1149             : 
+    1150        5229 :   tracker_status.trajectory_length = trajectory_size;
+    1151        5229 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1152             : 
+    1153        5229 :   if (trajectory_tracking_in_progress_) {
+    1154             : 
+    1155        2016 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1156             : 
+    1157        2016 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1158             : 
+    1159        1008 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1160        1008 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1161             : 
+    1162        1008 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1163        1008 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1164        1008 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1165        1008 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1166             : 
+    1167             :     // | ---------- publish the current trajectory point ---------- |
+    1168             : 
+    1169        2016 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    1170        1008 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    1171        1008 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    1172             : 
+    1173        1008 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1174        1008 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1175        1008 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1176             : 
+    1177        1008 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    1178             : 
+    1179        1008 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    1180             :   }
+    1181             : 
+    1182       10458 :   return tracker_status;
+    1183             : }
+    1184             : 
+    1185             : //}
+    1186             : 
+    1187             : /* //{ enableCallbacks() */
+    1188             : 
+    1189        1278 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1190             : 
+    1191        2556 :   std::stringstream ss;
+    1192             : 
+    1193        1278 :   if (cmd->data != callbacks_enabled_) {
+    1194             : 
+    1195        1119 :     callbacks_enabled_ = cmd->data;
+    1196        1119 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1197             : 
+    1198             :   } else {
+    1199             : 
+    1200         159 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1201             :   }
+    1202             : 
+    1203        2556 :   std_srvs::SetBoolResponse res;
+    1204        1278 :   res.message = ss.str();
+    1205        1278 :   res.success = true;
+    1206             : 
+    1207        2556 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1208             : }
+    1209             : 
+    1210             : //}
+    1211             : 
+    1212             : /* switchOdometrySource() //{ */
+    1213             : 
+    1214           4 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1215             : 
+    1216           4 :   odometry_reset_in_progress_ = true;
+    1217           4 :   mpc_result_invalid_         = true;
+    1218             : 
+    1219           8 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1220           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1221             : 
+    1222           4 :   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           4 :   timer_mpc_iteration_.stop();
+    1231           4 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1232             : 
+    1233           4 :   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           4 :   double old_heading  = 0;
+    1248           4 :   double new_heading  = 0;
+    1249           4 :   bool   got_headings = true;
+    1250             : 
+    1251             :   try {
+    1252           4 :     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           4 :     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           8 :   std_srvs::TriggerResponse res;
+    1268             : 
+    1269           4 :   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           4 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1278           4 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1279           4 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1280           4 :   double dheading = new_heading - old_heading;
+    1281             : 
+    1282           4 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1283             : 
+    1284             :   {
+    1285           4 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1286             : 
+    1287           4 :     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         164 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1302             : 
+    1303         160 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1304         160 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1305             : 
+    1306         160 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1307         160 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1308         160 :       des_z_trajectory_(i, 0) += dz;
+    1309         160 :       des_heading_trajectory_(i, 0) += dheading;
+    1310             :     }
+    1311             : 
+    1312             :     // update the position
+    1313             :     {
+    1314           4 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1315           4 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1316           4 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1317           4 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1318           4 :       mpc_x_(8, 0) += dz;
+    1319             :     }
+    1320             : 
+    1321             :     // update the velocity
+    1322             :     {
+    1323           4 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1324           4 :       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           4 :       mpc_x_(2, 0)  = 0;
+    1331           4 :       mpc_x_(6, 0)  = 0;
+    1332           4 :       mpc_x_(10, 0) = 0;
+    1333             :     }
+    1334             : 
+    1335             :     // update the heading and its derivative
+    1336           4 :     mpc_x_heading_(0, 0) += dheading;
+    1337           4 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1338             :   }
+    1339             : 
+    1340           4 :   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           4 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1346             : 
+    1347           4 :   if (!mpc_synchronous_) {
+    1348           4 :     timer_mpc_iteration_.start();
+    1349             :   }
+    1350             : 
+    1351           4 :   odometry_reset_in_progress_ = false;
+    1352             : 
+    1353           4 :   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         203 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1440             : 
+    1441         203 :   if (!is_initialized_) {
+    1442           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1443             :   }
+    1444             : 
+    1445         203 :   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         406 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1451             : 
+    1452             :     // important! this needs to be done to initialize the full struct
+    1453         203 :     if (!got_constraints_) {
+    1454             : 
+    1455          62 :       constraints_filtered_ = constraints->constraints;
+    1456             : 
+    1457             :     } else {
+    1458             : 
+    1459         141 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1460         141 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1461         141 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1462         141 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1463             :     }
+    1464             :   }
+    1465             : 
+    1466         203 :   got_constraints_ = true;
+    1467             : 
+    1468         203 :   all_constraints_set_ = false;
+    1469             : 
+    1470         203 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1471             : 
+    1472         406 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1473         203 :   res.success = true;
+    1474         203 :   res.message = "constraints updated";
+    1475             : 
+    1476         203 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1477             : }
+    1478             : 
+    1479             : //}
+    1480             : 
+    1481             : /* //{ setReference() */
+    1482             : 
+    1483         125 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1484             : 
+    1485         125 :   toggleHover(false);
+    1486             : 
+    1487         125 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1488             : 
+    1489         250 :   mrs_msgs::ReferenceSrvResponse res;
+    1490         125 :   res.success = true;
+    1491         125 :   res.message = "reference set";
+    1492             : 
+    1493         250 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1494             : }
+    1495             : 
+    1496             : //}
+    1497             : 
+    1498             : /* //{ setVelocityReference() */
+    1499             : 
+    1500         468 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1501             : 
+    1502         468 :   if (!is_initialized_) {
+    1503           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1504             :   }
+    1505             : 
+    1506             :   {
+    1507         468 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1508             : 
+    1509         468 :     velocity_reference_time_ = ros::Time::now();
+    1510             : 
+    1511         468 :     velocity_reference_ = cmd->reference;
+    1512             :   }
+    1513             : 
+    1514         468 :   if (!velocity_tracking_active_) {
+    1515             : 
+    1516           2 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1517             : 
+    1518           2 :     timer_velocity_tracking_.stop();
+    1519           2 :     timer_velocity_tracking_.start();
+    1520             : 
+    1521           2 :     velocity_tracking_active_ = true;
+    1522             :   }
+    1523             : 
+    1524         936 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1525         468 :   response.success = true;
+    1526         468 :   response.message = "reference set";
+    1527             : 
+    1528         468 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1529             : }
+    1530             : 
+    1531             : //}
+    1532             : 
+    1533             : /* //{ setTrajectoryReference() */
+    1534             : 
+    1535           3 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1536             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1537             : 
+    1538           6 :   std::stringstream ss;
+    1539             : 
+    1540           9 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1541             : 
+    1542           6 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1543           3 :   response.success  = success;
+    1544           3 :   response.message  = message;
+    1545           3 :   response.modified = modified;
+    1546             : 
+    1547           6 :   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          62 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1691             : 
+    1692         124 :   std::scoped_lock lock(mutex_drs_params_);
+    1693             : 
+    1694          62 :   drs_params_ = config;
+    1695             : 
+    1696          62 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1697          62 : }
+    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       49059 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1743             : 
+    1744       49059 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1745             : 
+    1746       49059 :   first_collision_index = INT_MAX;
+    1747       49059 :   avoiding_collision_   = false;
+    1748             : 
+    1749       49059 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1750             : 
+    1751       49059 :   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       49059 :   if (!avoiding_collision_) {
+    1800             : 
+    1801       49059 :     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       49059 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1805             : 
+    1806       49059 :     double safety_area_min_z = common_handlers_->safety_area.getMinZ("");
+    1807             : 
+    1808       49059 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1809             : 
+    1810       42128 :       collision_free_altitude_ = safety_area_min_z;
+    1811             :     }
+    1812             :   }
+    1813             : 
+    1814       98118 :   return collision_free_altitude_;
+    1815             : }
+    1816             : 
+    1817             : //}
+    1818             : 
+    1819             : // | ------------------ trajectory filtering ------------------ |
+    1820             : 
+    1821             : /* //{ filterReferenceXY() */
+    1822             : 
+    1823       49153 : 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       49153 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1827             : 
+    1828       98306 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1829       49153 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1830             : 
+    1831       98306 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1832       98306 :   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     2015273 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1840             : 
+    1841     1966120 :     if (i == 0) {
+    1842       49153 :       max_sample_x = max_speed_x * dt1;
+    1843       49153 :       max_sample_y = max_speed_y * dt1;
+    1844       49153 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1845       49153 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1846             :     } else {
+    1847     1916967 :       max_sample_x = max_speed_x * _dt2_;
+    1848     1916967 :       max_sample_y = max_speed_y * _dt2_;
+    1849     1916967 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1850     1916967 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1851             :     }
+    1852             : 
+    1853     1966120 :     if (!trajectory_tracking_in_progress_) {
+    1854             : 
+    1855     1599760 :       double direction_angle  = atan2(difference_y, difference_x);
+    1856     1599760 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1857     1599760 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1858             : 
+    1859     1599760 :       if (max_sample_x > max_dir_sample_x) {
+    1860      227192 :         max_sample_x = max_dir_sample_x;
+    1861             :       }
+    1862     1599760 :       if (max_sample_y > max_dir_sample_y) {
+    1863     1599748 :         max_sample_y = max_dir_sample_y;
+    1864             :       }
+    1865             : 
+    1866             :       // saturate the difference
+    1867     1599760 :       if (difference_x > max_sample_x)
+    1868       73636 :         difference_x = max_sample_x;
+    1869     1526124 :       else if (difference_x < -max_sample_x)
+    1870      142812 :         difference_x = -max_sample_x;
+    1871             : 
+    1872     1599760 :       if (difference_y > max_sample_y)
+    1873       70737 :         difference_y = max_sample_y;
+    1874     1529023 :       else if (difference_y < -max_sample_y)
+    1875      144695 :         difference_y = -max_sample_y;
+    1876             :     }
+    1877             : 
+    1878     1966120 :     if (i == 0) {
+    1879       49153 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1880       49153 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1881             :     } else {
+    1882     1916967 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1883     1916967 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1884             :     }
+    1885             :   }
+    1886             : 
+    1887             :   // | ----------------------- add wiggle ----------------------- |
+    1888             : 
+    1889       49153 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1890       49153 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1891             : 
+    1892       49153 :   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       98306 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1907             : }
+    1908             : 
+    1909             : //}
+    1910             : 
+    1911             : /* //{ filterReferenceZ() */
+    1912             : 
+    1913       49153 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1914             : 
+    1915       98306 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1916             : 
+    1917       49153 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1918             : 
+    1919             :   double difference_z;
+    1920             :   double max_sample_z;
+    1921             : 
+    1922       49153 :   MatrixXd filtered_trajectory = MatrixXd::Zero(_mpc_horizon_len_, 1);
+    1923             : 
+    1924       49153 :   double current_z = mpc_x(8, 0);
+    1925             : 
+    1926     2015273 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    1927             : 
+    1928     1966120 :     if (i == 0) {
+    1929             : 
+    1930       49153 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1931             : 
+    1932       49153 :       if (difference_z > 0) {
+    1933       20741 :         max_sample_z = max_ascending_speed * dt1;
+    1934             :       } else {
+    1935       28412 :         max_sample_z = max_descending_speed * dt1;
+    1936             :       }
+    1937             : 
+    1938             :     } else {
+    1939             : 
+    1940     1916967 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1941             : 
+    1942     1916967 :       if (difference_z > 0) {
+    1943      205590 :         max_sample_z = max_ascending_speed * _dt2_;
+    1944             :       } else {
+    1945     1711377 :         max_sample_z = max_descending_speed * _dt2_;
+    1946             :       }
+    1947             :     }
+    1948             : 
+    1949     1966120 :     if (!trajectory_tracking_in_progress_) {
+    1950             : 
+    1951             :       // saturate the difference
+    1952     1599680 :       if (difference_z > max_sample_z)
+    1953       54934 :         difference_z = max_sample_z;
+    1954     1544746 :       else if (difference_z < -max_sample_z)
+    1955        7054 :         difference_z = -max_sample_z;
+    1956             :     }
+    1957             : 
+    1958     1966120 :     if (i == 0) {
+    1959       49153 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1960             :     } else {
+    1961     1916967 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1962             :     }
+    1963             :   }
+    1964             : 
+    1965       98306 :   return filtered_trajectory;
+    1966             : }
+    1967             : 
+    1968             : //}
+    1969             : 
+    1970             : /* //{ manageConstraints() */
+    1971             : 
+    1972       49153 : void MpcTracker::manageConstraints() {
+    1973             : 
+    1974       49153 :   if (!got_constraints_) {
+    1975       49047 :     return;
+    1976             :   }
+    1977             : 
+    1978       49153 :   if (all_constraints_set_) {
+    1979       49047 :     return;
+    1980             :   }
+    1981             : 
+    1982         106 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1983         212 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1984             : 
+    1985         212 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1986         106 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1987         106 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    1988         106 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    1989         106 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    1990         106 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    1991         318 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    1992         106 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    1993             : 
+    1994         106 :   if (can_change) {
+    1995             : 
+    1996             :     {
+    1997         106 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    1998             : 
+    1999         106 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    2000         106 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    2001         106 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    2002             : 
+    2003         106 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    2004         106 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    2005         106 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2006             : 
+    2007         106 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2008         106 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2009         106 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2010             : 
+    2011         106 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2012         106 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2013         106 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2014             :     }
+    2015             : 
+    2016         106 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2017         106 :     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       49153 : void MpcTracker::calculateMPC() {
+    2029             : 
+    2030       49153 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2031             : 
+    2032       49153 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2033             : 
+    2034       49153 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2035             : 
+    2036       49153 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2037       49153 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2038       49153 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2039       49153 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2040             : 
+    2041       49153 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2042             :   {
+    2043       98306 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2044             : 
+    2045       49153 :     des_x_trajectory       = des_x_trajectory_;
+    2046       49153 :     des_y_trajectory       = des_y_trajectory_;
+    2047       49153 :     des_z_trajectory       = des_z_trajectory_;
+    2048       49153 :     des_heading_trajectory = des_heading_trajectory_;
+    2049             :   }
+    2050             : 
+    2051       49153 :   int    first_collision_index = INT_MAX;
+    2052       49153 :   double lowest_z              = std::numeric_limits<double>::max();
+    2053             : 
+    2054       49153 :   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     2011419 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2058     1962360 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2059       76030 :         lowest_z = des_z_trajectory_(i, 0);
+    2060             :       }
+    2061             :     }
+    2062             : 
+    2063             :     // check other drone trajectories for collisions
+    2064       49059 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2065             : 
+    2066             :   } else {
+    2067             : 
+    2068          94 :     minimum_collison_free_altitude_ = common_handlers_->safety_area.getMinZ("");
+    2069             :   }
+    2070             : 
+    2071       49153 :   double max_speed_x = constraints.horizontal_speed;
+    2072       49153 :   double max_speed_y = constraints.horizontal_speed;
+    2073       49153 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2074       49153 :   double min_speed_z = constraints.vertical_descending_speed;
+    2075             : 
+    2076       49153 :   double max_acc_x = constraints.horizontal_acceleration;
+    2077       49153 :   double max_acc_y = constraints.horizontal_acceleration;
+    2078       49153 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2079       49153 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2080             : 
+    2081       49153 :   double max_snap_x = constraints.horizontal_snap;
+    2082       49153 :   double max_snap_y = constraints.horizontal_snap;
+    2083       49153 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2084       49153 :   double min_snap_z = constraints.vertical_descending_snap;
+    2085             : 
+    2086       49153 :   double max_jerk_x = constraints.horizontal_jerk;
+    2087       49153 :   double max_jerk_y = constraints.horizontal_jerk;
+    2088       49153 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2089       49153 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2090             : 
+    2091       49153 :   collision_avoidance_affecting_me_ = false;
+    2092             : 
+    2093       49153 :   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       49153 :   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       98306 :   VectorXd mpc_u         = VectorXd::Zero(_mpc_m_states_);
+    2139       49153 :   double   mpc_u_heading = 0;
+    2140             : 
+    2141       49153 :   double iters_z       = 0;
+    2142       49153 :   double iters_x       = 0;
+    2143       49153 :   double iters_y       = 0;
+    2144       49153 :   double iters_heading = 0;
+    2145             : 
+    2146       49153 :   ros::Time time_begin = ros::Time::now();
+    2147             : 
+    2148       98306 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2149             : 
+    2150     2015273 :   for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2151     1966120 :     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     1966120 :       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       49153 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2163       30554 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2164             :   } else {
+    2165       18599 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2166             :   }
+    2167             : 
+    2168       98306 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2169             : 
+    2170       49153 :   initial_z(0, 0) = mpc_x(8, 0);
+    2171       49153 :   initial_z(1, 0) = mpc_x(9, 0);
+    2172       49153 :   initial_z(2, 0) = mpc_x(10, 0);
+    2173       49153 :   initial_z(3, 0) = mpc_x(11, 0);
+    2174             : 
+    2175       49153 :   mpc_solver_z_->setDt(dt1);
+    2176       49153 :   mpc_solver_z_->setInitialState(initial_z);
+    2177       49153 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2178       49153 :   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       49153 :   iters_z += mpc_solver_z_->solveMPC();
+    2180             : 
+    2181             :   {
+    2182       98306 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2183             : 
+    2184       49153 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2185             :   }
+    2186             : 
+    2187       49153 :   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       49153 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2193             : 
+    2194       49153 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2195             :   }
+    2196             : 
+    2197       49153 :   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      147459 :   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       49153 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2207             : 
+    2208     1966120 :   for (int i = 1; i < _mpc_horizon_len_; i++) {
+    2209     1916967 :     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       49153 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2215       30556 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2216             :   } else {
+    2217       18597 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2218             :   }
+    2219             : 
+    2220       98306 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2221             : 
+    2222       49153 :   initial_x(0, 0) = mpc_x(0, 0);
+    2223       49153 :   initial_x(1, 0) = mpc_x(1, 0);
+    2224       49153 :   initial_x(2, 0) = mpc_x(2, 0);
+    2225       49153 :   initial_x(3, 0) = mpc_x(3, 0);
+    2226             : 
+    2227       49153 :   mpc_solver_x_->setDt(dt1);
+    2228       49153 :   mpc_solver_x_->setInitialState(initial_x);
+    2229       49153 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2230       49153 :   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       49153 :   iters_x += mpc_solver_x_->solveMPC();
+    2232             : 
+    2233             :   {
+    2234       98306 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2235             : 
+    2236       49153 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2237             :   }
+    2238             : 
+    2239       49153 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2240             : 
+    2241             :   // | -------------------- MPC solver y-axis ------------------- |
+    2242             : 
+    2243       49153 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2244       30556 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2245             :   } else {
+    2246       18597 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2247             :   }
+    2248             : 
+    2249       98306 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2250             : 
+    2251       49153 :   initial_y(0, 0) = mpc_x(4, 0);
+    2252       49153 :   initial_y(1, 0) = mpc_x(5, 0);
+    2253       49153 :   initial_y(2, 0) = mpc_x(6, 0);
+    2254       49153 :   initial_y(3, 0) = mpc_x(7, 0);
+    2255             : 
+    2256       49153 :   mpc_solver_y_->setDt(dt1);
+    2257       49153 :   mpc_solver_y_->setInitialState(initial_y);
+    2258       49153 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2259       49153 :   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       49153 :   iters_y += mpc_solver_y_->solveMPC();
+    2261             :   {
+    2262       98306 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2263             : 
+    2264       49153 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2265             :   }
+    2266       49153 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2267             : 
+    2268             :   // | ------------------- MPC solver heading ------------------- |
+    2269             : 
+    2270       49153 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2271       30556 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2272             :   } else {
+    2273       18597 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2274             :   }
+    2275             : 
+    2276       49153 :   mpc_solver_heading_->setDt(dt1);
+    2277       49153 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2278       49153 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2279       49153 :   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       49153 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2282             :   {
+    2283       98306 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2284             : 
+    2285       49153 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2286             :   }
+    2287       49153 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2288             : 
+    2289             :   {
+    2290       49153 :     bool saturating = false;
+    2291             : 
+    2292       49153 :     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       49153 :     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       49153 :     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       49153 :     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       49153 :     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       49153 :     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       49153 :     if (saturating) {
+    2324           0 :       debugPrintState(0.1);
+    2325           0 :       debugPrintMPCResult(0.1);
+    2326             :     }
+    2327             :   }
+    2328             : 
+    2329             :   {
+    2330       49153 :     std::scoped_lock lock(mutex_mpc_u_);
+    2331             : 
+    2332       49153 :     mpc_u_         = mpc_u;
+    2333       49153 :     mpc_u_heading_ = mpc_u_heading;
+    2334             :   }
+    2335             : 
+    2336       49153 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2337       49153 :   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           0 :     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       49153 :   future_was_predicted_ = true;
+    2345             : 
+    2346             :   // | ------------- breaking for the next iteration ------------ |
+    2347             : 
+    2348      147459 :   if (drs_params.braking_enabled &&
+    2349       49153 :       (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       34309 :       (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      129627 :       (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       31321 :       (fabs(radians::diff(des_heading_trajectory(10), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1 &&
+    2353       31188 :        fabs(radians::diff(des_heading_trajectory(30), des_heading_trajectory(_mpc_horizon_len_ - 1))) <= 0.1)) {
+    2354       31188 :     brake_ = true;
+    2355       31188 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2356             :   } else {
+    2357       17965 :     brake_ = false;
+    2358             :   }
+    2359             : 
+    2360             :   /* publish mpc reference //{ */
+    2361             : 
+    2362             :   {
+    2363       98306 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2364       49153 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2365       49153 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2366             : 
+    2367             :     {
+    2368       98306 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2369             : 
+    2370     2015273 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2371             : 
+    2372     1966120 :         geometry_msgs::Pose new_pose;
+    2373             : 
+    2374     1966120 :         new_pose.position.x = des_x_filtered(i, 0);
+    2375     1966120 :         new_pose.position.y = des_y_filtered(i, 0);
+    2376     1966120 :         new_pose.position.z = des_z_filtered(i, 0);
+    2377             : 
+    2378     1966120 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2379             : 
+    2380     1966120 :         debug_trajectory_out.poses.push_back(new_pose);
+    2381             :       }
+    2382             :     }
+    2383             : 
+    2384       49153 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2385             :   }
+    2386             : 
+    2387             :   //}
+    2388             : }
+    2389             : 
+    2390             : //}
+    2391             : 
+    2392             : /* iterateModel() //{ */
+    2393             : 
+    2394       42569 : void MpcTracker::iterateModel(const double& dt) {
+    2395             : 
+    2396       42569 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2397             : 
+    2398       42569 :   if (model_first_iteration_) {
+    2399             : 
+    2400          54 :     model_iteration_last_time_ = ros::Time::now();
+    2401          54 :     model_first_iteration_     = false;
+    2402             : 
+    2403             :   } else {
+    2404             : 
+    2405       42515 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2406             : 
+    2407       42515 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2408       42515 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2409             : 
+    2410             :     // clang-format off
+    2411       42515 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2412       42515 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2413       42515 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2414       42515 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2415       42515 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2416       42515 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2417       42515 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2418       42515 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2419       42515 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2420       42515 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2421       42515 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2422       42515 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2423             : 
+    2424       42515 :       B_ << 0,   0,   0,
+    2425       42515 :             0,   0,   0,
+    2426       42515 :             0,   0,   0,
+    2427       42515 :             dt1, 0,   0,
+    2428       42515 :             0,   0,   0,
+    2429       42515 :             0,   0,   0,
+    2430       42515 :             0,   0,   0,
+    2431       42515 :             0,   dt1, 0,
+    2432       42515 :             0,   0,   0,
+    2433       42515 :             0,   0,   0,
+    2434       42515 :             0,   0,   0,
+    2435       42515 :             0,   0,   dt1;
+    2436             : 
+    2437       42515 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2438       42515 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2439       42515 :                     0, 0,   1,           dt1,
+    2440       42515 :                     0, 0,   0,           1;
+    2441             : 
+    2442       42515 :       B_heading_ << 0,
+    2443       42515 :                     0,
+    2444       85030 :                     0,
+    2445       42515 :                     dt1;
+    2446             : 
+    2447       42515 :     model_iteration_last_time_ = ros::Time::now();
+    2448             :   }
+    2449             : 
+    2450             :   {
+    2451       85138 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2452       85138 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2453             : 
+    2454       85138 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2455       85138 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2456             : 
+    2457             :     // | --------------- check the state difference --------------- |
+    2458             :     {
+    2459       42569 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2460             : 
+    2461       42569 :       bool problem = false;
+    2462             : 
+    2463             :       // position
+    2464             : 
+    2465       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       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       42569 :       if (problem) {
+    2574           0 :         debugPrintState(0.001);
+    2575           0 :         debugPrintMPCResult(0.001);
+    2576             :       }
+    2577             :     }
+    2578             : 
+    2579             :     {
+    2580       42569 :       std::scoped_lock lock(mutex_mpc_x_);
+    2581             : 
+    2582       42569 :       mpc_x_         = new_mpc_x;
+    2583       42569 :       mpc_x_heading_ = new_mpc_x_heading;
+    2584             : 
+    2585       42569 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2586             :     }
+    2587             :   }
+    2588       42569 : }
+    2589             : 
+    2590             : //}
+    2591             : 
+    2592             : // | -------------------- referece setting -------------------- |
+    2593             : 
+    2594             : /* //{ loadTrajectory() */
+    2595             : 
+    2596             : // method for setting desired trajectory
+    2597         497 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2598             : 
+    2599         497 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2600             : 
+    2601             :   // copy the member variables
+    2602         994 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2603         994 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2604             : 
+    2605         994 :   std::stringstream ss;
+    2606             : 
+    2607             :   /* check the trajectory dt //{ */
+    2608             : 
+    2609             :   double trajectory_dt;
+    2610         497 :   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         497 :   } 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         497 :     trajectory_dt = msg.dt;
+    2620             :   }
+    2621             : 
+    2622             :   //}
+    2623             : 
+    2624         497 :   int trajectory_size = msg.points.size();
+    2625             : 
+    2626             :   /* sanitize the time-ness of the trajectory //{ */
+    2627             : 
+    2628         497 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2629         497 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2630         497 :   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         497 :   if (msg.fly_now) {
+    2634             : 
+    2635         497 :     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         497 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2640             : 
+    2641           0 :       trajectory_time_offset = 0.0;
+    2642             : 
+    2643             :       // the desired time is specified
+    2644             :     } else {
+    2645             : 
+    2646         497 :       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         497 :       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         497 :     if (trajectory_time_offset > 0.0) {
+    2660             : 
+    2661             :       // calculate the offset in samples
+    2662           3 :       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           3 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2666             : 
+    2667           3 :       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           3 :       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           3 :         if (trajectory_time_offset >= trajectory_dt) {
+    2683             : 
+    2684             :           // decrease the trajectory size
+    2685           2 :           trajectory_size -= trajectory_sample_offset;
+    2686             : 
+    2687           2 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2688             : 
+    2689             :         } else {
+    2690             : 
+    2691           1 :           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         497 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2706         497 :   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         994 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2718         994 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2719         994 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2720         994 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + _mpc_horizon_len_, 1);
+    2721             : 
+    2722       25617 :   for (int i = 0; i < trajectory_size; i++) {
+    2723             : 
+    2724       25120 :     des_x_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.x;
+    2725       25120 :     des_y_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.y;
+    2726       25120 :     des_z_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.z;
+    2727       25120 :     des_heading_whole_trajectory(i) = msg.points[trajectory_sample_offset + i].heading;
+    2728             :   }
+    2729             : 
+    2730             :   //}
+    2731             : 
+    2732             :   /* set looping //{ */
+    2733             : 
+    2734         497 :   bool loop = false;
+    2735             : 
+    2736         497 :   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         497 :     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         497 :   if (!loop) {
+    2773             : 
+    2774             :     // extend it so it has smooth ending
+    2775       20377 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2776             : 
+    2777       19880 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2778       19880 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2779       19880 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2780       19880 :       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         994 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2797             : 
+    2798         497 :     des_whole_trajectory_id_ = msg.input_id;
+    2799             : 
+    2800         497 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2801             : 
+    2802         497 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2803         497 :     trajectory_track_heading_        = msg.use_heading;
+    2804             : 
+    2805             :     // allocate the vectors
+    2806         497 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2807         497 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2808         497 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2809         497 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + _mpc_horizon_len_, 1);
+    2810             : 
+    2811       45497 :     for (int i = 0; i < trajectory_size + _mpc_horizon_len_; i++) {
+    2812             : 
+    2813       45000 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2814       45000 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2815       45000 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2816             : 
+    2817       45000 :       if (trajectory_track_heading_) {
+    2818       45000 :         (*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         497 :     if (trajectory_tracking_in_progress_) {
+    2826             : 
+    2827         497 :       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       20377 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    2832             : 
+    2833       19880 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2834             : 
+    2835       19880 :         int first_idx  = floor(first_time / trajectory_dt);
+    2836       19880 :         int second_idx = first_idx + 1;
+    2837             : 
+    2838       19880 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2839             : 
+    2840       19880 :         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       19880 :           if (second_idx >= trajectory_size) {
+    2852           0 :             second_idx = trajectory_size - 1;
+    2853             :           }
+    2854             : 
+    2855       19880 :           if (first_idx >= trajectory_size) {
+    2856           0 :             first_idx = trajectory_size - 1;
+    2857             :           }
+    2858             :         }
+    2859             : 
+    2860       19880 :         des_x_trajectory_(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2861       19880 :         des_y_trajectory_(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2862       19880 :         des_z_trajectory_(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2863             : 
+    2864       19880 :         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         497 :     trajectory_size_             = trajectory_size;
+    2871         497 :     trajectory_tracking_idx_     = 0;
+    2872         497 :     trajectory_tracking_sub_idx_ = trajectory_subsample_offset;
+    2873         497 :     trajectory_set_              = true;
+    2874         497 :     trajectory_tracking_loop_    = loop;
+    2875         497 :     trajectory_dt_               = trajectory_dt;
+    2876         497 :     trajectory_count_++;
+    2877             : 
+    2878         497 :     timer_trajectory_tracking_.setPeriod(ros::Duration(trajectory_dt));
+    2879             :   }
+    2880             : 
+    2881             :   //}
+    2882             : 
+    2883         497 :   if (trajectory_tracking_in_progress_) {
+    2884         497 :     timer_trajectory_tracking_.start();
+    2885             :   }
+    2886             : 
+    2887         497 :   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         994 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2894         497 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2895         497 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2896             : 
+    2897             :     {
+    2898         994 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2899             : 
+    2900       25617 :       for (int i = 0; i < trajectory_size; i++) {
+    2901             : 
+    2902       25120 :         geometry_msgs::Pose new_pose;
+    2903             : 
+    2904       25120 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2905       25120 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2906       25120 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2907             : 
+    2908       25120 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2909             : 
+    2910       25120 :         debug_trajectory_out.poses.push_back(new_pose);
+    2911             :       }
+    2912             :     }
+    2913             : 
+    2914         497 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2915             : 
+    2916         994 :     visualization_msgs::MarkerArray msg_out;
+    2917             : 
+    2918         994 :     visualization_msgs::Marker marker;
+    2919             : 
+    2920         497 :     marker.header.stamp     = ros::Time::now();
+    2921         497 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2922         497 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2923         497 :     marker.color.a          = 1;
+    2924         497 :     marker.scale.x          = 0.05;
+    2925         497 :     marker.color.r          = 1;
+    2926         497 :     marker.color.g          = 0;
+    2927         497 :     marker.color.b          = 0;
+    2928         497 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2929             : 
+    2930             :     {
+    2931         994 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2932             : 
+    2933       25120 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2934             : 
+    2935       24623 :         geometry_msgs::Point point1;
+    2936             : 
+    2937       24623 :         point1.x = des_x_whole_trajectory(i);
+    2938       24623 :         point1.y = des_y_whole_trajectory(i);
+    2939       24623 :         point1.z = des_z_whole_trajectory(i);
+    2940             : 
+    2941       24623 :         marker.points.push_back(point1);
+    2942             : 
+    2943       24623 :         geometry_msgs::Point point2;
+    2944             : 
+    2945       24623 :         point2.x = des_x_whole_trajectory(i + 1);
+    2946       24623 :         point2.y = des_y_whole_trajectory(i + 1);
+    2947       24623 :         point2.z = des_z_whole_trajectory(i + 1);
+    2948             : 
+    2949       24623 :         marker.points.push_back(point2);
+    2950             :       }
+    2951             :     }
+    2952             : 
+    2953         497 :     msg_out.markers.push_back(marker);
+    2954             : 
+    2955         497 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2956             :   }
+    2957             : 
+    2958             :   //}
+    2959             : 
+    2960         497 :   publishDiagnostics();
+    2961             : 
+    2962         994 :   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         814 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2971             : 
+    2972        1628 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2973             : 
+    2974         814 :   des_x_trajectory_.fill(x);
+    2975         814 :   des_y_trajectory_.fill(y);
+    2976         814 :   des_z_trajectory_.fill(z);
+    2977         814 :   des_heading_trajectory_.fill(heading);
+    2978         814 : }
+    2979             : 
+    2980             : //}
+    2981             : 
+    2982             : /* //{ setGoal() */
+    2983             : 
+    2984             : // set absolute goal
+    2985         125 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2986             : 
+    2987         125 :   double desired_heading = sradians::wrap(heading);
+    2988             : 
+    2989         250 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2990             : 
+    2991         125 :   if (!use_heading) {
+    2992           0 :     desired_heading = mpc_x_heading(0, 0);
+    2993             :   }
+    2994             : 
+    2995         125 :   trajectory_tracking_in_progress_ = false;
+    2996         125 :   timer_trajectory_tracking_.stop();
+    2997             : 
+    2998         125 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    2999             : 
+    3000         125 :   publishDiagnostics();
+    3001         125 : }
+    3002             : 
+    3003             : //}
+    3004             : 
+    3005             : /* //{ setRelativeGoal() */
+    3006             : 
+    3007         689 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    3008             : 
+    3009        1378 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3010             : 
+    3011         689 :   double abs_x = mpc_x(0, 0) + pos_x;
+    3012         689 :   double abs_y = mpc_x(4, 0) + pos_y;
+    3013         689 :   double abs_z = mpc_x(8, 0) + pos_z;
+    3014             : 
+    3015         689 :   double abs_heading = mpc_x_heading(0, 0);
+    3016             : 
+    3017         689 :   if (use_heading) {
+    3018           0 :     abs_heading += heading;
+    3019             :   }
+    3020             : 
+    3021         689 :   trajectory_tracking_in_progress_ = false;
+    3022         689 :   timer_trajectory_tracking_.stop();
+    3023             : 
+    3024         689 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3025             : 
+    3026         689 :   publishDiagnostics();
+    3027         689 : }
+    3028             : 
+    3029             : //}
+    3030             : 
+    3031             : /* toggleHover() //{ */
+    3032             : 
+    3033         734 : void MpcTracker::toggleHover(bool in) {
+    3034             : 
+    3035             :   // DON'T PUT MUTEX LOCK IN THIS FUNCTION
+    3036             :   // it is called under mutex elsewhere
+    3037             : 
+    3038         734 :   if (in == false && hovering_in_progress_) {
+    3039             : 
+    3040          56 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3041             : 
+    3042          56 :     timer_hover_.stop();
+    3043             : 
+    3044          56 :     hovering_in_progress_ = false;
+    3045             : 
+    3046         678 :   } else if (in == true && !hovering_in_progress_) {
+    3047             : 
+    3048          56 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3049             : 
+    3050          56 :     hovering_in_progress_ = true;
+    3051             : 
+    3052          56 :     timer_hover_.start();
+    3053             :   }
+    3054         734 : }
+    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       13647 : void MpcTracker::publishDiagnostics(void) {
+    3220             : 
+    3221       27294 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3222       27294 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3223       27294 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3224       27294 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3225             : 
+    3226       27294 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3227             : 
+    3228       13647 :   diagnostics.header.stamp    = ros::Time::now();
+    3229       13647 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3230             : 
+    3231       13647 :   diagnostics.active = is_active_;
+    3232             : 
+    3233       13647 :   diagnostics.uav_name = _uav_name_;
+    3234             : 
+    3235       13647 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3236       13647 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3237             : 
+    3238       13647 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3239       13647 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3240       13647 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3241             : 
+    3242       13647 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3243             : 
+    3244       27294 :   std::stringstream ss;
+    3245             : 
+    3246             :   {
+    3247       27294 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3248             : 
+    3249             :     // fill in if other UAVs are sending their trajectories
+    3250       13647 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3251             : 
+    3252       13647 :     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       27294 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3268             : 
+    3269       13647 :   if (ss.str().length() > 0) {
+    3270           0 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3271       29872 :   } else if (collision_avoidance_enabled_ &&
+    3272       16225 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3273       11459 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3274             :   }
+    3275             : 
+    3276       13647 :   pub_diagnostics_.publish(diagnostics);
+    3277             : 
+    3278       27294 :   std_msgs::String string_msg;
+    3279             : 
+    3280       13647 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3281             : 
+    3282       13647 :     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       13647 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3290             : 
+    3291       13647 :     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       13647 :   pub_status_string_.publish(string_msg);
+    3308       13647 : }
+    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       11885 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3348             : 
+    3349       11885 :   if (!is_initialized_)
+    3350           0 :     return;
+    3351             : 
+    3352       35655 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3353       35655 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3354             : 
+    3355       11885 :   publishDiagnostics();
+    3356             : }
+    3357             : 
+    3358             : //}
+    3359             : 
+    3360             : /* //{ timerMPC() */
+    3361             : 
+    3362       49153 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3363             : 
+    3364       49153 :   if (odometry_reset_in_progress_) {
+    3365           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3366           0 :     return;
+    3367             :   }
+    3368             : 
+    3369       49153 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3370             : 
+    3371       49153 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3372             : 
+    3373       49153 :   bool started_with_invalid = mpc_result_invalid_;
+    3374             : 
+    3375       49153 :   if (!is_active_) {
+    3376           0 :     return;
+    3377             :   }
+    3378             : 
+    3379       49153 :   if (!is_initialized_) {
+    3380           0 :     return;
+    3381             :   }
+    3382             : 
+    3383      147459 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3384      147459 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3385             : 
+    3386       49153 :   ros::Time     begin = ros::Time::now();
+    3387       49153 :   ros::Time     end;
+    3388       49153 :   ros::Duration interval;
+    3389             :   int           trajectory_id;
+    3390             : 
+    3391             :   // if we are tracking trajectory, copy the setpoint
+    3392       49153 :   if (trajectory_tracking_in_progress_) {
+    3393             : 
+    3394       18324 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3395       18324 :     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        9162 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3400             : 
+    3401        9162 :       des_x_trajectory       = des_x_trajectory_;
+    3402        9162 :       des_y_trajectory       = des_y_trajectory_;
+    3403        9162 :       des_z_trajectory       = des_z_trajectory_;
+    3404        9162 :       des_heading_trajectory = des_heading_trajectory_;
+    3405             : 
+    3406        9162 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3407        9162 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3408        9162 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3409        9162 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3410             : 
+    3411        9162 :       trajectory_size = trajectory_size_;
+    3412        9162 :       trajectory_dt   = trajectory_dt_;
+    3413             : 
+    3414        9162 :       trajectory_id = des_whole_trajectory_id_;
+    3415             :     }
+    3416             : 
+    3417             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3418             : 
+    3419        9162 :     int trajectory_tracking_sub_idx = trajectory_tracking_sub_idx_;
+    3420        9162 :     int trajectory_tracking_idx     = trajectory_tracking_idx_;
+    3421             : 
+    3422      375642 :     for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3423             : 
+    3424      366480 :       double first_time = dt1 + i * _dt2_ + trajectory_tracking_sub_idx * dt1;
+    3425             : 
+    3426      366480 :       int first_idx  = trajectory_tracking_idx + int(floor(first_time / trajectory_dt));
+    3427      366480 :       int second_idx = first_idx + 1;
+    3428             : 
+    3429      366480 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3430             : 
+    3431      366480 :       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      366480 :         if (second_idx >= trajectory_size) {
+    3444       45730 :           second_idx = trajectory_size - 1;
+    3445             :         }
+    3446             : 
+    3447      366480 :         if (first_idx >= trajectory_size) {
+    3448       43513 :           first_idx = trajectory_size - 1;
+    3449             :         }
+    3450             :       }
+    3451             : 
+    3452      366480 :       des_x_trajectory(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory[first_idx] + interp_coeff * des_x_whole_trajectory[second_idx];
+    3453      366480 :       des_y_trajectory(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory[first_idx] + interp_coeff * des_y_whole_trajectory[second_idx];
+    3454      366480 :       des_z_trajectory(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory[first_idx] + interp_coeff * des_z_whole_trajectory[second_idx];
+    3455             : 
+    3456      366480 :       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       18324 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3461             : 
+    3462        9162 :       des_x_trajectory_       = des_x_trajectory;
+    3463        9162 :       des_y_trajectory_       = des_y_trajectory;
+    3464        9162 :       des_z_trajectory_       = des_z_trajectory;
+    3465        9162 :       des_heading_trajectory_ = des_heading_trajectory;
+    3466             :     }
+    3467             : 
+    3468             :     //}
+    3469             : 
+    3470             :     // increase the trajectory subsampling counter
+    3471             :     {
+    3472        9162 :       std::scoped_lock lock(mutex_trajectory_tracking_states_);
+    3473             : 
+    3474        9162 :       trajectory_tracking_sub_idx_++;
+    3475             :     }
+    3476             :   } else {
+    3477             : 
+    3478       39991 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3479             : 
+    3480       39991 :     trajectory_id = des_whole_trajectory_id_;
+    3481             :   }
+    3482             : 
+    3483       49153 :   manageConstraints();
+    3484             : 
+    3485       49153 :   calculateMPC();
+    3486             : 
+    3487       49153 :   end      = ros::Time::now();
+    3488       49153 :   interval = end - begin;
+    3489             : 
+    3490             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3491             : 
+    3492       49153 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3493             : 
+    3494       49153 :   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       98306 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3502       49153 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3503       49153 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3504             : 
+    3505             :     {
+    3506       98306 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3507             : 
+    3508     2015273 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3509             : 
+    3510     1966120 :         geometry_msgs::Pose newPose;
+    3511             : 
+    3512     1966120 :         newPose.position.x = predicted_trajectory_(i * _mpc_n_states_);
+    3513     1966120 :         newPose.position.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3514     1966120 :         newPose.position.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3515             : 
+    3516             :         try {
+    3517     1966120 :           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     1966120 :         debug_trajectory_out.poses.push_back(newPose);
+    3523             :       }
+    3524             :     }
+    3525             : 
+    3526       49153 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3527             :   }
+    3528             : 
+    3529             :   //}
+    3530             : 
+    3531             :   /* publish full state prediction //{ */
+    3532             : 
+    3533             :   {
+    3534       98306 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3535       49153 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3536       49153 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3537             : 
+    3538       49153 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3539             : 
+    3540       49153 :     prediction_fs_out.input_id = trajectory_id;
+    3541             : 
+    3542             :     {
+    3543       98306 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3544             : 
+    3545     2015273 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3546             : 
+    3547     1966120 :         if (i == 0) {
+    3548       49153 :           stamp += ros::Duration(0.01);
+    3549             :         } else {
+    3550     1916967 :           stamp += ros::Duration(0.2);
+    3551             :         }
+    3552             : 
+    3553     1966120 :         prediction_fs_out.stamps.push_back(stamp);
+    3554             : 
+    3555             :         {  // position
+    3556     1966120 :           geometry_msgs::Point point;
+    3557             : 
+    3558     1966120 :           point.x = predicted_trajectory_(i * _mpc_n_states_);
+    3559     1966120 :           point.y = predicted_trajectory_(i * _mpc_n_states_ + 4);
+    3560     1966120 :           point.z = predicted_trajectory_(i * _mpc_n_states_ + 8);
+    3561             : 
+    3562     1966120 :           prediction_fs_out.position.push_back(point);
+    3563             :         }
+    3564             : 
+    3565             :         {  // velocity
+    3566     1966120 :           geometry_msgs::Vector3 vector;
+    3567             : 
+    3568     1966120 :           vector.x = predicted_trajectory_(i * _mpc_n_states_ + 1);
+    3569     1966120 :           vector.y = predicted_trajectory_(i * _mpc_n_states_ + 5);
+    3570     1966120 :           vector.z = predicted_trajectory_(i * _mpc_n_states_ + 9);
+    3571             : 
+    3572     1966120 :           prediction_fs_out.velocity.push_back(vector);
+    3573             :         }
+    3574             : 
+    3575             :         {  // acceleration
+    3576     1966120 :           geometry_msgs::Vector3 vector3;
+    3577             : 
+    3578     1966120 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 2);
+    3579     1966120 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 6);
+    3580     1966120 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 10);
+    3581             : 
+    3582     1966120 :           prediction_fs_out.acceleration.push_back(vector3);
+    3583             :         }
+    3584             : 
+    3585             :         {  // jerk
+    3586     1966120 :           geometry_msgs::Vector3 vector3;
+    3587             : 
+    3588     1966120 :           vector3.x = predicted_trajectory_(i * _mpc_n_states_ + 3);
+    3589     1966120 :           vector3.y = predicted_trajectory_(i * _mpc_n_states_ + 7);
+    3590     1966120 :           vector3.z = predicted_trajectory_(i * _mpc_n_states_ + 11);
+    3591             : 
+    3592     1966120 :           prediction_fs_out.jerk.push_back(vector3);
+    3593             :         }
+    3594             : 
+    3595             :         {
+    3596             :           // heading
+    3597             : 
+    3598     1966120 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * _mpc_n_states_));
+    3599     1966120 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 1));
+    3600     1966120 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 2));
+    3601     1966120 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * _mpc_n_states_ + 3));
+    3602             :         }
+    3603             :       }
+    3604             :     }
+    3605             : 
+    3606             :     {
+    3607       98306 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3608       49153 :       prediction_full_state_ = prediction_fs_out;
+    3609             :     }
+    3610             :   }
+    3611             : 
+    3612             :   //}
+    3613             : 
+    3614       49153 :   mpc_computed_ = true;
+    3615             : 
+    3616       49153 :   if (started_with_invalid) {
+    3617             : 
+    3618           4 :     mpc_result_invalid_ = false;
+    3619             : 
+    3620           4 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3621             :   }
+    3622             : }
+    3623             : 
+    3624             : //}
+    3625             : 
+    3626             : /* timerTrajectoryTracking() //{ */
+    3627             : 
+    3628         420 : void MpcTracker::timerTrajectoryTracking(const ros::TimerEvent& event) {
+    3629             : 
+    3630         420 :   auto trajectory_size = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    3631         420 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3632             : 
+    3633        1260 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerTrajectoryTracking", int(1.0 / trajectory_dt), 0.01, event);
+    3634             :   mrs_lib::ScopeTimer timer =
+    3635        1260 :       mrs_lib::ScopeTimer("MpcTracker::timerTrajectoryTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3636             : 
+    3637             :   {
+    3638         840 :     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         420 :     trajectory_tracking_sub_idx_ = 0;
+    3644             : 
+    3645             :     // INCREMENT THE TRACKING IDX
+    3646         420 :     trajectory_tracking_idx_++;
+    3647             : 
+    3648             :     // if the tracking idx hits the end of the trajectory
+    3649         420 :     if (trajectory_tracking_idx_ == trajectory_size) {
+    3650             : 
+    3651           3 :       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           3 :         trajectory_tracking_in_progress_ = false;
+    3661             : 
+    3662             :         // set the idx to the last idx of the trajectory
+    3663           3 :         trajectory_tracking_idx_ = trajectory_size - 1;
+    3664             : 
+    3665           3 :         timer_trajectory_tracking_.stop();
+    3666             : 
+    3667           3 :         ROS_INFO("[MpcTracker]: done tracking trajectory");
+    3668             :       }
+    3669             :     }
+    3670             :   }
+    3671             : 
+    3672         420 :   publishDiagnostics();
+    3673         420 : }
+    3674             : 
+    3675             : //}
+    3676             : 
+    3677             : /* timerVelocityTracking() //{ */
+    3678             : 
+    3679         496 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3680             : 
+    3681         496 :   if (!is_initialized_) {
+    3682           2 :     return;
+    3683             :   }
+    3684             : 
+    3685         496 :   if (!velocity_tracking_active_) {
+    3686           0 :     return;
+    3687             :   }
+    3688             : 
+    3689         992 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3690             :   mrs_lib::ScopeTimer timer =
+    3691         992 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3692             : 
+    3693             :   // stop the timer when timeout
+    3694         496 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3695             : 
+    3696           2 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3697           2 :     timer_velocity_tracking_.stop();
+    3698             : 
+    3699           2 :     toggleHover(true);
+    3700             : 
+    3701           2 :     velocity_tracking_active_ = false;
+    3702             : 
+    3703           2 :     return;
+    3704             :   }
+    3705             : 
+    3706         988 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3707         494 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3708             : 
+    3709         988 :   mrs_msgs::TrajectoryReference trajectory;
+    3710             : 
+    3711         494 :   trajectory.fly_now         = true;
+    3712         494 :   trajectory.use_heading     = true;
+    3713         494 :   trajectory.dt              = 0.2;
+    3714         494 :   trajectory.header.stamp    = ros::Time::now();
+    3715         494 :   trajectory.header.frame_id = "";
+    3716             : 
+    3717         494 :   double x       = mpc_x(0, 0);
+    3718         494 :   double y       = mpc_x(4, 0);
+    3719         494 :   double z       = mpc_x(8, 0);
+    3720         494 :   double heading = mpc_x_heading(0, 0);
+    3721             : 
+    3722       25194 :   for (int i = 0; i < 50; i++) {
+    3723             : 
+    3724       24700 :     mrs_msgs::Reference reference;
+    3725       24700 :     reference.position.x = x;
+    3726       24700 :     reference.position.y = y;
+    3727       24700 :     reference.position.z = z;
+    3728       24700 :     reference.heading    = heading;
+    3729             : 
+    3730       24700 :     trajectory.points.push_back(reference);
+    3731             : 
+    3732       24700 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3733       24700 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3734       24700 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3735             : 
+    3736       24700 :     if (velocity_reference.use_altitude) {
+    3737           0 :       z = velocity_reference.altitude;
+    3738             :     }
+    3739             : 
+    3740       24700 :     if (velocity_reference.use_heading_rate) {
+    3741       24700 :       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         988 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3748             : }
+    3749             : 
+    3750             : //}
+    3751             : 
+    3752             : /* //{ timerAvoidanceTrajectory() */
+    3753             : 
+    3754        2347 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3755             : 
+    3756        2347 :   if (!is_active_) {
+    3757        1120 :     return;
+    3758             :   }
+    3759             : 
+    3760        1263 :   if (!is_initialized_) {
+    3761           0 :     return;
+    3762             :   }
+    3763             : 
+    3764        1263 :   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        1263 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3770        1263 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3771             : 
+    3772        1263 :     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        1263 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3774             : 
+    3775        1263 :     if (!got_gps_est && !got_rtk_est) {
+    3776          36 :       return;
+    3777             :     }
+    3778             :   }
+    3779             : 
+    3780        2454 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3781             :   mrs_lib::ScopeTimer timer =
+    3782        2454 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3783             : 
+    3784        1227 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3785        1227 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3786             : 
+    3787        1227 :   if (future_was_predicted_) {
+    3788             : 
+    3789        1227 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3790             : 
+    3791             :     // fill last trajectory with initial data
+    3792        1227 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3793        1227 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3794        1227 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3795        1227 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3796        1227 :     avoidance_trajectory.points.clear();
+    3797        1227 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3798        1227 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3799        1227 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3800        1227 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3801             : 
+    3802        2454 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3803             : 
+    3804        1227 :     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        2454 :       geometry_msgs::TransformStamped tf = res.value();
+    3814             : 
+    3815       50307 :       for (int i = 0; i < _mpc_horizon_len_; i++) {
+    3816             : 
+    3817             :         // original point
+    3818       98160 :         geometry_msgs::PoseStamped original_point;
+    3819             : 
+    3820       49080 :         original_point.header.stamp    = ros::Time::now();
+    3821       49080 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3822             : 
+    3823       49080 :         original_point.pose.position.x = predicted_trajectory(i * _mpc_n_states_);
+    3824       49080 :         original_point.pose.position.y = predicted_trajectory(i * _mpc_n_states_ + 4);
+    3825       49080 :         original_point.pose.position.z = predicted_trajectory(i * _mpc_n_states_ + 8);
+    3826             : 
+    3827       49080 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3828             : 
+    3829       98160 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3830             : 
+    3831       49080 :         if (res) {
+    3832             : 
+    3833       49080 :           mrs_msgs::FuturePoint new_point;
+    3834             : 
+    3835       49080 :           new_point.x = res.value().pose.position.x;
+    3836       49080 :           new_point.y = res.value().pose.position.y;
+    3837       49080 :           new_point.z = res.value().pose.position.z;
+    3838             : 
+    3839       49080 :           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        1227 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3851             :   }
+    3852             : }
+    3853             : 
+    3854             : //}
+    3855             : 
+    3856             : /* timerHover() //{ */
+    3857             : 
+    3858         635 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3859             : 
+    3860        1270 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3861             : 
+    3862        1905 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3863        1905 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3864             : 
+    3865         635 :   setRelativeGoal(0, 0, 0, 0, false);
+    3866             : 
+    3867         635 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3868             : 
+    3869          25 :     toggleHover(false);
+    3870             : 
+    3871          25 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3872             :   }
+    3873         635 : }
+    3874             : 
+    3875             : //}
+    3876             : 
+    3877             : }  // namespace mpc_tracker
+    3878             : 
+    3879             : }  // namespace mrs_uav_trackers
+    3880             : 
+    3881             : #include <pluginlib/class_list_macros.h>
+    3882          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..ebc2596163 --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html @@ -0,0 +1,991 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html new file mode 100644 index 0000000000..01aa82db60 --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/speed_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-14 11:12:21Functions: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
speed_tracker.cpp +
14.8%14.8%
+ 		14.8 %61 / 41136.8 %7 / 19
<unnamed>14.8 %61 / 41136.8 %7 / 19
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-14 11:12:21Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::speed_tracker::SpeedTracker::resetStatic()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::callbackCommand(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)0
mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()17
(anonymous namespace)::ProxyExec0::ProxyExec0()62
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>)62
mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)172
mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)203
mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)70250
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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-14 11:12:21Functions:71936.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()62
mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()17
mrs_uav_trackers::speed_tracker::SpeedTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)62
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&)203
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&)172
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&)3
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&)70250
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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Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6141114.8 %
Date:2024-01-14 11:12:21Functions:71936.8 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : 
+       5             : #include <mrs_uav_managers/tracker.h>
+       6             : 
+       7             : #include <mrs_msgs/SpeedTrackerCommand.h>
+       8             : #include <mrs_msgs/VelocityReferenceSrv.h>
+       9             : 
+      10             : #include <mrs_lib/profiler.h>
+      11             : #include <mrs_lib/mutex.h>
+      12             : #include <mrs_lib/attitude_converter.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/geometry/cyclic.h>
+      15             : #include <mrs_lib/geometry/misc.h>
+      16             : #include <mrs_lib/publisher_handler.h>
+      17             : 
+      18             : #include <visualization_msgs/Marker.h>
+      19             : #include <visualization_msgs/MarkerArray.h>
+      20             : 
+      21             : //}
+      22             : 
+      23             : /* defines //{ */
+      24             : 
+      25             : #define STOP_THR 1e-3
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* using //{ */
+      30             : 
+      31             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      32             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      33             : 
+      34             : using radians  = mrs_lib::geometry::radians;
+      35             : using sradians = mrs_lib::geometry::sradians;
+      36             : 
+      37             : //}
+      38             : 
+      39             : namespace mrs_uav_trackers
+      40             : {
+      41             : 
+      42             : namespace speed_tracker
+      43             : {
+      44             : 
+      45             : /* //{ class SpeedTracker */
+      46             : 
+      47             : class SpeedTracker : public mrs_uav_managers::Tracker {
+      48             : public:
+      49             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      50             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      51             : 
+      52             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      53             :   void                          deactivate(void);
+      54             :   bool                          resetStatic(void);
+      55             : 
+      56             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      57             :   const mrs_msgs::TrackerStatus             getStatus();
+      58             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      59             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      60             : 
+      61             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      62             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      63             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      66             : 
+      67             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      71             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      72             : 
+      73             : private:
+      74             :   ros::NodeHandle nh_;
+      75             : 
+      76             :   bool callbacks_enabled_ = true;
+      77             : 
+      78             :   std::string _uav_name_;
+      79             : 
+      80             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      81             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      82             : 
+      83             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> ph_rviz_marker_;
+      84             : 
+      85             :   // | ------------------------ uav state ----------------------- |
+      86             : 
+      87             :   mrs_msgs::UavState uav_state_;
+      88             :   bool               got_uav_state_ = false;
+      89             :   std::mutex         mutex_uav_state_;
+      90             : 
+      91             :   // | ------------------- tracker constraints ------------------ |
+      92             : 
+      93             :   mrs_msgs::DynamicsConstraints constraints_;
+      94             :   std::mutex                    mutex_constraints_;
+      95             : 
+      96             :   // | ---------------- the tracker's inner state --------------- |
+      97             : 
+      98             :   bool is_initialized_  = false;
+      99             :   bool is_active_       = false;
+     100             :   bool first_iteration_ = true;
+     101             : 
+     102             :   double _external_command_timeout_;
+     103             : 
+     104             :   mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand> sh_command_;
+     105             : 
+     106             :   void callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg);
+     107             : 
+     108             :   // stores the post-processed and transformed command
+     109             :   mrs_msgs::SpeedTrackerCommand command_;
+     110             :   std::mutex                    mutex_command_;
+     111             :   ros::Time                     last_command_time_;
+     112             : 
+     113             :   // | ------------------------ profiler ------------------------ |
+     114             : 
+     115             :   mrs_lib::Profiler profiler_;
+     116             :   bool              _profiler_enabled_ = false;
+     117             : };
+     118             : 
+     119             : //}
+     120             : 
+     121             : // | -------------- tracker's interface routines -------------- |
+     122             : 
+     123             : /* //{ initialize() */
+     124             : 
+     125          62 : 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          62 :   this->common_handlers_  = common_handlers;
+     129          62 :   this->private_handlers_ = private_handlers;
+     130             : 
+     131          62 :   _uav_name_ = common_handlers->uav_name;
+     132             : 
+     133          62 :   nh_ = nh;
+     134             : 
+     135          62 :   ros::Time::waitForValid();
+     136             : 
+     137             :   // --------------------------------------------------------------
+     138             :   // |                     loading parameters                     |
+     139             :   // --------------------------------------------------------------
+     140             : 
+     141             :   // | ---------------- load parent's parameters ---------------- |
+     142             : 
+     143         124 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     144             : 
+     145          62 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     146             : 
+     147          62 :   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          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     155          62 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     156             : 
+     157         124 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     158             : 
+     159          62 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     160             : 
+     161          62 :   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          62 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     169             : 
+     170             :   // | ----------------------- subscribers ---------------------- |
+     171             : 
+     172          62 :   mrs_lib::SubscribeHandlerOptions shopts;
+     173          62 :   shopts.nh              = nh_;
+     174          62 :   shopts.node_name       = "SpeedTracker";
+     175          62 :   shopts.threadsafe      = true;
+     176          62 :   shopts.autostart       = true;
+     177          62 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     178             : 
+     179          62 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     180             : 
+     181             :   // | ----------------------- publishers ----------------------- |
+     182             : 
+     183          62 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     184             : 
+     185             :   // | --------------------- finish the init -------------------- |
+     186             : 
+     187          62 :   is_initialized_ = true;
+     188             : 
+     189          62 :   ROS_INFO("[SpeedTracker]: initialized");
+     190             : 
+     191          62 :   return true;
+     192             : }
+     193             : 
+     194             : //}
+     195             : 
+     196             : /* //{ activate() */
+     197             : 
+     198           0 : std::tuple<bool, std::string> SpeedTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     199             : 
+     200           0 :   std::stringstream ss;
+     201             : 
+     202           0 :   if (!got_uav_state_) {
+     203           0 :     ss << "odometry not set";
+     204           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     205           0 :     return std::tuple(false, ss.str());
+     206             :   }
+     207             : 
+     208           0 :   if (!sh_command_.hasMsg()) {
+     209           0 :     ss << "missing command";
+     210           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     211           0 :     return std::tuple(false, ss.str());
+     212             :   }
+     213             : 
+     214           0 :   ros::Time external_command_time = sh_command_.lastMsgTime();
+     215             : 
+     216             :   // timeout the external command
+     217           0 :   if ((ros::Time::now() - external_command_time).toSec() > _external_command_timeout_) {
+     218           0 :     ss << "the command is too old";
+     219           0 :     ROS_ERROR_STREAM("[SpeedTracker]: " << ss.str());
+     220           0 :     return std::tuple(false, ss.str());
+     221             :   }
+     222             : 
+     223           0 :   is_active_ = true;
+     224             : 
+     225           0 :   ss << "activated";
+     226           0 :   ROS_INFO_STREAM("[SpeedTracker]: " << ss.str());
+     227             : 
+     228           0 :   return std::tuple(true, ss.str());
+     229             : }
+     230             : 
+     231             : //}
+     232             : 
+     233             : /* //{ deactivate() */
+     234             : 
+     235          17 : void SpeedTracker::deactivate(void) {
+     236             : 
+     237          17 :   is_active_ = false;
+     238             : 
+     239          17 :   ROS_INFO("[SpeedTracker]: deactivated");
+     240          17 : }
+     241             : 
+     242             : //}
+     243             : 
+     244             : /* //{ resetStatic() */
+     245             : 
+     246           0 : bool SpeedTracker::resetStatic(void) {
+     247             : 
+     248           0 :   return false;
+     249             : }
+     250             : 
+     251             : //}
+     252             : 
+     253             : /* //{ update() */
+     254             : 
+     255       70250 : 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      210750 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     259      210750 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     260             : 
+     261             :   {
+     262       70250 :     std::scoped_lock lock(mutex_uav_state_);
+     263             : 
+     264       70250 :     uav_state_ = uav_state;
+     265             : 
+     266       70250 :     got_uav_state_ = true;
+     267             :   }
+     268             : 
+     269             :   double uav_heading;
+     270             : 
+     271             :   try {
+     272       70250 :     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       70250 :   if (!is_active_) {
+     282       70250 :     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         172 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     381             : 
+     382         344 :   std_srvs::SetBoolResponse res;
+     383         344 :   std::stringstream         ss;
+     384             : 
+     385         172 :   if (cmd->data != callbacks_enabled_) {
+     386             : 
+     387          13 :     callbacks_enabled_ = cmd->data;
+     388             : 
+     389          13 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     390          13 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     391             : 
+     392             :   } else {
+     393             : 
+     394         159 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     395         159 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     396             :   }
+     397             : 
+     398         172 :   res.message = ss.str();
+     399         172 :   res.success = true;
+     400             : 
+     401         344 :   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         203 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     459             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     460             : 
+     461             :   {
+     462         203 :     std::scoped_lock lock(mutex_constraints_);
+     463             : 
+     464         203 :     constraints_ = cmd->constraints;
+     465             :   }
+     466             : 
+     467         406 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     468             : 
+     469         203 :   res.success = true;
+     470         203 :   res.message = "constraints updated";
+     471             : 
+     472         406 :   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           3 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     498             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     499           3 :   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          62 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html new file mode 100644 index 0000000000..b1299a71fe --- /dev/null +++ b/mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp.gcov.overview.html @@ -0,0 +1,294 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/speed_tracker/speed_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgs - common.h (source / functions)HitTotalCoverage
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eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)428
eth_mav_msgs::quaternionFromYaw(double)2072
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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 %
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eth_mav_msgs::quaternionFromYaw(double)2072
eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)428
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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 %
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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         428 : inline double yawFromQuaternion(const Eigen::Quaterniond& q) {
+     131         428 :   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        2072 : inline Eigen::Quaterniond quaternionFromYaw(double yaw) {
+     139        2072 :   return Eigen::Quaterniond(Eigen::AngleAxisd(yaw, Eigen::Vector3d::UnitZ()));
+     140             : }
+     141             : 
+     142             : //}
+     143             : 
+     144             : /* setQuaternionMsgFromYaw() //{ */
+     145             : 
+     146             : inline void setQuaternionMsgFromYaw(double yaw, geometry_msgs::Quaternion* msg) {
+     147             :   assert(msg != NULL);
+     148             :   Eigen::Quaterniond q_yaw = quaternionFromYaw(yaw);
+     149             :   msg->x                   = q_yaw.x();
+     150             :   msg->y                   = q_yaw.y();
+     151             :   msg->z                   = q_yaw.z();
+     152             :   msg->w                   = q_yaw.w();
+     153             : }
+     154             : 
+     155             : //}
+     156             : 
+     157             : /* setAngularVelocityMsgFromYawRate() //{ */
+     158             : 
+     159             : inline void setAngularVelocityMsgFromYawRate(double yaw_rate, geometry_msgs::Vector3* msg) {
+     160             :   assert(msg != NULL);
+     161             :   msg->x = 0.0;
+     162             :   msg->y = 0.0;
+     163             :   msg->z = yaw_rate;
+     164             : }
+     165             : 
+     166             : //}
+     167             : 
+     168             : /* getEulerAnglesFromQuaternion() //{ */
+     169             : 
+     170             : inline void getEulerAnglesFromQuaternion(const Eigen::Quaternion<double>& q, Eigen::Vector3d* euler_angles) {
+     171             :   {
+     172             :     assert(euler_angles != NULL);
+     173             : 
+     174             :     *euler_angles << std::atan2(2.0 * (q.w() * q.x() + q.y() * q.z()), 1.0 - 2.0 * (q.x() * q.x() + q.y() * q.y())),
+     175             :         std::asin(2.0 * (q.w() * q.y() - q.z() * q.x())), std::atan2(2.0 * (q.w() * q.z() + q.x() * q.y()), 1.0 - 2.0 * (q.y() * q.y() + q.z() * q.z()));
+     176             :   }
+     177             : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* skewMatrixFromVector() //{ */
+     182             : 
+     183             : inline void skewMatrixFromVector(const Eigen::Vector3d& vec, Eigen::Matrix3d* vec_skew) {
+     184             :   assert(vec_skew);
+     185             :   *vec_skew << 0.0f, -vec(2), vec(1), vec(2), 0.0f, -vec(0), -vec(1), vec(0), 0.0f;
+     186             : }
+     187             : 
+     188             : //}
+     189             : 
+     190             : /* vectorFromSkewMatrix() //{ */
+     191             : 
+     192             : inline bool vectorFromSkewMatrix(const Eigen::Matrix3d& vec_skew, Eigen::Vector3d* vec) {
+     193             :   assert(vec);
+     194             :   if ((vec_skew + vec_skew.transpose()).norm() < kSmallValueCheck) {
+     195             :     *vec << vec_skew(2, 1), vec_skew(0, 2), vec_skew(1, 0);
+     196             :     return true;
+     197             :   } else {
+     198             :     std::cerr << "[eth_mav_msgs] Matrix is not skew-symmetric." << std::endl;
+     199             :     *vec = Eigen::Vector3d::Zero();
+     200             :     return false;
+     201             :   }
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* isRotationMatrix() //{ */
+     207             : 
+     208             : inline bool isRotationMatrix(const Eigen::Matrix3d& mat) {
+     209             :   // Check that R^T * R = I
+     210             :   if ((mat.transpose() * mat - Eigen::Matrix3d::Identity()).norm() > kSmallValueCheck) {
+     211             :     std::cerr << "[eth_mav_msgs::common] Rotation matrix requirement violated (R^T * R = I)" << std::endl;
+     212             :     return false;
+     213             :   }
+     214             :   // Check that det(R) = 1
+     215             :   if (mat.determinant() - 1.0 > kSmallValueCheck) {
+     216             :     std::cerr << "[eth_mav_msgs::common] Rotation matrix requirement violated (det(R) = 1)" << std::endl;
+     217             :     return false;
+     218             :   }
+     219             :   return true;
+     220             : }
+     221             : 
+     222             : //}
+     223             : 
+     224             : /* matrixFromRotationVector() //{ */
+     225             : 
+     226             : // Rotation matrix from rotation vector as described in
+     227             : // "Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles"
+     228             : // Brescianini 2018
+     229             : inline void matrixFromRotationVector(const Eigen::Vector3d& vec, Eigen::Matrix3d* mat) {
+     230             :   // R = (I + sin||r|| / ||r||) [r] + ((1 - cos||r||)/||r||^2) [r]^2
+     231             :   // where [r] is the skew matrix of r vector
+     232             :   assert(mat);
+     233             :   double          r_norm        = vec.norm();
+     234             :   Eigen::Matrix3d vec_skew_norm = Eigen::Matrix3d::Zero();
+     235             :   if (r_norm > 0.0) {
+     236             :     skewMatrixFromVector(vec / r_norm, &vec_skew_norm);
+     237             :   }
+     238             : 
+     239             :   *mat = Eigen::Matrix3d::Identity() + vec_skew_norm * std::sin(r_norm) + vec_skew_norm * vec_skew_norm * (1 - std::cos(r_norm));
+     240             : }
+     241             : 
+     242             : //}
+     243             : 
+     244             : /* vectorFromRotationMatrix() //{ */
+     245             : 
+     246             : // Rotation vector from rotation matrix as described in
+     247             : // "Computationally Efficient Trajectory Generation for Fully Actuated Multirotor Vehicles"
+     248             : // Brescianini 2018
+     249             : inline bool vectorFromRotationMatrix(const Eigen::Matrix3d& mat, Eigen::Vector3d* vec) {
+     250             :   // [r] = phi / 2sin(phi) * (R - R^T)
+     251             :   // where [r] is the skew matrix of r vector
+     252             :   // and phi satisfies 1 + 2cos(phi) = trace(R)
+     253             :   assert(vec);
+     254             : 
+     255             :   if (!isRotationMatrix(mat)) {
+     256             :     std::cerr << "[eth_mav_msgs::common] Not a rotation matrix." << std::endl;
+     257             :     return false;
+     258             :   }
+     259             : 
+     260             :   if ((mat - Eigen::Matrix3d::Identity()).norm() < kSmallValueCheck) {
+     261             :     *vec = Eigen::Vector3d::Zero();
+     262             :     return true;
+     263             :   }
+     264             : 
+     265             :   // Compute cosine of angle and clamp in range [-1, 1]
+     266             :   double cos_phi         = (mat.trace() - 1.0) / 2.0;
+     267             :   double cos_phi_clamped = boost::algorithm::clamp(cos_phi, -1.0, 1.0);
+     268             :   double phi             = std::acos(cos_phi_clamped);
+     269             : 
+     270             :   if (phi < kSmallValueCheck) {
+     271             :     *vec = Eigen::Vector3d::Zero();
+     272             :   } else {
+     273             :     Eigen::Matrix3d vec_skew = (mat - mat.transpose()) * phi / (2.0 * std::sin(phi));
+     274             :     Eigen::Vector3d vec_unskewed;
+     275             :     if (vectorFromSkewMatrix(vec_skew, &vec_unskewed)) {
+     276             :       *vec = vec_unskewed;
+     277             :     } else {
+     278             :       return false;
+     279             :     }
+     280             :   }
+     281             :   return true;
+     282             : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* omegaFromRotationVector() //{ */
+     287             : 
+     288             : // Calculates angular velocity (omega) from rotation vector derivative
+     289             : // based on formula derived in "Finite rotations and angular velocity" by Asher
+     290             : // Peres
+     291             : inline Eigen::Vector3d omegaFromRotationVector(const Eigen::Vector3d& rot_vec, const Eigen::Vector3d& rot_vec_vel) {
+     292             :   double phi = rot_vec.norm();
+     293             :   if (std::abs(phi) < 1.0e-3) {
+     294             :     // This captures the case of zero rotation
+     295             :     return rot_vec_vel;
+     296             :   }
+     297             : 
+     298             :   double phi_inv   = 1.0 / phi;
+     299             :   double phi_2_inv = phi_inv / phi;
+     300             :   double phi_3_inv = phi_2_inv / phi;
+     301             : 
+     302             :   // Create skew-symmetric matrix from rotation vector
+     303             :   Eigen::Matrix3d phi_skew;
+     304             :   skewMatrixFromVector(rot_vec, &phi_skew);
+     305             : 
+     306             :   // Set up matrix to calculate omega
+     307             :   Eigen::Matrix3d W;
+     308             :   W = Eigen::MatrixXd::Identity(3, 3) + phi_skew * (1 - std::cos(phi)) * phi_2_inv + phi_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     309             :   return W * rot_vec_vel;
+     310             : }
+     311             : 
+     312             : //}
+     313             : 
+     314             : /* omegaDotFromRotationVector() //{ */
+     315             : 
+     316             : // Calculates angular acceleration (omegaDot) from rotation vector derivative
+     317             : // based on formula derived in "Finite rotations and angular velocity" by Asher
+     318             : // Peres
+     319             : inline Eigen::Vector3d omegaDotFromRotationVector(const Eigen::Vector3d& rot_vec, const Eigen::Vector3d& rot_vec_vel, const Eigen::Vector3d& rot_vec_acc) {
+     320             :   double phi = rot_vec.norm();
+     321             :   if (std::abs(phi) < 1.0e-3) {
+     322             :     // This captures the case of zero rotation
+     323             :     return rot_vec_acc;
+     324             :   }
+     325             : 
+     326             :   double phi_dot = rot_vec.dot(rot_vec_vel) / phi;
+     327             : 
+     328             :   double phi_inv   = 1.0 / phi;
+     329             :   double phi_2_inv = phi_inv / phi;
+     330             :   double phi_3_inv = phi_2_inv / phi;
+     331             :   double phi_4_inv = phi_3_inv / phi;
+     332             : 
+     333             : 
+     334             :   // Create skew-symmetric matrix from rotation vector and velocity
+     335             :   Eigen::Matrix3d phi_skew;
+     336             :   Eigen::Matrix3d phi_dot_skew;
+     337             : 
+     338             :   skewMatrixFromVector(rot_vec, &phi_skew);
+     339             :   skewMatrixFromVector(rot_vec_vel, &phi_dot_skew);
+     340             : 
+     341             :   // Set up matrices to calculate omega dot
+     342             :   Eigen::Matrix3d W_vel;
+     343             :   Eigen::Matrix3d W_acc;
+     344             :   W_vel = phi_skew * (phi * std::sin(phi) - 2.0f + 2.0f * std::cos(phi)) * phi_dot * phi_3_inv +
+     345             :           phi_skew * phi_skew * (-2.0f * phi - phi * std::cos(phi) + 3.0f * std::sin(phi)) * phi_dot * phi_4_inv +
+     346             :           phi_dot_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     347             : 
+     348             :   W_acc = Eigen::MatrixXd::Identity(3, 3) + phi_skew * (1.0f - std::cos(phi)) * phi_2_inv + phi_skew * phi_skew * (phi - std::sin(phi)) * phi_3_inv;
+     349             : 
+     350             :   return W_vel * rot_vec_vel + W_acc * rot_vec_acc;
+     351             : }
+     352             : 
+     353             : //}
+     354             : 
+     355             : /* getSquaredRotorSpeedsFromAllocationAndState() //{ */
+     356             : 
+     357             : // Calculate the nominal rotor rates given the MAV mass, allocation matrix,
+     358             : // angular velocity, angular acceleration, and body acceleration (normalized
+     359             : // thrust).
+     360             : //
+     361             : // [torques, thrust]' = A * n^2, where
+     362             : // torques = J * ang_acc + ang_vel x J
+     363             : // thrust = m * norm(acc)
+     364             : //
+     365             : // The allocation matrix A has of a hexacopter is:
+     366             : // A = K * B, where
+     367             : // K = diag(l*c_T, l*c_T, c_M, c_T),
+     368             : //     [ s  1  s -s -1 -s]
+     369             : // B = [-c  0  c  c  0 -c]
+     370             : //     [-1  1 -1  1 -1  1]
+     371             : //     [ 1  1  1  1  1  1],
+     372             : // l: arm length
+     373             : // c_T: thrust constant
+     374             : // c_M: moment constant
+     375             : // s: sin(30°)
+     376             : // c: cos(30°)
+     377             : //
+     378             : // The inverse can be computed computationally efficient:
+     379             : // A^-1 \approx B^pseudo * K^-1
+     380             : inline void getSquaredRotorSpeedsFromAllocationAndState(const Eigen::MatrixXd& allocation_inv, const Eigen::Vector3d& inertia, double mass,
+     381             :                                                         const Eigen::Vector3d& angular_velocity_B, const Eigen::Vector3d& angular_acceleration_B,
+     382             :                                                         const Eigen::Vector3d& acceleration_B, Eigen::VectorXd* rotor_rates_squared) {
+     383             :   const Eigen::Vector3d torque       = inertia.asDiagonal() * angular_acceleration_B + angular_velocity_B.cross(inertia.asDiagonal() * angular_velocity_B);
+     384             :   const double          thrust_force = mass * acceleration_B.norm();
+     385             :   Eigen::Vector4d       input;
+     386             :   input << torque, thrust_force;
+     387             :   *rotor_rates_squared = allocation_inv * input;
+     388             : }
+     389             : 
+     390             : //}
+     391             : 
+     392             : /* nanosecondsToSeconds() //{ */
+     393             : 
+     394             : inline double nanosecondsToSeconds(int64_t nanoseconds) {
+     395             :   double seconds = nanoseconds / kNumNanosecondsPerSecond;
+     396             :   return seconds;
+     397             : }
+     398             : 
+     399             : //}
+     400             : 
+     401             : /* secondsToNanoseconds() //{ */
+     402             : 
+     403             : inline int64_t secondsToNanoseconds(double seconds) {
+     404             :   int64_t nanoseconds = static_cast<int64_t>(seconds * kNumNanosecondsPerSecond);
+     405             :   return nanoseconds;
+     406             : }
+     407             : 
+     408             : //}
+     409             : 
+     410             : }  // namespace eth_mav_msgs
+     411             : 
+     412             : #endif  // eth_mav_msgs_COMMON_H
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright 2015 Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  *     http://www.apache.org/licenses/LICENSE-2.0
+      13             : 
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_MAV_MSGS_EIGEN_MAV_MSGS_H
+      22             : #define ETH_MAV_MSGS_EIGEN_MAV_MSGS_H
+      23             : 
+      24             : #include <Eigen/Eigen>
+      25             : #include <deque>
+      26             : #include <iostream>
+      27             : 
+      28             : #include <eth_mav_msgs/common.h>
+      29             : 
+      30             : namespace eth_mav_msgs
+      31             : {
+      32             : 
+      33             : /// Actuated degrees of freedom.
+      34             : enum MavActuation
+      35             : {
+      36             :   DOF4 = 4,
+      37             :   DOF6 = 6
+      38             : };
+      39             : 
+      40             : /* struct EigenAttitudeThrust //{ */
+      41             : 
+      42             : struct EigenAttitudeThrust
+      43             : {
+      44             :   EigenAttitudeThrust() : attitude(Eigen::Quaterniond::Identity()), thrust(Eigen::Vector3d::Zero()) {
+      45             :   }
+      46             :   EigenAttitudeThrust(const Eigen::Quaterniond& _attitude, const Eigen::Vector3d& _thrust) {
+      47             :     attitude = _attitude;
+      48             :     thrust   = _thrust;
+      49             :   }
+      50             : 
+      51             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      52             :   Eigen::Quaterniond attitude;
+      53             :   Eigen::Vector3d    thrust;
+      54             : };
+      55             : 
+      56             : //}
+      57             : 
+      58             : /* struct EigenAttitudeThrust //{ */
+      59             : 
+      60             : struct EigenActuators
+      61             : {
+      62             :   // TODO(ffurrer): Find a proper way of initializing :)
+      63             : 
+      64             :   EigenActuators(const Eigen::VectorXd& _angular_velocities) {
+      65             :     angular_velocities = _angular_velocities;
+      66             :   }
+      67             : 
+      68             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      69             :   Eigen::VectorXd angles;              // In rad.
+      70             :   Eigen::VectorXd angular_velocities;  // In rad/s.
+      71             :   Eigen::VectorXd normalized;          // Everything else, normalized [-1 to 1].
+      72             : };
+      73             : 
+      74             : //}
+      75             : 
+      76             : /* struct EigenRateThrust //{ */
+      77             : 
+      78             : struct EigenRateThrust
+      79             : {
+      80             :   EigenRateThrust() : angular_rates(Eigen::Vector3d::Zero()), thrust(Eigen::Vector3d::Zero()) {
+      81             :   }
+      82             : 
+      83             :   EigenRateThrust(const Eigen::Vector3d& _angular_rates, const Eigen::Vector3d _thrust) : angular_rates(_angular_rates), thrust(_thrust) {
+      84             :   }
+      85             : 
+      86             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+      87             :   Eigen::Vector3d angular_rates;
+      88             :   Eigen::Vector3d thrust;
+      89             : };
+      90             : 
+      91             : //}
+      92             : 
+      93             : /* struct EigenTorqueThrust //{ */
+      94             : 
+      95             : struct EigenTorqueThrust
+      96             : {
+      97             :   EigenTorqueThrust() : torque(Eigen::Vector3d::Zero()), thrust(Eigen::Vector3d::Zero()) {
+      98             :   }
+      99             : 
+     100             :   EigenTorqueThrust(const Eigen::Vector3d& _torque, const Eigen::Vector3d _thrust) : torque(_torque), thrust(_thrust) {
+     101             :   }
+     102             : 
+     103             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     104             :   Eigen::Vector3d torque;
+     105             :   Eigen::Vector3d thrust;
+     106             : };
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* struct EigenRollPitchYawrateThrust //{ */
+     111             : 
+     112             : struct EigenRollPitchYawrateThrust
+     113             : {
+     114             :   EigenRollPitchYawrateThrust() : roll(0.0), pitch(0.0), yaw_rate(0.0), thrust(Eigen::Vector3d::Zero()) {
+     115             :   }
+     116             : 
+     117             :   EigenRollPitchYawrateThrust(double _roll, double _pitch, double _yaw_rate, const Eigen::Vector3d& _thrust)
+     118             :       : roll(_roll), pitch(_pitch), yaw_rate(_yaw_rate), thrust(_thrust) {
+     119             :   }
+     120             : 
+     121             :   double          roll;
+     122             :   double          pitch;
+     123             :   double          yaw_rate;
+     124             :   Eigen::Vector3d thrust;
+     125             : };
+     126             : 
+     127             : //}
+     128             : 
+     129             : /* class EigenMavState //{ */
+     130             : 
+     131             : /**
+     132             :  * \brief Container holding the state of a MAV: position, velocity, attitude and
+     133             :  * angular velocity.
+     134             :  *        In addition, holds the acceleration expressed in body coordinates,
+     135             :  * which is what the accelerometer
+     136             :  *        usually measures.
+     137             :  */
+     138             : class EigenMavState {
+     139             : public:
+     140             :   typedef std::vector<EigenMavState, Eigen::aligned_allocator<EigenMavState>> Vector;
+     141             :   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+     142             : 
+     143             :   /// Initializes all members to zero / identity.
+     144             :   EigenMavState()
+     145             :       : position_W(Eigen::Vector3d::Zero()),
+     146             :         velocity_W(Eigen::Vector3d::Zero()),
+     147             :         acceleration_B(Eigen::Vector3d::Zero()),
+     148             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     149             :         angular_velocity_B(Eigen::Vector3d::Zero()),
+     150             :         angular_acceleration_B(Eigen::Vector3d::Zero()) {
+     151             :   }
+     152             : 
+     153             :   EigenMavState(const Eigen::Vector3d& position_W, const Eigen::Vector3d& velocity_W, const Eigen::Vector3d& acceleration_B,
+     154             :                 const Eigen::Quaterniond& orientation_W_B, const Eigen::Vector3d& angular_velocity_B, const Eigen::Vector3d& angular_acceleration_B)
+     155             :       : position_W(position_W),
+     156             :         velocity_W(velocity_W),
+     157             :         acceleration_B(acceleration_B),
+     158             :         orientation_W_B(orientation_W_B),
+     159             :         angular_velocity_B(angular_velocity_B),
+     160             :         angular_acceleration_B(angular_acceleration_B) {
+     161             :   }
+     162             : 
+     163             :   std::string toString() const {
+     164             :     std::stringstream ss;
+     165             :     ss << "position:              " << position_W.transpose() << std::endl
+     166             :        << "velocity:              " << velocity_W.transpose() << std::endl
+     167             :        << "acceleration_body:     " << acceleration_B.transpose() << std::endl
+     168             :        << "orientation (w-x-y-z): " << orientation_W_B.w() << " " << orientation_W_B.x() << " " << orientation_W_B.y() << " " << orientation_W_B.z() << " "
+     169             :        << std::endl
+     170             :        << "angular_velocity_body: " << angular_velocity_B.transpose() << std::endl
+     171             :        << "angular_acceleration_body: " << angular_acceleration_B.transpose() << std::endl;
+     172             : 
+     173             :     return ss.str();
+     174             :   }
+     175             : 
+     176             :   Eigen::Vector3d    position_W;
+     177             :   Eigen::Vector3d    velocity_W;
+     178             :   Eigen::Vector3d    acceleration_B;
+     179             :   Eigen::Quaterniond orientation_W_B;
+     180             :   Eigen::Vector3d    angular_velocity_B;
+     181             :   Eigen::Vector3d    angular_acceleration_B;
+     182             : };
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* struct EigenTrajectoryPoint //{ */
+     187             : 
+     188             : struct EigenTrajectoryPoint
+     189             : {
+     190             :   typedef std::vector<EigenTrajectoryPoint, Eigen::aligned_allocator<EigenTrajectoryPoint>> Vector;
+     191        2072 :   EigenTrajectoryPoint()
+     192        2072 :       : timestamp_ns(-1),
+     193             :         time_from_start_ns(0),
+     194        2072 :         position_W(Eigen::Vector3d::Zero()),
+     195        2072 :         velocity_W(Eigen::Vector3d::Zero()),
+     196        2072 :         acceleration_W(Eigen::Vector3d::Zero()),
+     197        2072 :         jerk_W(Eigen::Vector3d::Zero()),
+     198        2072 :         snap_W(Eigen::Vector3d::Zero()),
+     199             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     200        2072 :         angular_velocity_W(Eigen::Vector3d::Zero()),
+     201        2072 :         angular_acceleration_W(Eigen::Vector3d::Zero()),
+     202        2072 :         degrees_of_freedom(MavActuation::DOF4) {
+     203        2072 :   }
+     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         428 :   inline double getYaw() const {
+     244         428 :     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        2072 :   inline void setFromYaw(double yaw) {
+     254        2072 :     orientation_W_B = quaternionFromYaw(yaw);
+     255             :   }
+     256        1914 :   inline void setFromYawRate(double yaw_rate) {
+     257        1914 :     angular_velocity_W.x() = 0.0;
+     258        1914 :     angular_velocity_W.y() = 0.0;
+     259        1914 :     angular_velocity_W.z() = yaw_rate;
+     260             :   }
+     261        1914 :   inline void setFromYawAcc(double yaw_acc) {
+     262        1914 :     angular_acceleration_W.x() = 0.0;
+     263        1914 :     angular_acceleration_W.y() = 0.0;
+     264        1914 :     angular_acceleration_W.z() = yaw_acc;
+     265        1914 :   }
+     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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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:2828100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_mav_msgsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2828100.0 %
Date:2024-01-14 11:12:21Functions:33100.0 %
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common.h +
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eigen_mav_msgs.h +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - extremum.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-01-14 11:12:21Functions:00-
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - extremum.h (source / functions)HitTotalCoverage
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Date:2024-01-14 11:12:21Functions:00-
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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       21426 :   Extremum() : time(0.0), value(0.0), segment_idx(0) {
+      35             :   }
+      36             : 
+      37       16974 :   Extremum(double _time, double _value, int _segment_idx) : time(_time), value(_value), segment_idx(_segment_idx) {
+      38             :   }
+      39             : 
+      40       37728 :   bool operator<(const Extremum& rhs) const {
+      41       28338 :     return value < rhs.value;
+      42             :   }
+      43        3780 :   bool operator>(const Extremum& rhs) const {
+      44        3780 :     return value > rhs.value;
+      45             :   }
+      46             : 
+      47             :   double time;         // Time where the extremum occurs, relative to the segment start.
+      48             :   double value;        // Value of the extremum at time.
+      49             :   int    segment_idx;  // Index of the segment where the extremum occurs.
+      50             : };
+      51             : 
+      52             : inline std::ostream& operator<<(std::ostream& stream, const Extremum& e) {
+      53             :   stream << "time: " << e.time << ", value: " << e.value << ", segment idx: " << e.segment_idx << std::endl;
+      54             :   return stream;
+      55             : }
+      56             : 
+      57             : }  // namespace eth_trajectory_generation
+      58             : 
+      59             : #endif  // ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ Top

+ Overview +
+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/extremum.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/extremum.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..42a2d6ec4d0c683918ea2dd366e04e84d905a8f2 GIT binary patch literal 437 zcmV;m0ZRUfP)}djTrb8O;8fO7I^n`rmt^V#vdcju9D$0wQ)BB=PsMmKbbvD+ zO+8TU@*;2r^g!(gLp&@qoQi^i_|%RGE>V?7>&#QsRv~@rPQC=*?)=ugoIVLY44k2+ zet&Rs@raS|UY9YnV-+uodfdC(AyB-$9z5!EEw~LQGc0x7vMoy<*R74|x45?u*EnRO z5mss=Tx?n^`^q`T^*_|h))>;TX3nd}7!5*!?x}}k{37+ZSwZGE!M<5(Yp_=7ta<|B zI60Sl!dU0S9(eRza1&9^ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:31462550.2 %
Date:2024-01-14 11:12:21Functions:193259.4 %
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polynomial_optimization_nonlinear_impl.h +
35.4%35.4%
+ 		35.4 %146 / 41344.4 %8 / 18
<unnamed>35.4 %146 / 41344.4 %8 / 18
polynomial_optimization_linear_impl.h +
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+ 		79.2 %168 / 21278.6 %11 / 14
<unnamed>79.2 %168 / 21278.6 %11 / 14
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polynomial_optimization_nonlinear_impl.h +
35.4%35.4%
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polynomial_optimization_linear_impl.h +
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<unnamed>79.2 %168 / 21278.6 %11 / 14
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Test:MRS UAV System - Test coverage reportLines:31462550.2 %
Date:2024-01-14 11:12:21Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_linear_impl.h +
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polynomial_optimization_nonlinear_impl.h +
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Test:MRS UAV System - Test coverage reportLines:31462550.2 %
Date:2024-01-14 11:12:21Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_nonlinear_impl.h +
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79.2%79.2%
+ 		79.2 %168 / 21278.6 %11 / 14
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:31462550.2 %
Date:2024-01-14 11:12:21Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_nonlinear_impl.h +
35.4%35.4%
+ 		35.4 %146 / 41344.4 %8 / 18
polynomial_optimization_linear_impl.h +
79.2%79.2%
+ 		79.2 %168 / 21278.6 %11 / 14
+
+
+ + + + +
Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:31462550.2 %
Date:2024-01-14 11:12:21Functions:193259.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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polynomial_optimization_linear_impl.h +
79.2%79.2%
+ 		79.2 %168 / 21278.6 %11 / 14
polynomial_optimization_nonlinear_impl.h +
35.4%35.4%
+ 		35.4 %146 / 41344.4 %8 / 18
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+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_linear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:16821279.2 %
Date:2024-01-14 11:12:21Functions:111478.6 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::setFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&)0
eth_trajectory_generation::PolynomialOptimization<10>::computeSegmentMaximumMagnitudeCandidates(int, eth_trajectory_generation::Segment const&, double, double, std::vector<double, std::allocator<double> >*)0
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
eth_trajectory_generation::PolynomialOptimization<10>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)14
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()14
eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)14
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1353
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()1487
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()1487
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const1487
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)1501
eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)19881
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)19881
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)19881
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Date:2024-01-14 11:12:21Functions:111478.6 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()1487
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)14
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>*)19881
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)1501
eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)19881
eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)19881
eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()14
eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()1487
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)14
eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const1487
eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1353
eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
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Date:2024-01-14 11:12:21Functions:111478.6 %
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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          14 : 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          14 :       n_free_constraints_(0) {
+      53          14 :   fixed_constraints_compact_.resize(dimension_);
+      54          14 :   free_constraints_compact_.resize(dimension_);
+      55          14 : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* setupFromVertices() //{ */
+      60             : 
+      61             : template <int _N>
+      62          14 : bool PolynomialOptimization<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& times, int derivative_to_optimize) {
+      63          14 :   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          14 :   derivative_to_optimize_ = derivative_to_optimize;
+      69          14 :   vertices_               = vertices;
+      70          14 :   segment_times_          = times;
+      71             : 
+      72          14 :   n_vertices_ = vertices.size();
+      73          14 :   n_segments_ = n_vertices_ - 1;
+      74             : 
+      75          14 :   segments_.resize(n_segments_, Segment(N, dimension_));
+      76             : 
+      77          14 :   CHECK(n_vertices_ == times.size() + 1) << "Size of times must be one less than positions.";
+      78             : 
+      79          14 :   inverse_mapping_matrices_.resize(n_segments_);
+      80          14 :   cost_matrices_.resize(n_segments_);
+      81             : 
+      82             :   // Iterate through all vertices and remove invalid constraints (order too
+      83             :   // high).
+      84         238 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices_; ++vertex_idx) {
+      85         224 :     Vertex& vertex = vertices_[vertex_idx];
+      86             : 
+      87             :     // Check if we have valid constraints.
+      88         224 :     bool   vertex_valid = true;
+      89         448 :     Vertex vertex_tmp(dimension_);
+      90         518 :     for (Vertex::Constraints::const_iterator it = vertex.cBegin(); it != vertex.cEnd(); ++it) {
+      91         294 :       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         294 :         vertex_tmp.addConstraint(it->first, it->second);
+      97             :       }
+      98             :     }
+      99         224 :     if (!vertex_valid) {
+     100         224 :       vertex = vertex_tmp;
+     101             :     }
+     102             :   }
+     103          14 :   updateSegmentTimes(times);
+     104          14 :   setupConstraintReorderingMatrix();
+     105          14 :   return true;
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* setupMappingMatrix() //{ */
+     111             : 
+     112             : template <int _N>
+     113       19881 : 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      119286 :   for (int i = 0; i < N / 2; ++i) {
+     118       99405 :     A->row(i)         = Polynomial::baseCoeffsWithTime(N, i, 0.0);
+     119       99405 :     A->row(i + N / 2) = Polynomial::baseCoeffsWithTime(N, i, segment_time);
+     120             :   }
+     121       19881 : }
+     122             : 
+     123             : //}
+     124             : 
+     125             : /* computeCost() //{ */
+     126             : 
+     127             : template <int _N>
+     128        1353 : double PolynomialOptimization<_N>::computeCost() const {
+     129        1353 :   CHECK(n_segments_ == segments_.size() && n_segments_ == cost_matrices_.size());
+     130             :   double cost = 0;
+     131       19581 :   for (size_t segment_idx = 0; segment_idx < n_segments_; ++segment_idx) {
+     132       18228 :     const SquareMatrix& Q       = cost_matrices_[segment_idx];
+     133       18228 :     const Segment&      segment = segments_[segment_idx];
+     134       91140 :     for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     135      145824 :       const Eigen::VectorXd c            = segment[dimension_idx].getCoefficients(derivative_order::POSITION);
+     136       72912 :       const double          partial_cost = c.transpose() * Q * c;
+     137       72912 :       cost += partial_cost;
+     138             :     }
+     139             :   }
+     140        1353 :   return 0.5 * cost;  // cost = 0.5 * c^T * Q * c
+     141             : }
+     142             : 
+     143             : //}
+     144             : 
+     145             : /* invertMappingMatrix() //{ */
+     146             : 
+     147             : template <int _N>
+     148       19881 : 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       19881 :   const int half_n = N / 2;
+     163             : 
+     164             :   // "template" keyword required below as half_n is dependent on the template
+     165             :   // parameter.
+     166       19881 :   const Eigen::Matrix<double, half_n, 1>      A_diag = mapping_matrix.template block<half_n, half_n>(0, 0).diagonal();
+     167       19881 :   const Eigen::Matrix<double, half_n, half_n> A_inv  = A_diag.cwiseInverse().asDiagonal();
+     168             : 
+     169       19881 :   const Eigen::Matrix<double, half_n, half_n> C = mapping_matrix.template block<half_n, half_n>(half_n, 0);
+     170             : 
+     171       19881 :   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       19881 :   inverse_mapping_matrix->template block<half_n, half_n>(0, 0) = A_inv;
+     174       19881 :   inverse_mapping_matrix->template block<half_n, half_n>(0, half_n).setZero();
+     175       19881 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, 0)      = -D_inv * C * A_inv;
+     176       19881 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, half_n) = D_inv;
+     177       19881 : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* setupConstraintReorderingMatrix() //{ */
+     182             : 
+     183             : template <int _N>
+     184          14 : void PolynomialOptimization<_N>::setupConstraintReorderingMatrix() {
+     185             :   typedef Eigen::Triplet<double> Triplet;
+     186          28 :   std::vector<Triplet>           reordering_list;
+     187             : 
+     188          14 :   const size_t n_vertices = vertices_.size();
+     189             : 
+     190          28 :   std::vector<Constraint> all_constraints;
+     191          14 :   std::set<Constraint>    fixed_constraints;
+     192          14 :   std::set<Constraint>    free_constraints;
+     193             : 
+     194          14 :   all_constraints.reserve(n_vertices_ * N / 2);  // Will have exactly this number of elements in the end.
+     195             : 
+     196         238 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices; ++vertex_idx) {
+     197         224 :     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         224 :     int n_constraint_occurence = 2;
+     203         224 :     if (vertex_idx == 0 || vertex_idx == (n_segments_))
+     204          28 :       n_constraint_occurence = 1;
+     205         644 :     for (int co = 0; co < n_constraint_occurence; ++co) {
+     206        2520 :       for (size_t constraint_idx = 0; constraint_idx < N / 2; ++constraint_idx) {
+     207        2100 :         Constraint constraint;
+     208        2100 :         constraint.vertex_idx     = vertex_idx;
+     209        2100 :         constraint.constraint_idx = constraint_idx;
+     210        2100 :         bool has_constraint       = vertex.getConstraint(constraint_idx, &(constraint.value));
+     211        2100 :         if (has_constraint) {
+     212         490 :           all_constraints.push_back(constraint);
+     213        2100 :           fixed_constraints.insert(constraint);
+     214             :         } else {
+     215        1610 :           constraint.value = Vertex::ConstraintValue::Constant(dimension_, 0);
+     216        1610 :           all_constraints.push_back(constraint);
+     217        2100 :           free_constraints.insert(constraint);
+     218             :         }
+     219             :       }
+     220             :     }
+     221             :   }
+     222             : 
+     223          14 :   n_all_constraints_   = all_constraints.size();
+     224          14 :   n_fixed_constraints_ = fixed_constraints.size();
+     225          14 :   n_free_constraints_  = free_constraints.size();
+     226             : 
+     227          14 :   reordering_list.reserve(n_all_constraints_);
+     228          14 :   constraint_reordering_ = Eigen::SparseMatrix<double>(n_all_constraints_, n_fixed_constraints_ + n_free_constraints_);
+     229             : 
+     230          70 :   for (Eigen::VectorXd& df : fixed_constraints_compact_)
+     231         112 :     df.resize(n_fixed_constraints_, Eigen::NoChange);
+     232             : 
+     233          14 :   int row = 0;
+     234          14 :   int col = 0;
+     235        2114 :   for (const Constraint& ca : all_constraints) {
+     236       52920 :     for (const Constraint& cf : fixed_constraints) {
+     237       50820 :       if (ca == cf) {
+     238         490 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     239        2450 :         for (size_t d = 0; d < dimension_; ++d) {
+     240        1960 :           Eigen::VectorXd&      df                        = fixed_constraints_compact_[d];
+     241        3920 :           const Eigen::VectorXd constraint_all_dimensions = cf.value;
+     242        1960 :           df[col]                                         = constraint_all_dimensions[d];
+     243             :         }
+     244             :       }
+     245       50820 :       ++col;
+     246             :     }
+     247      152880 :     for (const Constraint& cp : free_constraints) {
+     248      150780 :       if (ca == cp)
+     249        1610 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     250      150780 :       ++col;
+     251             :     }
+     252        2100 :     col = 0;
+     253        2100 :     ++row;
+     254             :   }
+     255             : 
+     256          14 :   constraint_reordering_.setFromTriplets(reordering_list.begin(), reordering_list.end());
+     257          14 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : /* setupConstraintReorderingMatrix() //{ */
+     262             : 
+     263             : template <int _N>
+     264        1487 : void PolynomialOptimization<_N>::updateSegmentsFromCompactConstraints() {
+     265        1487 :   const size_t n_all_constraints = n_fixed_constraints_ + n_free_constraints_;
+     266             : 
+     267        7435 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     268        5948 :     const Eigen::VectorXd& df     = fixed_constraints_compact_[dimension_idx];
+     269        5948 :     const Eigen::VectorXd& dp_opt = free_constraints_compact_[dimension_idx];
+     270             : 
+     271       11896 :     Eigen::VectorXd d_all(n_all_constraints);
+     272        5948 :     d_all << df, dp_opt;
+     273             : 
+     274       84632 :     for (size_t i = 0; i < n_segments_; ++i) {
+     275       78684 :       const Eigen::Matrix<double, N, 1> new_d   = constraint_reordering_.block(i * N, 0, N, n_all_constraints) * d_all;
+     276       78684 :       const Eigen::Matrix<double, N, 1> coeffs  = inverse_mapping_matrices_[i] * new_d;
+     277       78684 :       Segment&                          segment = segments_[i];
+     278       78684 :       segment.setTime(segment_times_[i]);
+     279       78684 :       segment[dimension_idx] = Polynomial(N, coeffs);
+     280             :     }
+     281             :   }
+     282        1487 : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* updateSegmentTimes() //{ */
+     287             : 
+     288             : template <int _N>
+     289        1501 : void PolynomialOptimization<_N>::updateSegmentTimes(const std::vector<double>& segment_times) {
+     290        1501 :   const size_t n_segment_times = segment_times.size();
+     291        1501 :   CHECK(n_segment_times == n_segments_) << "Number of segment times (" << n_segment_times << ") does not match number of segments (" << n_segments_ << ")";
+     292             : 
+     293        1501 :   segment_times_ = segment_times;
+     294             : 
+     295       21382 :   for (size_t i = 0; i < n_segments_; i++) {
+     296       19881 :     const double segment_time = segment_times[i];
+     297       19881 :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     298             : 
+     299       19881 :     computeQuadraticCostJacobian(derivative_to_optimize_, segment_time, &cost_matrices_[i]);
+     300       19881 :     SquareMatrix A;
+     301       19881 :     setupMappingMatrix(segment_time, &A);
+     302       19881 :     invertMappingMatrix(A, &inverse_mapping_matrices_[i]);
+     303             :   };
+     304        1501 : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* constructR() //{ */
+     309             : 
+     310             : template <int _N>
+     311        1487 : void PolynomialOptimization<_N>::constructR(Eigen::SparseMatrix<double>* R) const {
+     312        1487 :   CHECK_NOTNULL(R);
+     313             :   typedef Eigen::Triplet<double> Triplet;
+     314        2974 :   std::vector<Triplet>           cost_unconstrained_triplets;
+     315        1487 :   cost_unconstrained_triplets.reserve(N * N * n_segments_);
+     316             : 
+     317       21158 :   for (size_t i = 0; i < n_segments_; ++i) {
+     318       19671 :     const SquareMatrix& Ai        = inverse_mapping_matrices_[i];
+     319       19671 :     const SquareMatrix& Q         = cost_matrices_[i];
+     320       19671 :     const SquareMatrix  H         = Ai.transpose() * Q * Ai;
+     321       19671 :     const int           start_pos = i * N;
+     322      216381 :     for (int row = 0; row < N; ++row) {
+     323     2163810 :       for (int col = 0; col < N; ++col) {
+     324     1967100 :         cost_unconstrained_triplets.emplace_back(Triplet(start_pos + row, start_pos + col, H(row, col)));
+     325             :       }
+     326             :     }
+     327             :   }
+     328        2974 :   Eigen::SparseMatrix<double> cost_unconstrained(N * n_segments_, N * n_segments_);
+     329        1487 :   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        1487 :   *R = constraint_reordering_.transpose() * cost_unconstrained * constraint_reordering_;
+     334        1487 : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* solveLinear() //{ */
+     339             : 
+     340             : template <int _N>
+     341        1487 : bool PolynomialOptimization<_N>::solveLinear() {
+     342        1487 :   CHECK(derivative_to_optimize_ >= 0 && derivative_to_optimize_ <= kHighestDerivativeToOptimize);
+     343             :   // Catch the fully constrained case:
+     344        1487 :   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        2974 :   Eigen::SparseMatrix<double> R;
+     357        1487 :   constructR(&R);
+     358             : 
+     359             :   // Extract block matrices and prepare solver.
+     360        2974 :   Eigen::SparseMatrix<double> Rpf = R.block(n_fixed_constraints_, 0, n_free_constraints_, n_fixed_constraints_);
+     361        2974 :   Eigen::SparseMatrix<double> Rpp = R.block(n_fixed_constraints_, n_fixed_constraints_, n_free_constraints_, n_free_constraints_);
+     362        2974 :   Eigen::SparseQR<Eigen::SparseMatrix<double>, Eigen::COLAMDOrdering<int>> solver;
+     363        7435 :   solver.compute(Rpp);
+     364             : 
+     365             :   // Compute dp_opt for every dimension.
+     366        7435 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     367       11896 :     Eigen::VectorXd df                       = -Rpf * fixed_constraints_compact_[dimension_idx];  // Rpf = Rfp^T
+     368        5948 :     free_constraints_compact_[dimension_idx] = solver.solve(df);                                  // dp = -Rpp^-1 * Rpf * df
+     369             :   }
+     370             : 
+     371        1487 :   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       19881 : void PolynomialOptimization<_N>::computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian) {
+     607       19881 :   CHECK_LT(derivative, N);
+     608             : 
+     609       19881 :   cost_jacobian->setZero();
+     610      178929 :   for (int col = 0; col < N - derivative; col++) {
+     611     1431430 :     for (int row = 0; row < N - derivative; row++) {
+     612     1272380 :       double exponent = (N - 1 - derivative) * 2 + 1 - row - col;
+     613             : 
+     614     1272380 :       (*cost_jacobian)(N - 1 - row, N - 1 - col) =
+     615     1272380 :           Polynomial::base_coefficients_(derivative, N - 1 - row) * Polynomial::base_coefficients_(derivative, N - 1 - col) * pow(t, exponent) * 2.0 / exponent;
+     616             :     }
+     617             :   }
+     618       19881 : }
+     619             : 
+     620             : //}
+     621             : 
+     622             : }  // namespace eth_trajectory_generation
+     623             : 
+     624             : #endif  // eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
+
+
+
+ + + + +
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14641335.4 %
Date:2024-01-14 11:12:21Functions: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)14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)120
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)120
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)168
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14641335.4 %
Date:2024-01-14 11:12:21Functions: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>::setupFromVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> > const&, std::vector<double, std::allocator<double> > const&, int)14
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> >*)120
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)168
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()14
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*)120
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()14
eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)14
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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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_nonlinear_impl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:14641335.4 %
Date:2024-01-14 11:12:21Functions:81844.4 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2015, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * You can contact the author at <markus dot achtelik at mavt dot ethz dot ch>
+       4             :  *
+       5             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       6             :  * you may not use this file except in compliance with the License.
+       7             :  * You may obtain a copy of the License at
+       8             :  *
+       9             :  * http://www.apache.org/licenses/LICENSE-2.0
+      10             :  *
+      11             :  * Unless required by applicable law or agreed to in writing, software
+      12             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      13             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      14             :  * See the License for the specific language governing permissions and
+      15             :  * limitations under the License.
+      16             :  */
+      17             : 
+      18             : #ifndef ETH_TRAJECTORY_GENERATION_IMPL_POLYNOMIAL_OPTIMIZATION_NONLINEAR_IMPL_H_
+      19             : #define ETH_TRAJECTORY_GENERATION_IMPL_POLYNOMIAL_OPTIMIZATION_NONLINEAR_IMPL_H_
+      20             : 
+      21             : #include <chrono>
+      22             : #include <numeric>
+      23             : 
+      24             : #include <eth_trajectory_generation/polynomial_optimization_nonlinear.h>
+      25             : #include <eth_trajectory_generation/timing.h>
+      26             : 
+      27             : namespace eth_trajectory_generation
+      28             : {
+      29             : 
+      30             : inline std::ostream& operator<<(std::ostream& stream, const OptimizationInfo& val) {
+      31             :   stream << "--- optimization info ---" << std::endl;
+      32             :   stream << "  optimization time:     " << val.optimization_time << std::endl;
+      33             :   stream << "  n_iterations:          " << val.n_iterations << std::endl;
+      34             :   stream << "  stopping reason:       " << nlopt::returnValueToString(val.stopping_reason) << std::endl;
+      35             :   stream << "  cost trajectory:       " << val.cost_trajectory << std::endl;
+      36             :   stream << "  cost time:             " << val.cost_time << std::endl;
+      37             :   stream << "  cost soft constraints: " << val.cost_soft_constraints << std::endl;
+      38             :   stream << "  maxima: " << std::endl;
+      39             :   for (const std::pair<int, Extremum>& m : val.maxima) {
+      40             :     stream << "    " << positionDerivativeToString(m.first) << ": " << m.second.value << " in segment " << m.second.segment_idx << " and segment time "
+      41             :            << m.second.time << std::endl;
+      42             :   }
+      43             :   return stream;
+      44             : }
+      45             : 
+      46             : template <int _N>
+      47          14 : PolynomialOptimizationNonLinear<_N>::PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters)
+      48          14 :     : poly_opt_(dimension), optimization_parameters_(parameters) {
+      49          14 : }
+      50             : 
+      51             : template <int _N>
+      52          14 : bool PolynomialOptimizationNonLinear<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+      53             :                                                             int derivative_to_optimize) {
+      54          14 :   bool ret = poly_opt_.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+      55             : 
+      56             :   size_t n_optimization_parameters;
+      57          14 :   switch (optimization_parameters_.time_alloc_method) {
+      58          14 :     case NonlinearOptimizationParameters::kSquaredTime:
+      59             :     case NonlinearOptimizationParameters::kRichterTime:
+      60             :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+      61          14 :       n_optimization_parameters = segment_times.size();
+      62          14 :       break;
+      63           0 :     default:
+      64           0 :       n_optimization_parameters = segment_times.size() + poly_opt_.getNumberFreeConstraints() * poly_opt_.getDimension();
+      65           0 :       break;
+      66             :   }
+      67             : 
+      68          14 :   nlopt_.reset(new nlopt::opt(optimization_parameters_.algorithm, n_optimization_parameters));
+      69          14 :   nlopt_->set_ftol_rel(optimization_parameters_.f_rel);
+      70          14 :   nlopt_->set_ftol_abs(optimization_parameters_.f_abs);
+      71          14 :   nlopt_->set_xtol_rel(optimization_parameters_.x_rel);
+      72          14 :   nlopt_->set_xtol_abs(optimization_parameters_.x_abs);
+      73          14 :   nlopt_->set_maxeval(optimization_parameters_.max_iterations);
+      74          14 :   nlopt_->set_maxtime(optimization_parameters_.max_time);
+      75             : 
+      76          14 :   if (optimization_parameters_.random_seed < 0)
+      77           0 :     nlopt_srand_time();
+      78             :   else
+      79          14 :     nlopt_srand(optimization_parameters_.random_seed);
+      80             : 
+      81          14 :   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          14 : int PolynomialOptimizationNonLinear<_N>::optimize() {
+      91          14 :   optimization_info_ = OptimizationInfo();
+      92          14 :   int result         = nlopt::FAILURE;
+      93             : 
+      94          14 :   const std::chrono::high_resolution_clock::time_point t_start = std::chrono::high_resolution_clock::now();
+      95             : 
+      96          14 :   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          14 :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+     106          14 :       result = optimizeTimeMellingerOuterLoop();
+     107             :       break;
+     108             :     default:
+     109             :       break;
+     110             :   }
+     111             : 
+     112          14 :   const std::chrono::high_resolution_clock::time_point t_stop = std::chrono::high_resolution_clock::now();
+     113          14 :   optimization_info_.optimization_time                        = std::chrono::duration_cast<std::chrono::duration<double>>(t_stop - t_start).count();
+     114             : 
+     115          14 :   optimization_info_.stopping_reason = result;
+     116             : 
+     117          14 :   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          14 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeMellingerOuterLoop() {
+     161          14 :   std::vector<double> segment_times;
+     162          14 :   poly_opt_.getSegmentTimes(&segment_times);
+     163             : 
+     164             :   // Save original segment times
+     165          28 :   std::vector<double> original_segment_times = segment_times;
+     166             : 
+     167          14 :   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          14 :     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          14 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     179          14 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     180          14 :     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          14 :   double final_cost = std::numeric_limits<double>::max();
+     188          14 :   int    result     = nlopt::FAILURE;
+     189             : 
+     190             :   try {
+     191          14 :     result = nlopt_->optimize(segment_times, final_cost);
+     192             :   }
+     193           1 :   catch (std::exception& e) {
+     194           1 :     LOG(ERROR) << "error while running nlopt: " << e.what() << ". This likely means the optimization aborted early." << std::endl;
+     195           1 :     if (final_cost == std::numeric_limits<double>::max()) {
+     196             :       return nlopt::FAILURE;
+     197             :     }
+     198             : 
+     199           1 :     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           1 :       std::cout << "Nlopt result: " << result << std::endl;
+     207             :     }
+     208             :   }
+     209             : 
+     210             :   // Scaling of segment times
+     211          14 :   std::vector<double> relative_segment_times;
+     212          14 :   poly_opt_.getSegmentTimes(&relative_segment_times);
+     213          14 :   scaleSegmentTimesWithViolation();
+     214          14 :   std::vector<double> scaled_segment_times;
+     215          14 :   poly_opt_.getSegmentTimes(&scaled_segment_times);
+     216             : 
+     217             :   // Print all parameter after scaling
+     218          14 :   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          14 :   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         120 : double PolynomialOptimizationNonLinear<_N>::getCostAndGradientMellinger(std::vector<double>* gradients) {
+     258             :   // Weighting terms for different costs
+     259             :   // Retrieve the current segment times
+     260         120 :   std::vector<double> segment_times;
+     261         120 :   poly_opt_.getSegmentTimes(&segment_times);
+     262         120 :   const double J_d = poly_opt_.computeCost();
+     263             : 
+     264         120 :   if (poly_opt_.getNumberSegments() == 1) {
+     265           0 :     if (gradients != NULL) {
+     266           0 :       gradients->clear();
+     267           0 :       gradients->resize(poly_opt_.getNumberSegments(), 0.0);
+     268             :     }
+     269             : 
+     270           0 :     return J_d;
+     271             :   }
+     272             : 
+     273         120 :   if (gradients != NULL) {
+     274         120 :     const size_t n_segments = poly_opt_.getNumberSegments();
+     275             : 
+     276         120 :     gradients->clear();
+     277         120 :     gradients->resize(n_segments);
+     278             : 
+     279             :     // Initialize changed segment times for numerical derivative
+     280         240 :     std::vector<double> segment_times_bigger(n_segments);
+     281         120 :     const double        increment_time = 0.1;
+     282        1353 :     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        1233 :       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        1233 :       double const_traj_time_corr = increment_time / (n_segments - 1.0);
+     289       18228 :       for (size_t i = 0; i < segment_times_bigger.size(); ++i) {
+     290       16995 :         if (i == n) {
+     291        1233 :           segment_times_bigger[i] += increment_time;
+     292             :         } else {
+     293       15762 :           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       18228 :       for (double& t : segment_times_bigger) {
+     310       16995 :         t = std::max(kOptimizationTimeLowerBound, t);
+     311             :       }
+     312             : 
+     313             :       // Update the segment times. This changes the polynomial coefficients.
+     314        1233 :       poly_opt_.updateSegmentTimes(segment_times_bigger);
+     315        1233 :       poly_opt_.solveLinear();
+     316             : 
+     317             :       // Calculate cost and gradient with new segment time
+     318        1233 :       const double J_d_bigger = poly_opt_.computeCost();
+     319        1233 :       const double dJd_dt     = (J_d_bigger - J_d) / increment_time;
+     320             : 
+     321             :       // Calculate the gradient
+     322        1233 :       gradients->at(n) = dJd_dt;
+     323             :     }
+     324             : 
+     325             :     // Set again the original segment times from before calculating the
+     326             :     // numerical gradient
+     327         120 :     poly_opt_.updateSegmentTimes(segment_times);
+     328         120 :     poly_opt_.solveLinear();
+     329             :   }
+     330             : 
+     331             :   // Compute cost without gradient
+     332             :   return J_d;
+     333             : }
+     334             : 
+     335             : template <int _N>
+     336          14 : void PolynomialOptimizationNonLinear<_N>::scaleSegmentTimesWithViolation() {
+     337             : 
+     338             :   // Get trajectory
+     339          28 :   Trajectory traj;
+     340          14 :   poly_opt_.getTrajectory(&traj);
+     341             : 
+     342             :   // get constraints
+     343          14 :   double v_max_horizontal = 0.0;
+     344          14 :   double a_max_horizontal = 0.0;
+     345          14 :   double j_max_horizontal = 0.0;
+     346             : 
+     347          14 :   double v_max_vertical = 0.0;
+     348          14 :   double a_max_vertical = 0.0;
+     349          14 :   double j_max_vertical = 0.0;
+     350             : 
+     351          14 :   double v_max_heading = 0.0;
+     352          14 :   double a_max_heading = 0.0;
+     353          14 :   double j_max_heading = 0.0;
+     354             : 
+     355         182 :   for (const auto& constraint : inequality_constraints_) {
+     356         168 :     if (constraint->dimension <= 1) {
+     357          84 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     358          28 :         v_max_horizontal = constraint->value;
+     359          56 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     360          28 :         a_max_horizontal = constraint->value;
+     361          28 :       } else if (constraint->derivative == derivative_order::JERK) {
+     362          28 :         j_max_horizontal = constraint->value;
+     363             :       }
+     364          84 :     } else if (constraint->dimension == 2) {
+     365          42 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     366          14 :         v_max_vertical = constraint->value;
+     367          28 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     368          14 :         a_max_vertical = constraint->value;
+     369          14 :       } else if (constraint->derivative == derivative_order::JERK) {
+     370          14 :         j_max_vertical = constraint->value;
+     371             :       }
+     372          42 :     } else if (constraint->dimension == 3) {
+     373          42 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     374          14 :         v_max_heading = constraint->value;
+     375          28 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     376          14 :         a_max_heading = constraint->value;
+     377          14 :       } else if (constraint->derivative == derivative_order::JERK) {
+     378          14 :         j_max_heading = constraint->value;
+     379             :       }
+     380             :     }
+     381             :   }
+     382             : 
+     383          14 :   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          14 :   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          14 :   std::vector<double> segment_times;
+     406          28 :   segment_times = traj.getSegmentTimes();
+     407          14 :   poly_opt_.updateSegmentTimes(segment_times);
+     408          14 :   poly_opt_.solveLinear();
+     409             : 
+     410          14 :   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          14 : }
+     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         168 : bool PolynomialOptimizationNonLinear<_N>::addMaximumMagnitudeConstraint(int dimension, int derivative, double maximum_value) {
+     540             : 
+     541         168 :   CHECK_GE(derivative, 0);
+     542         168 :   CHECK_GE(maximum_value, 0.0);
+     543             : 
+     544         336 :   std::shared_ptr<ConstraintData> constraint_data(new ConstraintData);
+     545         168 :   constraint_data->dimension   = dimension;
+     546         168 :   constraint_data->derivative  = derivative;
+     547         168 :   constraint_data->value       = maximum_value;
+     548         168 :   constraint_data->this_object = this;
+     549             : 
+     550             :   // Store the shared_ptrs such that their data will be destroyed later.
+     551         168 :   inequality_constraints_.push_back(constraint_data);
+     552             : 
+     553         168 :   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         120 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient,
+     618             :                                                                                     void* data) {
+     619         120 :   CHECK(!gradient.empty()) << "only with gradients possible, choose a gradient based method";
+     620         120 :   CHECK_NOTNULL(data);
+     621             : 
+     622         120 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     623             : 
+     624         120 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     625             : 
+     626         120 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     627         120 :   optimization_data->poly_opt_.solveLinear();
+     628             :   double cost_trajectory;
+     629         120 :   if (!gradient.empty()) {
+     630         120 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(&gradient);
+     631             :   } else {
+     632           0 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(NULL);
+     633             :   }
+     634             : 
+     635         120 :   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         120 :   optimization_data->optimization_info_.n_iterations++;
+     646         120 :   optimization_data->optimization_info_.cost_trajectory = cost_trajectory;
+     647             : 
+     648         120 :   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_
+
+
+
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+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..74124676d797f0c42e57c38890aab169b9a5f47b GIT binary patch literal 3527 zcmV;&4LI_NP)TcC@7}Mc4xnF_nk@GrwE9sh|Vw%#xjoc zS;q4}_y6QxO!2k zA~~_@KK0~f5`aAvy_!e=(=j}SSD=BJRXt*B1pE{vn^?=tpb-3(+H*n`u_naYM*QKM zPpVpwHv-j9t`^{`RqVi?s_W9`zz*70iY-B8;3usx=Ze&b-QLtgl7)&CY&P-adhi^~ ze+0mYrY?}2Cd8c|Pn3AJesX$>B?*>LlLqawHdl>e5A#2t!=OJnJ?#xT+O#R;J>!YE|xw zK*waohZ7zhNy?aBwF4T|vu*FQY|U~4Jrc@sr00DnA4H&q;?V|qpt+!OG_9lc$e#;( z{8s`QxC&euMPoTBNp;d#_A58~q1_1zinXp4fUdGVFqL=GTdG#( z0VnYAl|rq%N>P@EmD7(rF@GHL(YAsd=P?AzFj`20ZBrVXZ7Wh)YC*uJdJYq?SK+SM z6}}~#e(#6=EvR~rM!Dm&{~4YgvjNx~;9OhZ?ntrbqwL^Wzdp9T&R*ovT&(se53akw z<3G}bURUnvh??8J+l0R&FrSXwG8_{EroVmOSDt;D;_s zKU|Vh+5imp2YG(4jy`(<>Hxi^ddmp;t{Ee_JJ6)XS#Kn0)v(&{w=1*Nut=`yuu^anc9cp zzMG*@A3tJ&amG&_;YlC4W?Vz*qx%C(`#>tosgR}$Rwq@AuB$xDcFsOc#LRxcHujIO9F-W5OY|o*fK;ur8@~HYh%_an4Og8b%-p5GHTJNoK znPTwwUtOjcRw+wwfUS~+pGu6IH$xxAGDU0A3p} zcob*LPXg^ck}aIf*)I&p7O(ou6sFgS3Lld3YhjKHApC~BR#-DSYte(3TPZFHXs2jX zcu}*P=HH~p8jIKT_#s6>k8O%y*CXi$a@E~>{FGv;M*~HZ9_<711AFYo%_fT=QJ6H_ zh7}oERi&jyGjDIlO%ja59r(U`nQfM&-4uw%DO)=B^w36@a}+Iu=_REw4-d)=9jn>!Jq7V;U8~sDPKH^TseG^#6D_= zFYsXpJsPF{;^7MjXf)$9Tb(skm|gphB6W!zHs%rzA&=wmnU-kb=jR8Ggn@}@ywEbY z4{@|*fT>tF^JkwJg}izAshN3JZNSpZ?gv_h8Bzc@WfjXUbM@4a3VgtNsPQCT^GwN@ zaen&Vh&dE_q>XNo>yC}?=Qgim)Oe(4188Fw9+xPKiUqxJE2L)!Z`?4f*rPa2w;=wEY?nI#I_izhog!$Jv@s8otlN^^W6%poy*QNG}`e{z0oKNYZ zXwlA7!v|bWh29gAAHuGCoc7E43uVa%4f2>tom+|my$ARv=HBCRdrp29)r)QYj{t@8 zcW$_<&aa;vewSlaDyVQH4K5YxyJr5ilFx~+^yNXh&_YI>*&N8}MtHKe;@ z?MKP1RqJ8y^1i)B25AIt#t}*MW+Kqsu{WdhK^`;bgRw3cz~I89hIjP+`fHn?F?ju@ znvId+)&*5j^=uM%kT%&d_;?h+ddsw2astXM`3E{QU#F<4;EwoXWV8;HmZU*}IKIl0 zkb?u=H?>7gPElR`@KC&`D3#tOY}whqZQZxJiGgTV`fhbQf$!S-U#(i0#eVg!&#k5I zgIrOEM{QvzK{!mBfLr`N*1-417!Xj>_SrY2j&hUfwQf04YAcTq%yE00aHCBZgXm<~ zvMr@Rl~kv$|;3`Vg5L~&Z%E@*HK*L)C)*0!eJY~Rz*SYrZyb@gFAr)i&&(#dr= zP6Y=$$*qYC1vV&Nsya-9(`@*2VJf=%gvX5II#9WvVo^V4z{Gy@3}mS_NovbEve%1T zaV!mhq)R?`^0T7xmGam-#8qy`g3GZE>H?&Ib9PmWe*23(*4%%a1RoWOFFtwEc*D%A zKpI!LcF%CN&wTSL)b?CB+9T~l|A93ZTU02kig%H2qIs4CggR7Uzts7pe$S84cT-Gc zU1yFCho%YkQg>hDd1XZW+=hY9NIH-K)y(Fr!%8M!x7DwTMezwN_fO z6e{%du@qKYp`N1ZzgWs&Eam3%7fTUsrDf`g&u{$-@4o4b%$Pti@V6tghZx=H zU8Yb);P1RE!1ljxefOMh;10R@7bisC3;407K_&ng31Za1Iv`yFl~xobpWRRf8CMZ4}?UG z*us~99m4RykQnhf2rzy5;1Ejj*ofApk*tSDJOKfJbsBFD!W`b}d^ zPXR-E)6D+(wYS`u%nfKvg_^QICGP*q_LMS~<6Uj>;?$W_Bxg9u*=f9!ZK6Op2Bl`v z;PIlpR1poy$8lz7aYfn8xK-rF!xv`=EUk?Hts$`7qX5#ig0%_7z>pB^@~$}?Rq*aM zJAs@u}X>}m_WNukF7Kt!28qjrj#y<<+EDA&9 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation + + + + + + + + + + + + + + +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
timing.h +
0.0%
+ 		0.0 %0 / 320.0 %0 / 2
trajectory.h +
58.5%58.5%
+ 		58.5 %24 / 4166.7 %2 / 3
<unnamed>58.5 %24 / 4166.7 %2 / 3
polynomial_optimization_nonlinear.h +
100.0%
+ 		100.0 %7 / 7-0 / 0
<unnamed>100.0 %7 / 7-0 / 0
vertex.h +
75.0%75.0%
+ 		75.0 %6 / 8-0 / 0
<unnamed>75.0 %6 / 8-0 / 0
extremum.h +
100.0%
+ 		100.0 %6 / 6-0 / 0
<unnamed>100.0 %6 / 6-0 / 0
polynomial_optimization_linear.h +
65.5%65.5%
+ 		65.5 %19 / 29100.0 %1 / 1
<unnamed>65.5 %19 / 29100.0 %1 / 1
segment.h +
100.0%
+ 		100.0 %13 / 13100.0 %1 / 1
<unnamed>100.0 %13 / 13100.0 %1 / 1
polynomial.h +
91.8%91.8%
+ 		91.8 %45 / 49100.0 %6 / 6
<unnamed>91.8 %45 / 49100.0 %6 / 6
+
+
+ + + + +
Generated by: LCOV version 1.14
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
timing.h +
0.0%
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trajectory.h +
58.5%58.5%
+ 		58.5 %24 / 4166.7 %2 / 3
<unnamed>58.5 %24 / 4166.7 %2 / 3
polynomial_optimization_linear.h +
65.5%65.5%
+ 		65.5 %19 / 29100.0 %1 / 1
<unnamed>65.5 %19 / 29100.0 %1 / 1
vertex.h +
75.0%75.0%
+ 		75.0 %6 / 8-0 / 0
<unnamed>75.0 %6 / 8-0 / 0
polynomial.h +
91.8%91.8%
+ 		91.8 %45 / 49100.0 %6 / 6
<unnamed>91.8 %45 / 49100.0 %6 / 6
extremum.h +
100.0%
+ 		100.0 %6 / 6-0 / 0
<unnamed>100.0 %6 / 6-0 / 0
polynomial_optimization_nonlinear.h +
100.0%
+ 		100.0 %7 / 7-0 / 0
<unnamed>100.0 %7 / 7-0 / 0
segment.h +
100.0%
+ 		100.0 %13 / 13100.0 %1 / 1
<unnamed>100.0 %13 / 13100.0 %1 / 1
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generationHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2024-01-14 11:12:21Functions:101376.9 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Test:MRS UAV System - Test coverage reportLines:12018564.9 %
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Test:MRS UAV System - Test coverage reportLines:12018564.9 %
Date:2024-01-14 11:12:21Functions:101376.9 %
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Test:MRS UAV System - Test coverage reportLines:454991.8 %
Date:2024-01-14 11:12:21Functions:66100.0 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::Polynomial(int)14
eth_trajectory_generation::Polynomial::evaluate(double, int) const61570
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)78684
eth_trajectory_generation::Polynomial::getCoefficients(int) const81732
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)198810
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)198810
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - polynomial.h (source / functions)HitTotalCoverage
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Date:2024-01-14 11:12:21Functions: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::baseCoeffsWithTime(int, int, double)198810
eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)198810
eth_trajectory_generation::Polynomial::Polynomial(int)14
eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)78684
eth_trajectory_generation::Polynomial::getCoefficients(int) const81732
eth_trajectory_generation::Polynomial::evaluate(double, int) const61570
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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:2024-01-14 11:12:21Functions:66100.0 %
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_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       90206 : 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          14 :   Polynomial(int N) : N_(N), coefficients_(N) {
+      54          14 :     coefficients_.setZero();
+      55          14 :   }
+      56             : 
+      57             :   // Assigns arbitrary coefficients to a polynomial.
+      58       78684 :   Polynomial(int N, const Eigen::VectorXd& coeffs) : N_(N), coefficients_(coeffs) {
+      59       78684 :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      60       78684 :   }
+      61             : 
+      62        2520 :   Polynomial(const Eigen::VectorXd& coeffs) : N_(coeffs.size()), coefficients_(coeffs) {
+      63        1260 :   }
+      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       81732 :   Eigen::VectorXd getCoefficients(int derivative = 0) const {
+     109       81732 :     CHECK_LE(derivative, N_);
+     110       81732 :     if (derivative == 0) {
+     111      155904 :       return coefficients_;
+     112             :     } else {
+     113       15120 :       Eigen::VectorXd result(N_);
+     114        7560 :       result.setZero();
+     115        7560 :       result.head(N_ - derivative) =
+     116        7560 :           coefficients_.tail(N_ - derivative).cwiseProduct(base_coefficients_.block(derivative, derivative, 1, N_ - derivative).transpose());
+     117        7560 :       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       61570 :   double evaluate(double t, int derivative) const {
+     151       61570 :     if (derivative >= N_) {
+     152             :       return 0.0;
+     153             :     }
+     154       61570 :     double             result;
+     155       61570 :     const int          tmp = N_ - 1;
+     156       61570 :     Eigen::RowVectorXd row = base_coefficients_.block(derivative, 0, 1, N_);
+     157       61570 :     result                 = row[tmp] * coefficients_[tmp];
+     158      485786 :     for (int j = tmp - 1; j >= derivative; --j) {
+     159      424216 :       result *= t;
+     160      424216 :       result += row[j] * coefficients_[j];
+     161             :     }
+     162       61570 :     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      198810 :   static void baseCoeffsWithTime(int N, int derivative, double t, Eigen::VectorXd* coeffs) {
+     209      198810 :     CHECK_LT(derivative, N);
+     210      198810 :     CHECK_GE(derivative, 0);
+     211             : 
+     212      198810 :     coeffs->resize(N, 1);
+     213      198810 :     coeffs->setZero();
+     214             :     // first coefficient doesn't get multiplied
+     215      198810 :     (*coeffs)[derivative] = base_coefficients_(derivative, derivative);
+     216             : 
+     217      198810 :     if (std::abs(t) < std::numeric_limits<double>::epsilon())
+     218             :       return;
+     219             : 
+     220       99405 :     double t_power = t;
+     221             :     // now multiply increasing power of t towards the right
+     222      795240 :     for (int j = derivative + 1; j < N; j++) {
+     223      695835 :       (*coeffs)[j] = base_coefficients_(derivative, j) * t_power;
+     224      695835 :       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      198810 :   static Eigen::VectorXd baseCoeffsWithTime(int N, int derivative, double t) {
+     234      198810 :     Eigen::VectorXd c(N);
+     235      198810 :     baseCoeffsWithTime(N, derivative, t, &c);
+     236      198810 :     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        3780 :   static inline int getConvolutionLength(int data_size, int kernel_size) {
+     244        3780 :     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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+ + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial.h.gcov.png b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8f24c71ffff3f844576638ad70e091a0d44c0e7f GIT binary patch literal 1546 zcmV+l2KD)gP)`Q)pk1L5CSsgX9#cgqg5Z^1jf6iYx zFMzJ|UyLpw0XuLNAbu9!zz_+41P5>c=keG9yd*V5LP8gK)d<5sK-7cL5m>+o=O@gY zOZpOz%>oDT3P#i(khb%i0HT3tNQ+?z9#ArJN(6R4pgo;8`uPG1FwC{H zNnD_v6(yK}l?-E-1RsE&;F*n3Vh(Sv##YC%ALmMs@p=Ou`ve97YZveGxV}o(2&5Gg ze@j#mVRgI>-Zsqoi4?*H4iqKQ;1gpW$%27%OMWf{;o~H-wzX=~f;wbA471`g_`=as zMQn0Hg=lP%5-HRpbB_D#ao|e(>28Ux_Qs>O2SesHaI?pfH)f2BfZ}FR+$gxVD#GyY zA(>KAH;zMuA$fNM+W98F`;IUV%@-0s^?lU0FOWV_q$9B$h%%)eZ;G|vdc^&?u<2t- z-oy3rApU&4UO%tj7p))q|Gx42`&4UtKIP-rkHEj4_1d1l%{_PBBkfSUL0a}T$7dC$ zqAdl@&ZkV{MUG|52*S|NZXp>W_(ToLIS1=JO35lktIhGu%56PH{gjR@*LmbR9DqqP z7f^zIkWf}~U4zjP#uLSL3YYJ%)Ld)~W-~-Daf`evwFl|>Kx#9>Nb2ME3!HFNL=N#Y zjf2sm-VRO3G$5e+DQ>``2JF{^yuM(W&-YT+aX}^vC_Pv}v|@1ly2AKL6FyW@)$dX+ z33inJF#v()ysRA6g0tzsZP<=qHAyuE)rKFw; zvsTaiLtBCO0${M0coi!^owigg$EbGx(-=Xz)kqye75SK^KZ&{}OzA10>_;!rs2t;V zZwgQ~!c8u?$0T5j9VUSyYw!&OJX7p~D^aSsT-G~iKzu`h-J*+VpFEe%JZ5aS1Tp-LWSs@Xa2*R8loNNu0q1p85PgfUS%RRaeG?w0k_34bPJ}K5LSz9024P zMG4_>&dIu2+zMeF>5Hi0uL*Tk81AriH(BMax)0uTQ0(x+F~U(OC|tlA6~v7i`Uy)VtW5^Oz2q2l0tl z_6)y%M1fKs9kp|kGE1q;)*bKc7I3Gswa@7Pazs+XX^7_Z)lLh+MpIi?1&uLiygp^q zN*TM9{c#TSHa%Zk-GvfKyvB^2zop00z2FEbdi4y~IauU@@^Bt0(XkFyPC;@zrsVFo9}okp z-s>XV8uywlT&WiolB=}Rhg+k2VM!syLC-r2yNuCRg{tn;{Q`ZT wWIk4`eTJ_7U_; + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/polynomial_optimization_linear.h - functions + + + + + + + + + + + + + + +
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          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+      23             : 
+      24             : #include <Eigen/Sparse>
+      25             : #include <tuple>
+      26             : 
+      27             : #include <eth_trajectory_generation/misc.h>
+      28             : #include <eth_trajectory_generation/extremum.h>
+      29             : #include <eth_trajectory_generation/motion_defines.h>
+      30             : #include <eth_trajectory_generation/polynomial.h>
+      31             : #include <eth_trajectory_generation/segment.h>
+      32             : #include <eth_trajectory_generation/trajectory.h>
+      33             : #include <eth_trajectory_generation/vertex.h>
+      34             : 
+      35             : namespace eth_trajectory_generation
+      36             : {
+      37             : 
+      38             : // Implements the unconstrained optimization of paths consisting of
+      39             : // polynomial segments as described in [1]
+      40             : // [1]: Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense
+      41             : // Indoor Environments.
+      42             : //      Charles Richter, Adam Bry, and Nicholas Roy. In ISRR 2013
+      43             : // _N = Number of coefficients of the underlying polynomials.
+      44             : // Polynomial coefficients are stored with increasing powers,
+      45             : // i.e. c_0 + c_1*t ... c_{N-1} * t^{N-1}.
+      46             : template <int _N = 10>
+      47             : class PolynomialOptimization {
+      48             :   static_assert(_N % 2 == 0, "The number of coefficients has to be even.");
+      49             : 
+      50             : public:
+      51             :   enum
+      52             :   {
+      53             :     N = _N
+      54             :   };
+      55             :   static constexpr int                                                      kHighestDerivativeToOptimize = N / 2 - 1;
+      56             :   typedef Eigen::Matrix<double, N, N>                                       SquareMatrix;
+      57             :   typedef std::vector<SquareMatrix, Eigen::aligned_allocator<SquareMatrix>> SquareMatrixVector;
+      58             : 
+      59             :   // Sets up the optimization problem for the specified dimension.
+      60             :   PolynomialOptimization(size_t dimension);
+      61             : 
+      62             :   // Sets up the optimization problem from a vector of Vertex objects and
+      63             :   // a vector of times between the vertices.
+      64             :   // Input: vertices = Vector containing the vertices defining the support
+      65             :   // points and constraints of the path.
+      66             :   // Input: segment_times = Vector containing the time between two vertices.
+      67             :   // Thus, its size is size(vertices) - 1.
+      68             :   // Input: derivative_to_optimize = Specifies the derivative of which the
+      69             :   // cost is optimized.
+      70             :   bool setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times, int derivative_to_optimize = kHighestDerivativeToOptimize);
+      71             : 
+      72             :   // Sets up the optimization problem from a vector of positions and a
+      73             :   // vector of times between the via points.
+      74             :   // The optimized derivative is set to the maximum possible based on the given
+      75             :   // N (N/2-1).
+      76             :   // Input: positions = Vector containing the start positions, intermediate
+      77             :   // positions and the final position.
+      78             :   // Input: times = Vector containing the time between two positions. Thus,
+      79             :   // its size is size(positions) - 1.
+      80             :   bool setupFromPositons(const std::vector<double>& positions, const std::vector<double>& times);
+      81             : 
+      82             :   // Wrapper that inverts the mapping matrix (A in [1]) to take advantage
+      83             :   // of its structure.
+      84             :   // Input: A matrix
+      85             :   // Output: Ai inverse of the A matrix
+      86             :   static void invertMappingMatrix(const SquareMatrix& mapping_matrix, SquareMatrix* inverse_mapping_matrix);
+      87             : 
+      88             :   static void setupMappingMatrix(double segment_time, SquareMatrix* A);
+      89             : 
+      90             :   // Computes the cost in the derivative that was specified during
+      91             :   // setupFromVertices().
+      92             :   // The cost is computed as: 0.5*c^T*Q*c
+      93             :   // where c are the coefficients and Q is the cost matrix of each segment.
+      94             :   double computeCost() const;
+      95             : 
+      96             :   // Updates the segment times. The number of times has to be equal to
+      97             :   // the number of vertices that was initially passed during the problem setup.
+      98             :   // This recomputes all cost- and inverse mapping block-matrices and is meant
+      99             :   // to be called during non-linear optimization procedures.
+     100             :   void updateSegmentTimes(const std::vector<double>& segment_times);
+     101             : 
+     102             :   // Solves the linear optimization problem according to [1].
+     103             :   // The solver is re-used for every dimension, which means:
+     104             :   //  - segment times are equal for each dimension.
+     105             :   //  - each dimension has the same type/set of constraints. Their values can of
+     106             :   //    course differ.
+     107             :   bool solveLinear();
+     108             : 
+     109             :   // Returns the trajectory created by the optimization.
+     110             :   // Only valid after solveLinear() is called. This is the preferred external
+     111             :   // interface for getting information back out of the solver.
+     112          28 :   void getTrajectory(Trajectory* trajectory) const {
+     113          14 :     CHECK_NOTNULL(trajectory);
+     114          28 :     trajectory->setSegments(segments_);
+     115          14 :   }
+     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          14 :   void getSegments(Segment::Vector* segments) const {
+     178          14 :     CHECK_NOTNULL(segments);
+     179          14 :     *segments = segments_;
+     180          14 :   }
+     181             : 
+     182         162 :   void getSegmentTimes(std::vector<double>* segment_times) const {
+     183             :     CHECK(segment_times != nullptr);
+     184         162 :     *segment_times = segment_times_;
+     185         162 :   }
+     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         360 :   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       10654 : struct Constraint
+     290             : {
+     291       17032 :   inline bool operator<(const Constraint& rhs) const {
+     292       17032 :     if (vertex_idx < rhs.vertex_idx)
+     293             :       return true;
+     294       16612 :     if (rhs.vertex_idx < vertex_idx)
+     295             :       return false;
+     296             : 
+     297        6174 :     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      201600 :   inline bool operator==(const Constraint& rhs) const {
+     305      201600 :     return vertex_idx == rhs.vertex_idx && constraint_idx == rhs.constraint_idx;
+     306             :   }
+     307             : 
+     308             :   size_t                  vertex_idx;
+     309             :   size_t                  constraint_idx;
+     310             :   Vertex::ConstraintValue value;
+     311             : };
+     312             : 
+     313             : }  // namespace eth_trajectory_generation
+     314             : 
+     315             : #include "eth_trajectory_generation/impl/polynomial_optimization_linear_impl.h"
+     316             : 
+     317             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_LINEAR_H_
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+      23             : 
+      24             : #include <memory>
+      25             : #include <nlopt.hpp>
+      26             : 
+      27             : #include <eth_trajectory_generation/polynomial_optimization_linear.h>
+      28             : 
+      29             : namespace eth_trajectory_generation
+      30             : {
+      31             : 
+      32             : constexpr double kOptimizationTimeLowerBound = 0.01;
+      33             : 
+      34             : // Class holding all important parameters for nonlinear optimization.
+      35             : struct NonlinearOptimizationParameters
+      36             : {
+      37             :   // Default parameters should be reasonable enough to use without further
+      38             :   // fine-tuning.
+      39             : 
+      40             :   // Stopping criteria, if objective function changes less than absolute value.
+      41             :   // Disabled if negative.
+      42             :   double f_abs = -1;
+      43             : 
+      44             :   // Stopping criteria, if objective function changes less than relative value.
+      45             :   // Disabled if negative.
+      46             :   double f_rel = 0.05;
+      47             : 
+      48             :   // Stopping criteria, if state changes less than relative value.
+      49             :   // Disabled if negative.
+      50             :   double x_rel = -1;
+      51             : 
+      52             :   // Stopping criteria, if state changes less than absolute value.
+      53             :   // Disabled if negative.
+      54             :   double x_abs = -1;
+      55             : 
+      56             :   // Determines a fraction of the initial guess as initial step size.
+      57             :   // Heuristic value if negative.
+      58             :   double initial_stepsize_rel = 0.1;
+      59             : 
+      60             :   // Absolute tolerance, within an equality constraint is considered as met.
+      61             :   double equality_constraint_tolerance = 1.0e-3;
+      62             : 
+      63             :   // Absolute tolerance, within an inequality constraint is considered as met.
+      64             :   double inequality_constraint_tolerance = 0.1;
+      65             : 
+      66             :   // Maximum number of iterations. Disabled if negative.
+      67             :   int max_iterations = 3000;
+      68             : 
+      69             :   // max execution time in secs
+      70             :   double max_time = 1.0;
+      71             : 
+      72             :   // Penalty for the segment time.
+      73             :   double time_penalty = 500.0;
+      74             : 
+      75             :   // Optimization algorithm used by nlopt, see
+      76             :   // http://ab-initio.mit.edu/wiki/index.php/NLopt_Algorithms
+      77             :   // Previous value was nlopt::LN_SBPLX, but we found that BOBYQA has slightly
+      78             :   // better convergence and lower run-time in the unit tests.
+      79             :   nlopt::algorithm algorithm = nlopt::LN_BOBYQA;
+      80             : 
+      81             :   // Random seed, if an optimization algorithm involving random numbers
+      82             :   // is used (e.g. nlopt::GN_ISRES).
+      83             :   // If set to a value < 0, a "random" (getTimeofday) value for the seed
+      84             :   // is chosen.
+      85             :   int random_seed = 0;
+      86             : 
+      87             :   // Decide whether to use soft constraints.
+      88             :   bool use_soft_constraints = true;
+      89             : 
+      90             :   // Weights the relative violation of a soft constraint.
+      91             :   double soft_constraint_weight = 100.0;
+      92             : 
+      93             :   enum TimeAllocMethod
+      94             :   {
+      95             :     kSquaredTime               = 0,
+      96             :     kRichterTime               = 1,
+      97             :     kMellingerOuterLoop        = 2,
+      98             :     kSquaredTimeAndConstraints = 3,
+      99             :     kRichterTimeAndConstraints = 4,
+     100             :     kUnknown                   = 5,
+     101             :   } time_alloc_method = kSquaredTimeAndConstraints;
+     102             : 
+     103             :   bool print_debug_info                 = false;
+     104             :   bool print_debug_info_time_allocation = false;
+     105             : };
+     106             : 
+     107          57 : 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          14 :   void getTrajectory(Trajectory* trajectory) const {
+     182          14 :     poly_opt_.getTrajectory(trajectory);
+     183          14 :   }
+     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          14 :   PolynomialOptimization<N>& getPolynomialOptimizationRef() {
+     194             :     return poly_opt_;
+     195             :   }
+     196             : 
+     197          42 :   OptimizationInfo getOptimizationInfo() const {
+     198          71 :     return optimization_info_;
+     199             :   }
+     200             : 
+     201             :   // Functions for optimization, but may be useful for diagnostics outside.
+     202             :   // Gets the trajectory cost (same as the cost in the linear problem).
+     203             :   double getCost() const;
+     204             : 
+     205             :   // Gets the cost including the soft constraints and time costs, should be
+     206             :   // the same cost function as used in the full optimization. Returns the same
+     207             :   // metrics regardless of time estimation method set.
+     208             :   double getTotalCostWithSoftConstraints() const;
+     209             : 
+     210             :   void scaleSegmentTimesWithViolation();
+     211             : 
+     212             : private:
+     213             :   // Holds the data for constraint evaluation, since these methods are
+     214             :   // static.
+     215             :   struct ConstraintData
+     216             :   {
+     217             :     PolynomialOptimizationNonLinear<N>* this_object;
+     218             :     int                                 derivative;
+     219             :     int                                 dimension;
+     220             :     double                              value;
+     221             :   };
+     222             : 
+     223             :   // Objective function for the time-only version.
+     224             :   // Input: segment_times = Segment times in the current iteration.
+     225             :   // Input: gradient = Gradient of the objective function w.r.t. changes of
+     226             :   // parameters. We can't compute the gradient analytically here.
+     227             :   // Thus, only gradient-free optimization methods are possible.
+     228             :   // Input: Custom data pointer = In our case, it's an ConstraintData object.
+     229             :   // Output: Cost = based on the parameters passed in.
+     230             :   static double objectiveFunctionTime(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data);
+     231             : 
+     232             :   // Objective function for the time-only Mellinger Outer Loop.
+     233             :   // Input: segment_times = Segment times in the current iteration.
+     234             :   // Input: gradient = Gradient of the objective function w.r.t. changes of
+     235             :   // parameters. We can't compute the gradient analytically here.
+     236             :   // Thus, only gradient-free optimization methods are possible.
+     237             :   // Input: Custom data pointer = In our case, it's an ConstraintData object.
+     238             :   // Output: Cost = based on the parameters passed in.
+     239             :   static double objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient, void* data);
+     240             : 
+     241             :   // Objective function for the version optimizing segment times and free
+     242             :   // derivatives.
+     243             :   // Input: optimization_variables = Optimization variables times in the
+     244             :   // current iteration.
+     245             :   // The variables (time, derivatives) are stacked as follows: [segment_times
+     246             :   // derivatives_dim_0 ... derivatives_dim_N]
+     247             :   // Input: gradient = Gradient of the objective function wrt. changes of
+     248             :   // parameters. We can't compute the gradient analytically here.
+     249             :   // Thus, only gradient free optimization methods are possible.
+     250             :   // Input: data = Custom data pointer. In our case, it's an ConstraintData
+     251             :   // object.
+     252             :   // Output: Cost based on the parameters passed in.
+     253             :   static double objectiveFunctionTimeAndConstraints(const std::vector<double>& optimization_variables, std::vector<double>& gradient, void* data);
+     254             : 
+     255             :   // Evaluates the maximum magnitude constraint at the current value of
+     256             :   // the optimization variables.
+     257             :   // All input parameters are ignored, all information is contained in data.
+     258             :   static double evaluateMaximumMagnitudeConstraint(const std::vector<double>& optimization_variables, std::vector<double>& gradient, void* data);
+     259             : 
+     260             :   // Does the actual optimization work for the time-only version.
+     261             :   int optimizeTime();
+     262             :   int optimizeTimeMellingerOuterLoop();
+     263             : 
+     264             :   // Does the actual optimization work for the full optimization version.
+     265             :   int optimizeTimeAndFreeConstraints();
+     266             : 
+     267             :   // Evaluates the maximum magnitude constraints as soft constraints and
+     268             :   // returns a cost, depending on the violation of the constraints.
+     269             :   // cost_i = min(maximum_cost, exp(abs_violation_i / max_allowed_i * weight))
+     270             :   //  cost = sum(cost_i)
+     271             :   // Input: inequality_constraints = Vector of ConstraintData shared_ptrs,
+     272             :   // describing the constraints.
+     273             :   // Input: weight = Multiplicative weight of the constraint violation.
+     274             :   // Input: maximum_cost = Upper bound of the cost. Necessary, since exp of a
+     275             :   // high violation can end up in inf.
+     276             :   // Output: Sum of the costs per constraint.
+     277             :   double evaluateMaximumMagnitudeAsSoftConstraint(const std::vector<std::shared_ptr<ConstraintData>>& inequality_constraints, double weight,
+     278             :                                                   double maximum_cost = 1.0e12) const;
+     279             : 
+     280             :   // Set lower and upper bounds on the optimization parameters
+     281             :   void setFreeEndpointDerivativeHardConstraints(const Vertex::Vector& vertices, std::vector<double>* lower_bounds, std::vector<double>* upper_bounds);
+     282             : 
+     283             :   // Computes the gradients by doing forward difference!
+     284             :   double getCostAndGradientMellinger(std::vector<double>* gradients);
+     285             : 
+     286             :   // Computes the total trajectory time.
+     287             :   static double computeTotalTrajectoryTime(const std::vector<double>& segment_times);
+     288             : 
+     289             :   // nlopt optimization object.
+     290             :   std::shared_ptr<nlopt::opt> nlopt_;
+     291             : 
+     292             :   // Underlying linear optimization object.
+     293             :   PolynomialOptimization<N> poly_opt_;
+     294             : 
+     295             :   // Parameters for the nonlinear optimzation.
+     296             :   NonlinearOptimizationParameters optimization_parameters_;
+     297             : 
+     298             :   // Holds the data for evaluating inequality constraints.
+     299             :   std::vector<std::shared_ptr<ConstraintData>> inequality_constraints_;
+     300             : 
+     301             :   OptimizationInfo optimization_info_;
+     302             : };
+     303             : 
+     304             : }  // namespace eth_trajectory_generation
+     305             : 
+     306             : namespace nlopt
+     307             : {
+     308             : // Convenience function that turns nlopt's return values into something
+     309             : // readable.
+     310             : std::string returnValueToString(int return_value);
+     311             : }  // namespace nlopt
+     312             : 
+     313             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_OPTIMIZATION_NONLINEAR_H_
+     314             : 
+     315             : #include "eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h"
+
+
+
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+
          Line data    Source code
+
+       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+      22             : #define ETH_TRAJECTORY_GENERATION_SEGMENT_H_
+      23             : 
+      24             : #include <Eigen/Core>
+      25             : #include <chrono>
+      26             : #include <map>
+      27             : #include <vector>
+      28             : 
+      29             : #include <eth_trajectory_generation/misc.h>
+      30             : #include <eth_trajectory_generation/extremum.h>
+      31             : #include <eth_trajectory_generation/motion_defines.h>
+      32             : #include <eth_trajectory_generation/polynomial.h>
+      33             : 
+      34             : namespace eth_trajectory_generation
+      35             : {
+      36             : 
+      37             : constexpr double kNumNSecPerSec = 1.0e9;
+      38             : constexpr double kNumSecPerNsec = 1.0e-9;
+      39             : 
+      40             : // Class holding the properties of parametric segment of a path.
+      41             : // Time of the segment and one polynomial for each dimension.
+      42             : //    X------------X---------------X
+      43             : //  vertex             segment
+      44         854 : class Segment {
+      45             : public:
+      46             :   typedef std::vector<Segment> Vector;
+      47             : 
+      48          14 :   Segment(int N, int D) : time_(0.0), N_(N), D_(D) {
+      49          14 :     polynomials_.resize(D_, Polynomial(N_));
+      50          14 :   }
+      51         840 :   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        1498 :   int D() const {
+      59        1498 :     return D_;
+      60             :   }
+      61         448 :   int N() const {
+      62         448 :     return N_;
+      63             :   }
+      64       20070 :   double getTime() const {
+      65       19090 :     return time_;
+      66             :   }
+      67             :   uint64_t getTimeNSec() const {
+      68             :     return static_cast<uint64_t>(kNumNSecPerSec * time_);
+      69             :   }
+      70             : 
+      71       78894 :   void setTime(double time_sec) {
+      72       78894 :     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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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - timing.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0320.0 %
Date:2024-01-14 11:12:21Functions:020.0 %
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eth_trajectory_generation::timing::Accumulator<double, double, 50>::Add(double)0
eth_trajectory_generation::timing::Accumulator<double, double, 50>::LazyVariance() const0
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - timing.h (source / functions)HitTotalCoverage
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Date:2024-01-14 11:12:21Functions:020.0 %
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eth_trajectory_generation::timing::Accumulator<double, double, 50>::Add(double)0
eth_trajectory_generation::timing::Accumulator<double, double, 50>::LazyVariance() const0
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - timing.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:0320.0 %
Date:2024-01-14 11:12:21Functions:020.0 %
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             : /* Adapted from Paul Furgale Schweizer Messer sm_timing */
+      22             : 
+      23             : #ifndef ETH_TRAJECTORY_GENERATION_TIMING_H_
+      24             : #define ETH_TRAJECTORY_GENERATION_TIMING_H_
+      25             : 
+      26             : #include <algorithm>
+      27             : #include <chrono>
+      28             : #include <limits>
+      29             : #include <map>
+      30             : #include <string>
+      31             : #include <vector>
+      32             : 
+      33             : namespace eth_trajectory_generation
+      34             : {
+      35             : namespace timing
+      36             : {
+      37             : 
+      38             : template <typename T, typename Total, int N>
+      39             : class Accumulator {
+      40             : public:
+      41           0 :   Accumulator() : window_samples_(0), total_samples_(0), window_sum_(0), sum_(0), min_(std::numeric_limits<T>::max()), max_(std::numeric_limits<T>::min()) {
+      42             :   }
+      43             : 
+      44           0 :   void Add(T sample) {
+      45           0 :     if (window_samples_ < N) {
+      46           0 :       samples_[window_samples_++] = sample;
+      47           0 :       window_sum_ += sample;
+      48             :     } else {
+      49           0 :       T& oldest = samples_[window_samples_++ % N];
+      50           0 :       window_sum_ += sample - oldest;
+      51           0 :       oldest = sample;
+      52             :     }
+      53           0 :     sum_ += sample;
+      54           0 :     ++total_samples_;
+      55           0 :     if (sample > max_) {
+      56           0 :       max_ = sample;
+      57             :     }
+      58           0 :     if (sample < min_) {
+      59           0 :       min_ = sample;
+      60             :     }
+      61           0 :   }
+      62             : 
+      63           0 :   int TotalSamples() const {
+      64             :     return total_samples_;
+      65             :   }
+      66             : 
+      67           0 :   double Sum() const {
+      68             :     return sum_;
+      69             :   }
+      70             : 
+      71           0 :   double Mean() const {
+      72           0 :     return sum_ / total_samples_;
+      73             :   }
+      74             : 
+      75           0 :   double RollingMean() const {
+      76           0 :     return window_sum_ / std::min(window_samples_, N);
+      77             :   }
+      78             : 
+      79           0 :   double Max() const {
+      80             :     return max_;
+      81             :   }
+      82             : 
+      83           0 :   double Min() const {
+      84             :     return min_;
+      85             :   }
+      86             : 
+      87           0 :   double LazyVariance() const {
+      88           0 :     if (window_samples_ == 0) {
+      89             :       return 0.0;
+      90             :     }
+      91           0 :     double var  = 0;
+      92           0 :     double mean = RollingMean();
+      93           0 :     for (int i = 0; i < std::min(window_samples_, N); ++i) {
+      94           0 :       var += (samples_[i] - mean) * (samples_[i] - mean);
+      95             :     }
+      96           0 :     var /= std::min(window_samples_, N);
+      97           0 :     return var;
+      98             :   }
+      99             : 
+     100             : private:
+     101             :   int   window_samples_;
+     102             :   int   total_samples_;
+     103             :   Total window_sum_;
+     104             :   Total sum_;
+     105             :   T     min_;
+     106             :   T     max_;
+     107             :   T     samples_[N];
+     108             : };
+     109             : 
+     110             : struct TimerMapValue
+     111             : {
+     112           0 :   TimerMapValue() {
+     113             :   }
+     114             : 
+     115             :   // Create an accumulator with specified window size.
+     116             :   Accumulator<double, double, 50> acc_;
+     117             : };
+     118             : 
+     119             : // A class that has the timer interface but does nothing. Swapping this in in
+     120             : // place of the Timer class (say with a typedef) should allow one to disable
+     121             : // timing. Because all of the functions are inline, they should just disappear.
+     122             : class DummyTimer {
+     123             : public:
+     124             :   DummyTimer(size_t /*handle*/, bool /*constructStopped*/ = false) {
+     125             :   }
+     126             :   DummyTimer(std::string const& /*tag*/, bool /*constructStopped*/ = false) {
+     127             :   }
+     128             :   ~DummyTimer() {
+     129             :   }
+     130             : 
+     131             :   void Start() {
+     132             :   }
+     133             :   void Stop() {
+     134             :   }
+     135             :   bool IsTiming() {
+     136             :     return false;
+     137             :   }
+     138             : };
+     139             : 
+     140             : class Timer {
+     141             : public:
+     142             :   Timer(size_t handle, bool constructStopped = false);
+     143             :   Timer(std::string const& tag, bool constructStopped = false);
+     144             :   ~Timer();
+     145             : 
+     146             :   void Start();
+     147             :   void Stop();
+     148             :   bool IsTiming() const;
+     149             : 
+     150             : private:
+     151             :   std::chrono::time_point<std::chrono::system_clock> time_;
+     152             : 
+     153             :   bool   timing_;
+     154             :   size_t handle_;
+     155             : };
+     156             : 
+     157             : class Timing {
+     158             : public:
+     159             :   typedef std::map<std::string, size_t> map_t;
+     160             :   friend class Timer;
+     161             :   // Definition of static functions to query the timers.
+     162             :   static size_t       GetHandle(std::string const& tag);
+     163             :   static std::string  GetTag(size_t handle);
+     164             :   static double       GetTotalSeconds(size_t handle);
+     165             :   static double       GetTotalSeconds(std::string const& tag);
+     166             :   static double       GetMeanSeconds(size_t handle);
+     167             :   static double       GetMeanSeconds(std::string const& tag);
+     168             :   static size_t       GetNumSamples(size_t handle);
+     169             :   static size_t       GetNumSamples(std::string const& tag);
+     170             :   static double       GetVarianceSeconds(size_t handle);
+     171             :   static double       GetVarianceSeconds(std::string const& tag);
+     172             :   static double       GetMinSeconds(size_t handle);
+     173             :   static double       GetMinSeconds(std::string const& tag);
+     174             :   static double       GetMaxSeconds(size_t handle);
+     175             :   static double       GetMaxSeconds(std::string const& tag);
+     176             :   static double       GetHz(size_t handle);
+     177             :   static double       GetHz(std::string const& tag);
+     178             :   static void         Print(std::ostream& out);
+     179             :   static std::string  Print();
+     180             :   static std::string  SecondsToTimeString(double seconds);
+     181             :   static void         Reset();
+     182             :   static const map_t& GetTimers() {
+     183             :     return Instance().tag_map_;
+     184             :   }
+     185             : 
+     186             : private:
+     187             :   void AddTime(size_t handle, double seconds);
+     188             : 
+     189             :   static Timing& Instance();
+     190             : 
+     191             :   Timing();
+     192             :   ~Timing();
+     193             : 
+     194             :   typedef std::vector<TimerMapValue> list_t;
+     195             : 
+     196             :   list_t timers_;
+     197             :   map_t  tag_map_;
+     198             :   size_t max_tag_length_;
+     199             : };
+     200             : 
+     201             : #if DISABLE_TIMING
+     202             : typedef DummyTimer DebugTimer;
+     203             : #else
+     204             : typedef Timer DebugTimer;
+     205             : #endif
+     206             : 
+     207             : // Small timer for benchmarking.
+     208             : class MiniTimer {
+     209             : public:
+     210             :   MiniTimer() : start_(std::chrono::system_clock::now()) {
+     211             :   }
+     212             : 
+     213             :   void start() {
+     214             :     start_ = std::chrono::system_clock::now();
+     215             :   }
+     216             : 
+     217             :   double stop() {
+     218             :     end_ = std::chrono::system_clock::now();
+     219             :     return getTime();
+     220             :   }
+     221             : 
+     222             :   double getTime() const {
+     223             :     if (end_ < start_) {
+     224             :       return 0.0;
+     225             :     }
+     226             :     std::chrono::duration<double> duration = end_ - start_;
+     227             :     return duration.count();
+     228             :   }
+     229             : 
+     230             : private:
+     231             :   std::chrono::time_point<std::chrono::system_clock> start_;
+     232             :   std::chrono::time_point<std::chrono::system_clock> end_;
+     233             : };
+     234             : 
+     235             : }  // namespace timing
+     236             : }  // namespace eth_trajectory_generation
+     237             : 
+     238             : #endif  // ETH_TRAJECTORY_GENERATION_TIMING_H_
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation - trajectory.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:244158.5 %
Date:2024-01-14 11:12:21Functions:2366.7 %
Legend: Lines: + hit + not hit +
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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&)28
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)28
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eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)28
eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)28
eth_trajectory_generation::Trajectory::clear()0
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Date:2024-01-14 11:12:21Functions:2366.7 %
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_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          28 :   Trajectory() : D_(0), N_(0), max_time_(0.0) {
+      36             :   }
+      37          28 :   ~Trajectory() {
+      38          14 :   }
+      39             : 
+      40             :   bool        operator==(const Trajectory& rhs) const;
+      41             :   inline bool operator!=(const Trajectory& rhs) const {
+      42             :     return !operator==(rhs);
+      43             :   }
+      44             : 
+      45        1928 :   int D() const {
+      46        1928 :     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          28 :   void setSegments(const Segment::Vector& segments) {
+      66          28 :     CHECK(!segments.empty());
+      67             :     // Reset states.
+      68          28 :     D_        = segments.front().D();
+      69          28 :     N_        = segments.front().N();
+      70          28 :     max_time_ = 0.0;
+      71          28 :     segments_.clear();
+      72             : 
+      73          28 :     addSegments(segments);
+      74          28 :   }
+      75             : 
+      76          28 :   void addSegments(const Segment::Vector& segments) {
+      77         448 :     for (const Segment& segment : segments) {
+      78         420 :       CHECK_EQ(segment.D(), D_);
+      79         420 :       CHECK_EQ(segment.N(), N_);
+      80         420 :       max_time_ += segment.getTime();
+      81             :     }
+      82          28 :     segments_.insert(segments_.end(), segments.begin(), segments.end());
+      83          28 :   }
+      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          28 :   double getMinTime() const {
+      95          28 :     return 0.0;
+      96             :   }
+      97          28 :   double getMaxTime() const {
+      98          28 :     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        1974 : 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         453 :   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         224 :   typename Constraints::const_iterator cBegin() const {
+      93         224 :     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         518 :   typename Constraints::const_iterator cEnd() const {
+      99         518 :     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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eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
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eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
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eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
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Date:2024-01-14 11:12:21Functions: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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+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.gcov.overview.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.gcov.overview.html new file mode 100644 index 0000000000..3819ee7329 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/motion_defines.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..adc83232603d9fb7f4a5b693f8d27b6804e6e6b4 GIT binary patch literal 468 zcmV;_0W1EAP)KSM3$UAPCeAU?;l)-G7zF2!2AMt^Lzik~THoI|NReICPWdJs#$dBc2ckz~l3S zr~(UwF7gMk8E zVNBTr&i47kL(Tv;u5)1+4=FO}M8OHkmr^FkDU$S{T)B!^6r#IU;$@&Y^RAV}OeB4p z5oUiVh$3$PPZ@hbRORbMk>)bq$SbRdRYG?5s}kN+<`e~;z7@G{VKg`!nXNFI z8qSQ@EBp$hi+^o1qR3I-?44iUTswMhy`!o=I_S;nxFSzd8tKq+D@XM2xZ4>0W=#wo zSCUFyyL_|b&UA{qovrmpmA4bcDx<Z$;n{wRtEpiC0000< KMNUMnLSTZlq03qT literal 0 HcmV?d00001 diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp.func-sort-c.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp.func-sort-c.html new file mode 100644 index 0000000000..fe8a13c1e7 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/polynomial.cpp.func-sort-c.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
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - polynomial.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5210350.5 %
Date:2024-01-14 11:12:21Functions:61154.5 %
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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
eth_trajectory_generation::Polynomial::computeMinMax(double, double, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromRoots(double, double, int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::selectMinMaxFromCandidates(std::vector<double, std::allocator<double> > const&, int, std::pair<double, double>*, std::pair<double, double>*) const0
eth_trajectory_generation::Polynomial::getPolynomialWithAppendedCoefficients(int, eth_trajectory_generation::Polynomial*) const0
eth_trajectory_generation::computeBaseCoefficients(int)62
eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)840
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)2520
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)3780
eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const3780
eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const3780
+
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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 - polynomial.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5210350.5 %
Date:2024-01-14 11:12:21Functions: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::scalePolynomialInTime(double)840
eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)3780
eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)2520
eth_trajectory_generation::computeBaseCoefficients(int)62
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> >*) const3780
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>*) const3780
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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 - polynomial.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5210350.5 %
Date:2024-01-14 11:12:21Functions:61154.5 %
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
+      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        3780 : bool Polynomial::getRoots(int derivative, Eigen::VectorXcd* roots) const {
+      31        3780 :   return findRootsJenkinsTraub(getCoefficients(derivative), roots);
+      32             : }
+      33             : 
+      34             : /* selectMinMaxCandidatesFromRoots() //{ */
+      35             : 
+      36        3780 : bool Polynomial::selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      37             :                                                  std::vector<double>* candidates) {
+      38        3780 :   CHECK_NOTNULL(candidates);
+      39        3780 :   if (t_start > t_end) {
+      40           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+      41           0 :     return false;
+      42             :   }
+      43        3780 :   candidates->clear();
+      44        3780 :   candidates->reserve(roots_derivative_of_derivative.size() + 2);
+      45             :   // Put start and end in, as they are valid candidates.
+      46        3780 :   candidates->push_back(t_start);
+      47        3780 :   candidates->push_back(t_end);
+      48       35280 :   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       31500 :     if (std::abs(roots_derivative_of_derivative[i].imag()) > std::numeric_limits<double>::epsilon()) {
+      51       22086 :       continue;
+      52             :     }
+      53       14642 :     const double candidate = roots_derivative_of_derivative[i].real();
+      54             : 
+      55             :     // Do not evaluate points outside the domain.
+      56       14642 :     if (candidate < t_start || candidate > t_end) {
+      57        5228 :       continue;
+      58             :     } else {
+      59        9414 :       candidates->push_back(candidate);
+      60             :     }
+      61             :   }
+      62             :   return true;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* computeMinMaxCandidates() //{ */
+      68             : 
+      69        3780 : bool Polynomial::computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const {
+      70        3780 :   CHECK_NOTNULL(candidates);
+      71        3780 :   candidates->clear();
+      72        3780 :   if (N_ - derivative - 1 < 0) {
+      73           0 :     LOG(WARNING) << "N - derivative - 1 has to be at least 0.";
+      74           0 :     return false;
+      75             :   }
+      76        7560 :   Eigen::VectorXcd roots;
+      77        3780 :   bool             success = getRoots(derivative + 1, &roots);
+      78        3780 :   if (!success) {
+      79           0 :     VLOG(1) << "Couldn't find roots, polynomial may be constant.";
+      80             :   }
+      81        3780 :   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          62 : Eigen::MatrixXd computeBaseCoefficients(int N) {
+     156          62 :   Eigen::MatrixXd base_coefficients(N, N);
+     157             : 
+     158          62 :   base_coefficients.setZero();
+     159          62 :   base_coefficients.row(0).setOnes();
+     160             : 
+     161          62 :   const int DEG   = N - 1;
+     162          62 :   int       order = DEG;
+     163        1364 :   for (int n = 1; n < N; n++) {
+     164       16926 :     for (int i = DEG - order; i < N; i++) {
+     165       15624 :       base_coefficients(n, i) = (order - DEG + i) * base_coefficients(n - 1, i);
+     166             :     }
+     167        1302 :     order--;
+     168             :   }
+     169          62 :   return base_coefficients;
+     170             : }
+     171             : 
+     172             : //}
+     173             : 
+     174             : /* convolve() //{ */
+     175             : 
+     176        2520 : Eigen::VectorXd Polynomial::convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel) {
+     177        2520 :   const int       convolution_dimension = getConvolutionLength(data.size(), kernel.size());
+     178        2520 :   Eigen::VectorXd convolved             = Eigen::VectorXd::Zero(convolution_dimension);
+     179        5040 :   Eigen::VectorXd kernel_reverse        = kernel.reverse();
+     180             : 
+     181       37800 :   for (int i = 0; i < convolution_dimension; i++) {
+     182       35280 :     const int data_idx = i - kernel.size() + 1;
+     183             : 
+     184       35280 :     int lower_bound = std::max(0, -data_idx);
+     185       35280 :     int upper_bound = std::min(kernel.size(), data.size() - data_idx);
+     186             : 
+     187      178080 :     for (int kernel_idx = lower_bound; kernel_idx < upper_bound; ++kernel_idx) {
+     188      142800 :       convolved[i] += kernel_reverse[kernel_idx] * data[data_idx + kernel_idx];
+     189             :     }
+     190             :   }
+     191        2520 :   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         840 : void Polynomial::scalePolynomialInTime(double scaling_factor) {
+     219         840 :   double scale = 1.0;
+     220        9240 :   for (int n = 0; n < N_; n++) {
+     221        8400 :     coefficients_[n] *= scale;
+     222        8400 :     scale *= scaling_factor;
+     223             :   }
+     224         840 : }
+     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:2024-01-14 11:12:21Functions:1212100.0 %
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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*)3780
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)3780
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)3780
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)3780
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*)11269
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)11611
eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)17604
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)36719
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*)70341
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)70471
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)114282
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)165822
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:35538991.3 %
Date:2024-01-14 11:12:21Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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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*)17604
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*)11269
eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)165822
eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)11611
eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)114282
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*)70341
eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)36719
eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)70471
eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)3780
eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)3780
eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)3780
eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)3780
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Date:2024-01-14 11:12:21Functions:1212100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // rpoly_ak1.cpp - Program for calculating the roots of a polynomial of real
+       2             : // coefficients.
+       3             : // Written in Microsoft Visual Studio Express 2013 for Windows Desktop
+       4             : // 27 May 2014
+       5             : //
+       6             : // The sub-routines listed below are translations of the FORTRAN routines
+       7             : // included in RPOLY.FOR,
+       8             : // posted off the NETLIB site as TOMS/493:
+       9             : //
+      10             : // http://www.netlib.org/toms/493
+      11             : //
+      12             : // TOMS/493 is based on the Jenkins-Traub algorithm.
+      13             : //
+      14             : // To distinguish the routines posted below from others, an _ak1 suffix has been
+      15             : // appended to them.
+      16             : //
+      17             : // Following is a list of the major changes made in the course of translating
+      18             : // the TOMS/493 routines
+      19             : // to the C++ versions posted below:
+      20             : // 1) All global variables have been eliminated.
+      21             : // 2) The "FAIL" parameter passed into RPOLY.FOR has been eliminated.
+      22             : // 3) RPOLY.FOR solves polynomials of degree up to 100, but does not explicitly
+      23             : // state this limit.
+      24             : //     rpoly_ak1 explicitly states this limit; uses the macro name MAXDEGREE to
+      25             : //     specify this limit;
+      26             : //     and does a check to ensure that the user input variable Degree is not
+      27             : //     greater than MAXDEGREE
+      28             : //     (if it is, an error message is output and rpoly_ak1 terminates). If a
+      29             : //     user wishes to compute
+      30             : //     roots of polynomials of degree greater than MAXDEGREE, using a macro name
+      31             : //     like MAXDEGREE provides
+      32             : //     the simplest way of offering this capability.
+      33             : // 4) All "GO TO" statements have been eliminated.
+      34             : //
+      35             : // A small main program is included also, to provide an example of how to use
+      36             : // rpoly_ak1. In this
+      37             : // example, data is input from a file to eliminate the need for a user to type
+      38             : // data in via
+      39             : // the console.
+      40             : 
+      41             : #include <iostream>
+      42             : #include <fstream>
+      43             : #include <cctype>
+      44             : #include <cmath>
+      45             : #include <cfloat>
+      46             : 
+      47             : #include <eth_trajectory_generation/rpoly/rpoly_ak1.h>
+      48             : 
+      49             : namespace eth_trajectory_generation
+      50             : {
+      51             : 
+      52             : constexpr int kRpolyMaxDegree = 100;
+      53             : 
+      54             : // Wraps the call to rpoly_ak1.
+      55             : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag);
+      56             : 
+      57             : /* findLastNonZeroCoeff() //{ */
+      58             : 
+      59        3780 : int findLastNonZeroCoeff(const Eigen::VectorXd& coefficients) {
+      60        3780 :   int last_non_zero_coefficient = -1;
+      61             : 
+      62             :   // Find last non-zero coefficient:
+      63       11340 :   for (int i = coefficients.size() - 1; i != -1; i--) {
+      64       11340 :     if (std::abs(coefficients(i)) >= std::numeric_limits<double>::min()) {
+      65             :       last_non_zero_coefficient = i;
+      66             :       break;
+      67             :     }
+      68             :   }
+      69        3780 :   return last_non_zero_coefficient;
+      70             : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* findRootsJenkinsTraub() //{ */
+      75             : 
+      76        3780 : bool findRootsJenkinsTraub(const Eigen::VectorXd& coefficients_increasing, Eigen::VectorXcd* roots) {
+      77             :   // Remove trailing zeros.
+      78        3780 :   const int last_non_zero_coefficient = findLastNonZeroCoeff(coefficients_increasing);
+      79        3780 :   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        7560 :   Eigen::VectorXd coefficients_decreasing = coefficients_increasing.head(last_non_zero_coefficient + 1).reverse();
+      87             : 
+      88        3780 :   const int n_coefficients = coefficients_decreasing.size();
+      89        3780 :   if (n_coefficients < 2) {
+      90             :     // The polynomial is 0th order and has no roots.
+      91        3780 :     roots->resize(0);
+      92             :     return true;
+      93             :   }
+      94        3780 :   int     degree     = n_coefficients - 1;
+      95        3780 :   double* polynomial = new double[kRpolyMaxDegree + 1];
+      96        3780 :   double* roots_real = new double[kRpolyMaxDegree];
+      97        3780 :   double* roots_imag = new double[kRpolyMaxDegree];
+      98             : 
+      99       39060 :   for (size_t i = 0; i < n_coefficients; i++) {
+     100       35280 :     polynomial[i] = coefficients_decreasing(i);
+     101             :   }
+     102             : 
+     103        3780 :   rpolyWrapper(polynomial, &degree, roots_real, roots_imag);
+     104        3780 :   if (degree > 0) {
+     105        3780 :     roots->resize(degree);
+     106       35280 :     for (int i = 0; i < degree; ++i) {
+     107       31500 :       (*roots)[i] = std::complex<double>(roots_real[i], roots_imag[i]);
+     108             :     }
+     109             :   }
+     110             : 
+     111        3780 :   delete[] polynomial;
+     112        3780 :   delete[] roots_real;
+     113        3780 :   delete[] roots_imag;
+     114             : 
+     115        3780 :   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        3780 : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]) {
+     149        3780 :   int i, j, jj, l, N, NM1, NN, NZ, zerok;
+     150             : 
+     151        3780 :   double K[MDP1], p[MDP1], pt[MDP1], qp[MDP1], temp[MDP1];
+     152        3780 :   double bnd, df, dx, factor, ff, moduli_max, moduli_min, sc, x, xm;
+     153        3780 :   double aa, bb, cc, lzi, lzr, sr, szi, szr, t, xx, xxx, yy;
+     154             : 
+     155        3780 :   const double RADFAC = 3.14159265358979323846 / 180;  // Degrees-to-radians conversion factor = pi/180
+     156        3780 :   const double lb2    = log(2.0);                      // Dummy variable to avoid re-calculating this value in loop below
+     157        3780 :   const double lo     = FLT_MIN / DBL_EPSILON;
+     158        3780 :   const double cosr   = cos(94.0 * RADFAC);  // = -0.069756474
+     159        3780 :   const double sinr   = sin(94.0 * RADFAC);  // = 0.99756405
+     160             : 
+     161        3780 :   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        3780 :   if (op[0] != 0) {
+     170             :     N  = *Degree;
+     171        3864 :     xx = sqrt(0.5);  // = 0.70710678
+     172        3864 :     yy = -xx;
+     173             : 
+     174             :     // Remove zeros at the origin, if any
+     175             :     j = 0;
+     176        3864 :     while (op[N] == 0) {
+     177          84 :       zeror[j] = zeroi[j] = 0.0;
+     178          84 :       N--;
+     179          84 :       j++;
+     180             :     }  // End while (op[N] == 0)
+     181             : 
+     182        3780 :     NN = N + 1;
+     183             : 
+     184             :     // Make a copy of the coefficients
+     185       38976 :     for (i = 0; i < NN; i++)
+     186       35196 :       p[i] = op[i];
+     187             : 
+     188       21265 :     while (N >= 1) {  // Main loop
+     189             :       // Start the algorithm for one zero
+     190       21265 :       if (N <= 2) {
+     191             :         // Calculate the final zero or pair of zeros
+     192        3780 :         if (N < 2) {
+     193        1332 :           zeror[(*Degree) - 1] = -(p[1] / p[0]);
+     194        1332 :           zeroi[(*Degree) - 1] = 0.0;
+     195             :         }       // End if (N < 2)
+     196             :         else {  // else N == 2
+     197        2448 :           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      152790 :       for (i = 0; i < NN; i++) {
+     208      135305 :         x = fabs(p[i]);
+     209      135305 :         if (x > moduli_max)
+     210       54963 :           moduli_max = x;
+     211      135305 :         if ((x != 0) && (x < moduli_min))
+     212       71719 :           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       17485 :       sc = lo / moduli_min;
+     224             : 
+     225       17485 :       if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) && (FLT_MAX / sc >= moduli_max))) {
+     226        2711 :         sc     = ((sc == 0) ? FLT_MIN : sc);
+     227        2711 :         l      = (int)(log(sc) / lb2 + 0.5);
+     228        2711 :         factor = pow(2.0, l);
+     229        2711 :         if (factor != 1.0) {
+     230       30650 :           for (i = 0; i < NN; i++)
+     231       27940 :             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      152790 :       for (i = 0; i < NN; i++)
+     239      135305 :         pt[i] = fabs(p[i]);
+     240       17485 :       pt[N] = -(pt[N]);
+     241             : 
+     242       17485 :       NM1 = N - 1;
+     243             : 
+     244             :       // Compute upper estimate of bound
+     245             : 
+     246       17485 :       x = exp((log(-pt[N]) - log(pt[0])) / (double)N);
+     247             : 
+     248       17485 :       if (pt[NM1] != 0) {
+     249             :         // If Newton step at the origin is better, use it
+     250       17485 :         xm = -pt[N] / pt[NM1];
+     251       17485 :         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       17873 :       do {
+     258       17873 :         x  = xm;
+     259       17873 :         xm = 0.1 * x;
+     260       17873 :         ff = pt[0];
+     261      140837 :         for (i = 1; i < NN; i++)
+     262      122964 :           ff = ff * xm + pt[i];
+     263       17873 :       } 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       77033 :       while (fabs(dx / x) > 0.005) {
+     270             :         df = ff = pt[0];
+     271      428884 :         for (i = 1; i < N; i++) {
+     272      369336 :           ff = x * ff + pt[i];
+     273      369336 :           df = x * df + ff;
+     274             :         }  // End for i
+     275       59548 :         ff = x * ff + pt[N];
+     276       59548 :         dx = ff / df;
+     277       59548 :         x -= dx;
+     278             :       }  // End while loop
+     279             : 
+     280      117820 :       bnd = x;
+     281             : 
+     282             :       // Compute the derivative as the initial K polynomial and do 5 steps with
+     283             :       // no shift
+     284             : 
+     285      117820 :       for (i = 1; i < N; i++)
+     286      100335 :         K[i] = (double)(N - i) * p[i] / ((double)N);
+     287       17485 :       K[0] = p[0];
+     288             : 
+     289       17485 :       aa    = p[N];
+     290       17485 :       bb    = p[NM1];
+     291       17485 :       zerok = ((K[NM1] == 0) ? 1 : 0);
+     292             : 
+     293      104910 :       for (jj = 0; jj < 5; jj++) {
+     294       87425 :         cc = K[NM1];
+     295       87425 :         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       87425 :           t = -aa / cc;
+     308      589100 :           for (i = 0; i < NM1; i++) {
+     309      501675 :             j    = NM1 - i;
+     310      501675 :             K[j] = t * K[j - 1] + p[j];
+     311             :           }  // End for i
+     312       87425 :           K[0]  = p[0];
+     313       87425 :           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      135305 :       for (i = 0; i < N; i++)
+     320      117820 :         temp[i] = K[i];
+     321             : 
+     322             :       // Loop to select the quadratic corresponding to each new shift
+     323             : 
+     324       17604 :       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       17604 :         xxx = -(sinr * yy) + cosr * xx;
+     330       17604 :         yy  = sinr * xx + cosr * yy;
+     331       17604 :         xx  = xxx;
+     332       17604 :         sr  = bnd * xx;
+     333             : 
+     334             :         // Second stage calculation, fixed quadratic
+     335             : 
+     336       17604 :         Fxshfr_ak1(20 * jj, &NZ, sr, bnd, K, N, p, NN, qp, &lzi, &lzr, &szi, &szr);
+     337             : 
+     338       17604 :         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       17485 :           j        = (*Degree) - N;
+     346       17485 :           zeror[j] = szr;
+     347       17485 :           zeroi[j] = szi;
+     348       17485 :           NN       = NN - NZ;
+     349       17485 :           N        = NN - 1;
+     350      127602 :           for (i = 0; i < NN; i++)
+     351      110117 :             p[i] = qp[i];
+     352       17485 :           if (NZ != 1) {
+     353        7703 :             zeror[j + 1] = lzr;
+     354        7703 :             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        1450 :           for (i = 0; i < N; i++)
+     363        1331 :             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       17485 :       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       17604 : 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       17604 :   int    fflag, i, iFlag, j, spass, stry, tFlag, vpass, vtry;
+     401       17604 :   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       17604 :   double qk[MDP1], svk[MDP1];
+     403             : 
+     404       17604 :   *NZ   = 0;
+     405       17604 :   betav = betas = 0.25;
+     406       17604 :   u             = -(2.0 * sr);
+     407       17604 :   oss           = sr;
+     408       17604 :   ovv = v = bnd;
+     409             : 
+     410             :   // Evaluate polynomial by synthetic division
+     411       17604 :   QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     412             : 
+     413       17604 :   tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     414             : 
+     415       47451 :   for (j = 0; j < L2; j++) {
+     416             :     // Calculate next K polynomial and estimate v
+     417       47332 :     nextK_ak1(N, tFlag, a, b, a1, &a3, &a7, K, qk, qp);
+     418       47332 :     tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     419       47332 :     newest_ak1(tFlag, &ui, &vi, a, a1, a3, a7, b, c, d, f, g, h, u, v, K, N, p);
+     420             : 
+     421       47332 :     vv = vi;
+     422             : 
+     423             :     // Estimate s
+     424             : 
+     425       47332 :     ss = ((K[N - 1] != 0.0) ? -(p[N] / K[N - 1]) : 0.0);
+     426             : 
+     427       47332 :     ts = tv = 1.0;
+     428             : 
+     429       47332 :     if ((j != 0) && (tFlag != 3)) {
+     430             :       // Compute relative measures of convergence of s and v sequences
+     431             : 
+     432       29728 :       tv = ((vv != 0.0) ? fabs((vv - ovv) / vv) : tv);
+     433       29728 :       ts = ((ss != 0.0) ? fabs((ss - oss) / ss) : ts);
+     434             : 
+     435             :       // If decreasing, multiply the two most recent convergence measures
+     436             : 
+     437       29728 :       tvv = ((tv < otv) ? tv * otv : 1.0);
+     438       29728 :       tss = ((ts < ots) ? ts * ots : 1.0);
+     439             : 
+     440             :       // Compare with convergence criteria
+     441             : 
+     442       29728 :       vpass = ((tvv < betav) ? 1 : 0);
+     443       29728 :       spass = ((tss < betas) ? 1 : 0);
+     444             : 
+     445       29728 :       if ((spass) || (vpass)) {
+     446             :         // At least one sequence has passed the convergence test.
+     447             :         // Store variables before iterating
+     448             : 
+     449      163216 :         for (i = 0; i < N; i++)
+     450      142533 :           svk[i] = K[i];
+     451             : 
+     452       20683 :         s = ss;
+     453             : 
+     454             :         // Choose iteration according to the fastest converging sequence
+     455             : 
+     456       20683 :         stry = vtry = 0;
+     457       20683 :         fflag       = 1;
+     458             : 
+     459       20977 :         do {
+     460       20977 :           iFlag = 1;  // Begin each loop by assuming RealIT will be called
+     461             :                       // UNLESS iFlag changed below
+     462             : 
+     463       20977 :           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       11269 :             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       11269 :             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        3566 :             vtry = 1;
+     478        3566 :             betav *= 0.25;
+     479             : 
+     480             :             // Try linear iteration if it has not been tried and the s sequence
+     481             :             // is converging
+     482        3566 :             if (stry || (!spass)) {
+     483        1663 :               iFlag = 0;
+     484             :             }  // End if (stry || (!spass))
+     485             :             else {
+     486       14306 :               for (i = 0; i < N; i++)
+     487       12403 :                 K[i] = svk[i];
+     488             :             }  // End if (stry || !spass)
+     489             : 
+     490             :           }  // End else !fflag
+     491             : 
+     492       13274 :           if (iFlag != 0) {
+     493       11611 :             RealIT_ak1(&iFlag, NZ, &s, N, p, NN, qp, szr, szi, K, qk);
+     494             : 
+     495       11611 :             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        1829 :             stry = 1;
+     503        1829 :             betas *= 0.25;
+     504             : 
+     505        1829 :             if (iFlag != 0) {
+     506             :               // If linear iteration signals an almost double real zero, attempt
+     507             :               // quadratic iteration
+     508             : 
+     509          89 :               ui = -(s + s);
+     510          89 :               vi = s * s;
+     511          89 :               continue;
+     512             : 
+     513             :             }  // End if (iFlag != 0)
+     514             :           }    // End if (iFlag != 0)
+     515             : 
+     516             :           // Restore variables
+     517       29194 :           for (i = 0; i < N; i++)
+     518       25791 :             K[i] = svk[i];
+     519             : 
+     520             :           // Try quadratic iteration if it has not been tried and the v sequence
+     521             :           // is converging
+     522             : 
+     523        3492 :         } while (vpass && !vtry);  // End do-while loop
+     524             : 
+     525             :         // Re-compute qp and scalar values to continue the second stage
+     526             : 
+     527        3198 :         QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     528        3198 :         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       29847 :     ovv = vv;
+     535       29847 :     oss = ss;
+     536       29847 :     otv = tv;
+     537       29847 :     ots = ts;
+     538             :   }  // End for j
+     539             : 
+     540             :   return;
+     541             : }  // End Fxshfr_ak1
+     542             : 
+     543      165822 : 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      165822 :   int i;
+     548             : 
+     549      165822 :   q[0] = *b = p[0];
+     550      165822 :   q[1] = *a = -((*b) * u) + p[1];
+     551             : 
+     552     1055380 :   for (i = 2; i < NN; i++) {
+     553      889556 :     q[i] = -((*a) * u + (*b) * v) + p[i];
+     554      889556 :     *b   = (*a);
+     555      889556 :     *a   = q[i];
+     556             :   }  // End for i
+     557             : 
+     558      165822 :   return;
+     559             : }  // End QuadSD_ak1
+     560             : 
+     561      114282 : 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      114282 :   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      114282 :   QuadSD_ak1(N, u, v, K, qk, c, d);
+     575             : 
+     576      114282 :   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      114282 :   *h = v * b;
+     582      114282 :   if (fabs((*d)) >= fabs((*c))) {
+     583       95565 :     dumFlag = 2;  // TYPE = 2 indicates that all formulas are divided by d
+     584       95565 :     *e      = a / (*d);
+     585       95565 :     *f      = (*c) / (*d);
+     586       95565 :     *g      = u * b;
+     587       95565 :     *a3     = (*e) * ((*g) + a) + (*h) * (b / (*d));
+     588       95565 :     *a1     = -a + (*f) * b;
+     589       95565 :     *a7     = (*h) + ((*f) + u) * a;
+     590             :   }  // End if(fabs(d) >= fabs(c))
+     591             :   else {
+     592       18717 :     dumFlag = 1;  // TYPE = 1 indicates that all formulas are divided by c;
+     593       18717 :     *e      = a / (*c);
+     594       18717 :     *f      = (*d) / (*c);
+     595       18717 :     *g      = (*e) * u;
+     596       18717 :     *a3     = (*e) * a + ((*g) + (*h) / (*c)) * b;
+     597       18717 :     *a1     = -(a * ((*d) / (*c))) + b;
+     598       18717 :     *a7     = (*g) * (*d) + (*h) * (*f) + a;
+     599             :   }  // End else
+     600             : 
+     601             :   return dumFlag;
+     602             : }  // End calcSC_ak1
+     603             : 
+     604       70471 : 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       70471 :   int    i;
+     608       70471 :   double temp;
+     609             : 
+     610       70471 :   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       70471 :   temp = ((tFlag == 1) ? b : a);
+     620             : 
+     621       70471 :   if (fabs(a1) > (10.0 * DBL_EPSILON * fabs(temp))) {
+     622             :     // Use scaled form of the recurrence
+     623             : 
+     624       70471 :     (*a7) /= a1;
+     625       70471 :     (*a3) /= a1;
+     626       70471 :     K[0] = qp[0];
+     627       70471 :     K[1] = -((*a7) * qp[0]) + qp[1];
+     628             : 
+     629      446970 :     for (i = 2; i < N; i++)
+     630      376499 :       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       70341 : 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       70341 :   double a4, a5, b1, b2, c1, c2, c3, c4, temp;
+     653             : 
+     654       70341 :   (*vv) = (*uu) = 0.0;  // The quadratic is zeroed
+     655             : 
+     656       70341 :   if (tFlag != 3) {
+     657       70341 :     if (tFlag != 2) {
+     658       10826 :       a4 = a + u * b + h * f;
+     659       10826 :       a5 = c + (u + v * f) * d;
+     660             :     }       // End if (tFlag != 2)
+     661             :     else {  // else tFlag == 2
+     662       59515 :       a4 = (a + g) * f + h;
+     663       59515 :       a5 = (f + u) * c + v * d;
+     664             :     }  // End else tFlag == 2
+     665             : 
+     666             :     // Evaluate new quadratic coefficients
+     667             : 
+     668       70341 :     b1   = -K[N - 1] / p[N];
+     669       70341 :     b2   = -(K[N - 2] + b1 * p[N - 1]) / p[N];
+     670       70341 :     c1   = v * b2 * a1;
+     671       70341 :     c2   = b1 * a7;
+     672       70341 :     c3   = b1 * b1 * a3;
+     673       70341 :     c4   = -(c2 + c3) + c1;
+     674       70341 :     temp = -c4 + a5 + b1 * a4;
+     675       70341 :     if (temp != 0.0) {
+     676       70331 :       *uu = -((u * (c3 + c2) + v * (b1 * a1 + b2 * a7)) / temp) + u;
+     677       70331 :       *vv = v * (1.0 + c4 / temp);
+     678             :     }  // End if (temp != 0)
+     679             : 
+     680             :   }  // End if (tFlag != 3)
+     681             : 
+     682       70341 :   return;
+     683             : }  // End newest_ak1
+     684             : 
+     685       11269 : 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       11269 :   int    i, j = 0, tFlag, triedFlag = 0;
+     692       11269 :   double c, ee, mp, omp, relstp, t, u, ui, v, vi, zm;
+     693             : 
+     694       11269 :   *NZ = 0;   // Number of zeros found
+     695       11269 :   u   = uu;  // uu and vv are coefficients of the starting quadratic
+     696       11269 :   v   = vv;
+     697             : 
+     698       34271 :   do {
+     699       34271 :     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       34271 :     if (fabs(fabs(*szr) - fabs(*lzr)) > 0.01 * fabs(*lzr))
+     706             :       break;
+     707             : 
+     708             :     // Evaluate polynomial by quadratic synthetic division
+     709             : 
+     710       30712 :     QuadSD_ak1(NN, u, v, p, qp, a, b);
+     711             : 
+     712       30712 :     mp = fabs(-((*szr) * (*b)) + (*a)) + fabs((*szi) * (*b));
+     713             : 
+     714             :     // Compute a rigorous bound on the rounding error in evaluating p
+     715             : 
+     716       30712 :     zm = sqrt(fabs(v));
+     717       30712 :     ee = 2.0 * fabs(qp[0]);
+     718       30712 :     t  = -((*szr) * (*b));
+     719             : 
+     720      207563 :     for (i = 1; i < N; i++)
+     721      176851 :       ee = ee * zm + fabs(qp[i]);
+     722             : 
+     723       30712 :     ee = ee * zm + fabs((*a) + t);
+     724       30712 :     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       30712 :     if (mp <= 20.0 * ee) {
+     730        7703 :       *NZ = 2;
+     731        7703 :       break;
+     732             :     }  // End if (mp <= 20.0*ee)
+     733             : 
+     734       23009 :     j++;
+     735             : 
+     736             :     // Stop iteration after 20 steps
+     737       23009 :     if (j > 20)
+     738             :       break;
+     739             : 
+     740       23009 :     if (j >= 2) {
+     741       14338 :       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          26 :         relstp = ((relstp < DBL_EPSILON) ? sqrt(DBL_EPSILON) : sqrt(relstp));
+     746             : 
+     747          26 :         u -= u * relstp;
+     748          26 :         v += v * relstp;
+     749             : 
+     750          26 :         QuadSD_ak1(NN, u, v, p, qp, a, b);
+     751             : 
+     752         156 :         for (i = 0; i < 5; i++) {
+     753         130 :           tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     754         130 :           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       23009 :     omp = mp;
+     765             : 
+     766             :     // Calculate next K polynomial and new u and v
+     767             : 
+     768       23009 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     769       23009 :     nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     770       23009 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     771       23009 :     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       23009 :     if (vi != 0) {
+     775       23002 :       relstp = fabs((-v + vi) / vi);
+     776       23002 :       u      = ui;
+     777       23002 :       v      = vi;
+     778             :     }                 // End if (vi != 0)
+     779       23009 :   } while (vi != 0);  // End do-while loop
+     780             : 
+     781       11269 :   return;
+     782             : 
+     783             : }  // End QuadIT_ak1
+     784             : 
+     785       11611 : 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       11611 :   int    i, j = 0, nm1 = N - 1;
+     793       11611 :   double ee, kv, mp, ms, omp, pv, s, t;
+     794             : 
+     795       11611 :   *iFlag = *NZ = 0;
+     796       11611 :   s            = *sss;
+     797             : 
+     798       98763 :   for (;;) {
+     799       55187 :     qp[0] = pv = p[0];
+     800             : 
+     801             :     // Evaluate p at s
+     802      443370 :     for (i = 1; i < NN; i++)
+     803      388183 :       qp[i] = pv = pv * s + p[i];
+     804             : 
+     805       55187 :     mp = fabs(pv);
+     806             : 
+     807             :     // Compute a rigorous bound on the error in evaluating p
+     808             : 
+     809       55187 :     ms = fabs(s);
+     810       55187 :     ee = 0.5 * fabs(qp[0]);
+     811      443370 :     for (i = 1; i < NN; i++)
+     812      388183 :       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       55187 :     if (mp <= 20.0 * DBL_EPSILON * (2.0 * ee - mp)) {
+     818        9782 :       *NZ  = 1;
+     819        9782 :       *szr = s;
+     820        9782 :       *szi = 0.0;
+     821        9782 :       break;
+     822             :     }  // End if (mp <= 20.0*DBL_EPSILON*(2.0*ee - mp))
+     823             : 
+     824       45405 :     j++;
+     825             : 
+     826             :     // Stop iteration after 10 steps
+     827             : 
+     828       45405 :     if (j > 10)
+     829             :       break;
+     830             : 
+     831       43665 :     if (j >= 2) {
+     832       32158 :       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          89 :         *iFlag = 1;
+     837          89 :         *sss   = s;
+     838          89 :         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       43576 :     omp = mp;
+     846             : 
+     847             :     // Compute t, the next polynomial and the new iterate
+     848       43576 :     qk[0] = kv = K[0];
+     849      307240 :     for (i = 1; i < N; i++)
+     850      263664 :       qk[i] = kv = kv * s + K[i];
+     851             : 
+     852       43576 :     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       43576 :       t    = -(pv / kv);
+     856       43576 :       K[0] = qp[0];
+     857      307240 :       for (i = 1; i < N; i++)
+     858      263664 :         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       43576 :     kv = K[0];
+     868      307240 :     for (i = 1; i < N; i++)
+     869      263664 :       kv = kv * s + K[i];
+     870             : 
+     871       43576 :     t = ((fabs(kv) > (fabs(K[nm1]) * 10.0 * DBL_EPSILON)) ? -(pv / kv) : 0.0);
+     872             : 
+     873       43576 :     s += t;
+     874             : 
+     875             :   }  // End infinite for loop
+     876             : 
+     877       11611 :   return;
+     878             : 
+     879             : }  // End RealIT_ak1
+     880             : 
+     881       36719 : 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       36719 :   double b, d, e;
+     890             : 
+     891       36719 :   *sr = *si = *lr = *li = 0.0;
+     892             : 
+     893       36719 :   if (a == 0) {
+     894           0 :     *sr = ((b1 != 0) ? -(c / b1) : *sr);
+     895           0 :     return;
+     896             :   }  // End if (a == 0))
+     897             : 
+     898       36719 :   if (c == 0) {
+     899           0 :     *lr = -(b1 / a);
+     900           0 :     return;
+     901             :   }  // End if (c == 0)
+     902             : 
+     903             :   // Compute discriminant avoiding overflow
+     904             : 
+     905       36719 :   b = b1 / 2.0;
+     906       36719 :   if (fabs(b) < fabs(c)) {
+     907        8973 :     e = ((c >= 0) ? a : -a);
+     908        8973 :     e = -e + b * (b / fabs(c));
+     909        8973 :     d = sqrt(fabs(e)) * sqrt(fabs(c));
+     910             :   }       // End if (fabs(b) < fabs(c))
+     911             :   else {  // Else (fabs(b) >= fabs(c))
+     912       27746 :     e = -((a / b) * (c / b)) + 1.0;
+     913       27746 :     d = sqrt(fabs(e)) * (fabs(b));
+     914             :   }  // End else (fabs(b) >= fabs(c))
+     915             : 
+     916       36719 :   if (e >= 0) {
+     917             :     // Real zeros
+     918             : 
+     919        5778 :     d   = ((b >= 0) ? -d : d);
+     920        5778 :     *lr = (-b + d) / a;
+     921        5778 :     *sr = ((*lr != 0) ? (c / (*lr)) / a : *sr);
+     922             :   }       // End if (e >= 0)
+     923             :   else {  // Else (e < 0)
+     924             :     // Complex conjugate zeros
+     925             : 
+     926       30941 :     *lr = *sr = -(b / a);
+     927       30941 :     *si       = fabs(d / a);
+     928       30941 :     *li       = -(*si);
+     929             :   }  // End else (e < 0)
+     930             : 
+     931             :   return;
+     932             : }  // End Quad_ak1
+     933             : 
+     934             : 
+     935             : }  // namespace rpoly_impl
+     936             : 
+     937             : //}
+     938             : 
+     939        3780 : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag) {
+     940        3780 :   rpoly_impl::rpoly_ak1(coefficients_decreasing, degree, roots_real, roots_imag);
+     941        3780 : }
+     942             : 
+     943             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly/rpoly_ak1.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..676b0b5347c3dc2b1f53c2fceeb29cf32ea60640 GIT binary patch literal 4794 zcmV;r5=HHaP)61V<(woqQ53@ zF{%6)Lthac-P5y_Uc2m)RvI?!X{UeY2YOp8#Kk+PVfy&i`aL%c_;0rM~o z5|G9uO)gK;N6kW7;4;R-#AZ@?fC4$wr+dOQdYg_#E(A#P^jwls7z@^3O&>87wysG z3tlzx@oYMK*)z;NEDPIQF~H$MY#BN!o{FqW%;EgHE22aIl+ULk%9CYC-b+gXWMaB= zR9SgXQ>KjqMtgK83Bd3i?_0KV{7d_w$7K6yP4-6GRYPO&6jI$zk284GVGWDLYW3Jh z5k>GawDy=jUdlA>dADujXMQ*5mD{w|kU8)2x2jE-?_L2;DwtB2yUNhpw&^Ul=kVL} zCs%WL4!v*HBrwpFbbq zgq$=a1Xtr`HJZ_wTO@ zRRH@PDc~Rt)iqgKX6Y(;>0>f3DJsfr=RI8kZUU9Nv^JC}zZ?%+u6hF?mf*~h_p7^@ z0RfOpr|XI(U(2b2@C@7-?3`tE6Y#vY0l;8m^^p&`Ed)HvZ|?DuV=e%Laxc!{l}^|M z1-ZdyeHN=0bL!v{kaS!w>(2YNL{ZIkv7zuzX22MJzF>2$z@M`lz5y6)gCvaY>!tXI zZi5W>By?Pcf5B@02P^SmMX{n6pM@eJ3aDWq zjWNQIPi7O)M|&ZXsz(VlsZ+quPkt1@**-{!lppQTb#Lcs$j}-VvwbH_%Fb~)4{3lq zLnn>?lv$V_XThKumHSUsk7fcd3pXUxSQz4K7Ua3$?|3+cQfW+F0YFP zuw{B6bL-ls8Zrx2O>gzX{tC!8xR{c7JS@NpkbZcU#}nJ`Z_Y6@KCH%m+CX{JHwtW&+GF=E=*@nR+aCSKeMe-~hh2>dhD_*QQJXJapmjgY;q1iTul> zI79m8M4IjoZyc?mG!LN1BcNS>Tz3m<_&GzK&~L{_i|?6e@CM znssCknLKnbno6m-bcdrrO>8ZjR+U`)TRoBy9?RuWt->vfS?g`sWHzDkIgtd?;d zP{R~`0farX(U#qs9S`+LT;}Z8Ayh6i5|9bz__YKi1DyXli$M)5UbCw($pb@c@^fJ` z0Qp)xphwp$)Hy~HmSXoy^~FbgSx6n`o=goLZ$#|X8yfa?~sp( zJsx4r%b*VR2vec68r2G0Zx0HG`+Aen!|U_#NP7X}Hvp$2_#s6Nsj5auqVqvVTdL5u z0pbmD1XMxHpD|hti$cN}KLXB|kC8@m%*}k_8$H%|Tq0#lJ|45t-}dQ)Rnvay8&l9T zJB+9eIofTngg*m{*WB;%aD6gyMw5=JJ}}W1;7AjjLge?;vHOTPPnjI(pkSwi=oj>a z07)vkc`i^U(qmx1vV5eRey`s`!XlLO&i3YhY1yUI9Uwt0Y{7M{+j1oz{Rc&DFQ!uo!naX4L`4)lgp_P+j&O;1CIYo$#Jk zkaD{jJ_bd7X9*#Hs&}szqs-G^3^WV-u9vY&4Hn#np0!woIV7Yw;OcV^lu>bLS~7Le zR49lkh-}JpmADRmj71s%L;-}F*cX5lbbb8&{yrX$5|_P>eR6pA@$>t8z;>gqrOUqp z*ePQnK#IIJ2DN~He?JeWCz6$*dTera0d3g}S=fH46OXo5!#fz839 z_AYu%$e8k}On8YYZzGj}tArJOz!e@Q(l4BU=5ck^a%jPi7w&=SsP z&Nop}x8O_lM%~o@@57x-V#ryM%9ui&-yh>j0jh;kDT(nB&Xq2O4|-l)yhW8+5@|Bf zdACWvT1*eF{Mt~FMYUgIeC(aNYmyX*z~hXlDGWs61f5i*T^*RDh6yEzoa{RZw(C$5 z5c9hSm*8#8st<@f<{e`nCm@g_$ZE>rHzVv}+hu`6>N%s7?|9HdRa-ylGg9hyRLz9| z$uaYtGyZe#*DBG_1n32?C?^%m0z{gg-i5Yb8Yda0f+T}LAIHtq|3@vU6qIf_$AjE( zu*XO>1=S!i^PsYk#K;-_6WkuI-U9=^lp;-Qa5d87Zu{B{lQXLi6;uThL&IfcN0r14 zTc5dS<){u)|LkXR}FVTJD7#0BzpofYyg&{cvabDgK zU~JWsy>ElPU_A!Fx#~e$Qz!+=+*U?l2ykFA3(heNpUQ45M#R07E(in07PD$H{z^90 zJ?>Ono<*3M;&?fo3jDxU`P@z`LkB{d5`OTqLt_ynH(5B;BhaI2(B9nh4l^Cyg1_B4 z5}^Wsp~aLQ1EmEf6u+V<7U6hJDxHQlCfutPG=?56z2aDMHcY>fbU;dD%SPsIn4p;e zb*q(9clq~`ln-M@JQXn(_Dx=oDt5tjmn+a?Kaes+8D6#)FzP`h4R7k{A~qs@QDQ3_ zM`v?xSahh;g{#iJ!@IGji&1HTYo0iITonmJ!TO8Yu=je#2d^e1DWp_tYgNZ#j{ccf z4DHE#{R;HiW8F-LZP5cWV6Hh#oEmbn`QT!$^kB?o3t68Ii?HYN%qrEBm3=orA~W zl*WDNL1Gdanb~Z>B^j$Upl0Ij7+(*&?ae~Xar0Wt>eC5~@mM3F+Yd{@ymsR=LyHlv z#p9n+cYvXzKtq~qI8$+37O>7#NFYfgMf|LnmazYVBQFRi zWj?W@7m~(qBnh-blDTAA2jjS%;;}102mU(&Up|G9b8q+qa1B(jjsV`y;l7>6J&Mfs z3QogquL}0`!CuI4Jc5Mhq|b|EBSn&OVh+FPZ5AAd9;xlIwfa)&7GLH?kECfuTVa-Z zc2IA2j*PTuAnyHX*@k<$N)#vaStt=N2utQXni_(FGesijynqBfHm-?rd{=*HT>rLZ z(b^L3w)_0Zh?~qh7ePF5!$Vzy!1;BjsNqGeYn$IYu@yY!U$43s@tshpRFN7vEZ&2B zJ?63VbEJ;60J`y6)1$YTlGMzo=2fwKaWP*3^rEB}J+=TgrDw9fuiJqHQB|i$+!4n$6 zeqt~_bSaYvXm(UT1OS80Tu@{Dyd76-8bChtaR^zb1}WGkb1>z%C!I-#)7V`h9v^zt zS-3IsfH*<-5YjjaAsu)8dSP;zdg`u$IItKFuK9Bu0Sp{YRlxS$D*_m6Q}B=mr+hJX zR)Kofa|0%q8XtTFP+QG)QO(5%B{-jt`}j4DGcGu>2_yTuSYgE;yJfo$O9~MeY#pAf zPo+@O9Xj6bhy+#bs}+?TkJd+{=BkRyb1*|ax=nnAYrkv8AIjL)vc5}@)?qwa$K`g7 z?Lt$?A-79kTq*sQcJ%;*kX#6a)=xn2@$1~XPU-;EYp3>3q5TxDfL`@B0QVrG0y=Y) zvw-dmRl$bTmEqXW_>lrbd+AOzu^#{JEKPnxfNMCLo-)Sg*&unAhiBL zC=QY*{(8`aEg~uh8A;k%2%>>vhg~2j23C%EFag{ zrNE~;dq#bhAaD)HvO@H~*4dNF%M$PvLxryAHA*bL1iKiio|iHfNUhz-udxcY;&3@= z9|H^z9nmy{JsJt=T!dySf$WbtfCWG{u*B?x0ao`Ix(IEkktPeUO3`+Ao?}0yKl#-M zSBc(z0rWr(Qmjp?XYifVK!95%v&f?L&MAAl>yF=rIZ?oCAzp#+xR-q4JPSlIZ0KaF1V1eoA#RJN-7^ zyKm;J6Gi*cU(PrB4~%`d@^H-h-x*Ec4ey^%FNTR+mW(eZ<}WLK>sAg87C3>*-3Fzb zTsFu(fook?oH}=F)5faof=9`AKkhj+wBFb52;;RX1?&$k9?4Bbh;Sf%z+jKpPA*q> zzonHh$4ELg>f{a}{9c#zf5b0j%Nrr-*H!1>ce}W?Jr*!R!Z$rl<4)8i{v+u5uRP5m z68>;0WZwEkv(T* z`p9y=@;x;tsq|Sj^4A<6dtc##yEfBl=%`{Jshzo94Vz$yiNn8qx%`SE0b2n@zhtc} z1r2>tt$f|CcO8jV3^UXy&0;DMyn_pu%u9?ZLQ zROfYm(;0iA%)jMdoBaAYajyO~WRfJ<3ngtmZgo5~Ar~lnm#=p|#)kU$znOT(85h0J z;N=MTGHC+RUG_2?MHBge*EkvPvgBYgUjDgv7KC~X8GEIqx)diq_%i+a=t?Ec#=hzF z=&@VcID+uO#qeM0Os$L3vzAOb(LKZ8ToON7OG + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2024-01-14 11:12:21Functions: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::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&)0
eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)0
eth_trajectory_generation::Segment::getSegmentWithSingleDimension(int, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::getSegmentWithAppendedDimension(eth_trajectory_generation::Segment const&, eth_trajectory_generation::Segment*) const0
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const3780
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*) const3780
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const3780
eth_trajectory_generation::Segment::evaluate(double, int) const9570
eth_trajectory_generation::Segment::operator[](unsigned long) const72912
eth_trajectory_generation::Segment::operator[](unsigned long)79524
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func.html new file mode 100644 index 0000000000..93097f7669 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2024-01-14 11:12:21Functions: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)79524
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> >*) const3780
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*) const3780
eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const3780
eth_trajectory_generation::Segment::evaluate(double, int) const9570
eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
eth_trajectory_generation::Segment::operator[](unsigned long) const72912
+
+
+ + + +
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..97164f5df9 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:5212740.9 %
Date:2024-01-14 11:12:21Functions:61346.2 %
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/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       79524 : Polynomial& Segment::operator[](size_t idx) {
+      49       79524 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      50       79524 :   return polynomials_[idx];
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* Segment::operator[](size_t idx) //{ */
+      56             : 
+      57       72912 : const Polynomial& Segment::operator[](size_t idx) const {
+      58       72912 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      59       72912 :   return polynomials_[idx];
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* evaluate() //{ */
+      65             : 
+      66        9570 : Eigen::VectorXd Segment::evaluate(double t, int derivative) const {
+      67        9570 :   Eigen::VectorXd result(D_);
+      68        9570 :   result.setZero();
+      69       47850 :   for (int d = 0; d < D_; ++d) {
+      70       38280 :     result[d] = polynomials_[d].evaluate(t, derivative);
+      71             :   }
+      72        9570 :   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        3780 : 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        3780 :   CHECK_NOTNULL(candidate_times);
+     117        3780 :   candidate_times->clear();
+     118             :   // Compute magnitude derivative roots.
+     119        3780 :   if (dimensions.empty()) {
+     120           0 :     LOG(WARNING) << "No dimensions specified." << std::endl;
+     121           0 :     return false;
+     122        3780 :   } else if (dimensions.size() > 1) {
+     123        1260 :     const int       n_d                           = N_ - derivative;
+     124        1260 :     const int       n_dd                          = n_d - 1;
+     125        1260 :     const int       convolved_coefficients_length = Polynomial::getConvolutionLength(n_d, n_dd);
+     126        1260 :     Eigen::VectorXd convolved_coefficients(convolved_coefficients_length);
+     127        1260 :     convolved_coefficients.setZero();
+     128        3780 :     for (int dim : dimensions) {
+     129        2520 :       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        5040 :       Eigen::VectorXd d  = polynomials_[dim].getCoefficients(derivative).head(n_d);
+     137        7560 :       Eigen::VectorXd dd = polynomials_[dim].getCoefficients(derivative + 1).head(n_dd);
+     138        5040 :       convolved_coefficients += Polynomial::convolve(d, dd);
+     139             :     }
+     140        2520 :     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        1260 :     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        2520 :     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        3780 : bool Segment::computeMinMaxMagnitudeCandidates(
+     163             : 
+     164             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<Extremum>* candidates) const {
+     165        3780 :   CHECK_NOTNULL(candidates);
+     166             :   // Find candidate times (roots + start + end).
+     167        3780 :   std::vector<double> candidate_times;
+     168        3780 :   computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_end, dimensions, &candidate_times);
+     169             : 
+     170             :   // Evaluate candidate times.
+     171        3780 :   candidates->resize(candidate_times.size());
+     172       20754 :   for (size_t i = 0; i < candidate_times.size(); i++) {
+     173       16974 :     double magnitude = 0.0;
+     174       40264 :     for (int dim : dimensions) {
+     175       23290 :       magnitude += std::pow(polynomials_[dim].evaluate(candidate_times[i], derivative), 2);
+     176             :     }
+     177       16974 :     magnitude        = std::sqrt(magnitude);
+     178       16974 :     (*candidates)[i] = Extremum(candidate_times[i], magnitude, 0);
+     179             :   }
+     180             : 
+     181        7560 :   return true;
+     182             : }
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     187             : 
+     188        3780 : 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        3780 :   CHECK_NOTNULL(minimum);
+     193        3780 :   CHECK_NOTNULL(maximum);
+     194        3780 :   if (t_start > t_end) {
+     195           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+     196           0 :     return false;
+     197             :   }
+     198             : 
+     199        3780 :   minimum->value = std::numeric_limits<double>::max();
+     200        3780 :   maximum->value = std::numeric_limits<double>::lowest();
+     201             : 
+     202             :   // Evaluate passed candidates.
+     203       20754 :   for (const Extremum& candidate : candidates) {
+     204       16974 :     if (candidate.time < t_start || candidate.time > t_end) {
+     205           0 :       continue;
+     206             :     }
+     207       16974 :     *maximum = std::max(*maximum, candidate);
+     208       24661 :     *minimum = std::min(*minimum, candidate);
+     209             :   }
+     210             : 
+     211             :   return true;
+     212             : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     217             : 
+     218           0 : bool Segment::getSegmentWithSingleDimension(int dimension, Segment* new_segment) const {
+     219           0 :   if (dimension < 0 || dimension >= D_) {
+     220           0 :     LOG(WARNING) << "You shan't ask for a dimension that does not exist in the segment.";
+     221           0 :     return false;
+     222             :   }
+     223             : 
+     224           0 :   *new_segment      = Segment(N_, 1);
+     225           0 :   (*new_segment)[0] = polynomials_[dimension];
+     226           0 :   new_segment->setTime(time_);
+     227           0 :   return true;
+     228             : }
+     229             : 
+     230             : //}
+     231             : 
+     232             : /* getSegmentWithAppendedDimension() //{ */
+     233             : 
+     234           0 : bool Segment::getSegmentWithAppendedDimension(const Segment& segment_to_append, Segment* new_segment) const {
+     235           0 :   if (N_ == 0 || D_ == 0) {
+     236           0 :     *new_segment = segment_to_append;
+     237           0 :     return true;
+     238             :   }
+     239           0 :   if (segment_to_append.N() == 0 || segment_to_append.D() == 0) {
+     240           0 :     *new_segment = *this;
+     241           0 :     return true;
+     242             :   }
+     243             : 
+     244             :   // Get common polynomial order.
+     245           0 :   const int new_N = std::max(segment_to_append.N(), N_);
+     246           0 :   const int new_D = D_ + segment_to_append.D();
+     247             : 
+     248             :   // Create temporary segments to scale polynomials if necessary.
+     249           0 :   Segment current_segment        = *this;
+     250           0 :   Segment segment_to_append_temp = segment_to_append;
+     251             : 
+     252             :   // Scale segment polynomials to the longer segment time.
+     253           0 :   const double new_time = std::max(time_, segment_to_append.getTime());
+     254           0 :   if (time_ < new_time && new_time > 0.0) {
+     255           0 :     for (int d = 0; d < D_; d++) {
+     256           0 :       current_segment[d].scalePolynomialInTime(time_ / new_time);
+     257             :     }
+     258           0 :   } else if (segment_to_append.getTime() < new_time && new_time > 0.0) {
+     259           0 :     for (int d = 0; d < segment_to_append.D(); d++) {
+     260           0 :       segment_to_append_temp[d].scalePolynomialInTime(segment_to_append.getTime() / new_time);
+     261             :     }
+     262             :   }
+     263             : 
+     264           0 :   *new_segment = Segment(new_N, new_D);
+     265             : 
+     266           0 :   if (N_ == segment_to_append.N()) {
+     267           0 :     for (int i = 0; i < new_D; i++) {
+     268           0 :       if (i < D_) {
+     269           0 :         (*new_segment)[i] = current_segment[i];
+     270             :       } else {
+     271           0 :         (*new_segment)[i] = segment_to_append_temp[i - D_];
+     272             :       }
+     273             :     }
+     274             :   } else {
+     275           0 :     for (int i = 0; i < new_D; i++) {
+     276           0 :       Polynomial polynomial_to_append(new_N);
+     277           0 :       if (i < D_) {
+     278           0 :         if (!polynomials_[i].getPolynomialWithAppendedCoefficients(new_N, &polynomial_to_append)) {
+     279           0 :           return false;
+     280             :         }
+     281             :       } else {
+     282           0 :         if (!segment_to_append[i - D_].getPolynomialWithAppendedCoefficients(new_N, &polynomial_to_append)) {
+     283             :           return false;
+     284             :         }
+     285             :       }
+     286           0 :       (*new_segment)[i] = polynomial_to_append;
+     287             :     }
+     288             :   }
+     289             : 
+     290           0 :   new_segment->setTime(new_time);
+     291           0 :   return true;
+     292             : }
+     293             : 
+     294             : //}
+     295             : 
+     296             : /* offsetSegment() //{ */
+     297             : 
+     298           0 : bool Segment::offsetSegment(const Eigen::VectorXd& A_r_B) {
+     299             : 
+     300           0 :   if (A_r_B.size() < std::min(D_, 3)) {
+     301           0 :     LOG(WARNING) << "Offset vector size smaller than segment dimension.";
+     302           0 :     return false;
+     303             :   }
+     304             : 
+     305             :   // Only translate the first three dimensions.
+     306           0 :   for (size_t i = 0; i < std::min(D_, 3); ++i) {
+     307           0 :     polynomials_[i].offsetPolynomial(A_r_B(i));
+     308             :   }
+     309             : 
+     310             :   return true;
+     311             : }
+     312             : 
+     313             : //}
+     314             : 
+     315             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..40fd4130ce0ea43a66ba68b929f4f1ccaac06d09 GIT binary patch literal 1506 zcmV<81s(c{P)GAU`EmxJcx zFa9&}!QgXxElU%K;0CS&!guolHVclwmn?o#Q_$57pUSg&aSoM)3^yN z{NR9UdN5dML=pXv;@_L(70JFhZ7*xrnx^%2hMr*v+(rlj4!)B>y?XwH!fjjUFRAwb zwZh-d$BbSLJ#MyGfwWEvr*Hb|Sry7g;4#*=ZPupwwmvWoX{Ar#lLRVln4RJh_;;M* zNw=uh>j1B?!@?YPT9zl5m-LWV>%FnwC1Ct1qF|BV_r{`$gJGfI5h&^Sa1zV)c)iB? zd}1;)+6SH{ldMkes_G!15(lM%3i#n1j$1O?Wce}RD9SZ zZY8rle#A-;4t!O>qjYJHC>1XYoY%C)#5qSFywB7I6pcXo82V+VL`2XL`{7z_XYJOB zTr^>^VF#GZ&Vb1<+~W2ny+>D*l2dfJleX54nD-whw*nW|KAf2{QNMFBh-moExnBss zy3CL3+7pC?ggwio^s?w?x|K%XL1ONhWXDHC0;h_KOMNN!h1B312jnAC>qP$M4$>2w zs!jl&V))|=`zTXDg9Y~c(V;eYHGtgj`oo@T3LdEFv+3!E)Foq^VdS)@Zno?qBWZ~f znYnK8K_Z1}W*gT%cUIS=h>M(dH`zxpm!%6tVT6Wo(hSu0Qq+WMydLo{HC;Hp*Zov1 z)nr1odX$-h9XHLx#f}Hp$VzvBDJ9rZydZ zwz-wW^5aEmv6lS1F&0kB=fy|D2_S7L!;Vd?)c)P^#Mu940&ux|iB0kj6Q%VTMB8ov z>;MGNU-#GkYJ=_Flf{ld(y2y%!Yc^zpdh{t)RXaECR?>0_3j0?RBF?e^TOE=~dOb@6$c!hgXp|hITJZ8r$EHuM);9S=u zg2sXbYJ1J + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/timing.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
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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..fd0b4ff00f --- /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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Function Name Sort by function nameHit count Sort by hit count
eth_trajectory_generation::timing::Timer::Stop()0
eth_trajectory_generation::timing::Timer::Start()0
eth_trajectory_generation::timing::Timer::Timer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
eth_trajectory_generation::timing::Timer::Timer(unsigned long, bool)0
eth_trajectory_generation::timing::Timer::~Timer()0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMaxSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMinSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetNumSamples(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetNumSamples(unsigned long)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetMeanSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetTotalSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetVarianceSeconds(unsigned long)0
eth_trajectory_generation::timing::Timing::SecondsToTimeString[abi:cxx11](double)0
eth_trajectory_generation::timing::Timing::GetHz(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::GetHz(unsigned long)0
eth_trajectory_generation::timing::Timing::Print[abi:cxx11]()0
eth_trajectory_generation::timing::Timing::Print(std::basic_ostream<char, std::char_traits<char> >&)0
eth_trajectory_generation::timing::Timing::Reset()0
eth_trajectory_generation::timing::Timing::GetTag[abi:cxx11](unsigned long)0
eth_trajectory_generation::timing::Timing::AddTime(unsigned long, double)0
eth_trajectory_generation::timing::Timing::Instance()0
eth_trajectory_generation::timing::Timing::GetHandle(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
eth_trajectory_generation::timing::Timing::Timing()0
eth_trajectory_generation::timing::Timing::~Timing()0
eth_trajectory_generation::timing::Timer::IsTiming() const0
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - timing.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:01110.0 %
Date:2024-01-14 11:12:21Functions:0300.0 %
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             : /* 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
+
+
+
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18229861.1 %
Date:2024-01-14 11:12:21Functions:112347.8 %
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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)14
eth_trajectory_generation::Trajectory::getSegmentTimes() const14
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const14
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const14
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const14
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> >*) const70
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const126
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const210
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const210
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const210
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const1890
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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.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18229861.1 %
Date:2024-01-14 11:12:21Functions: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)14
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> >*) const70
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() const14
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*) const126
eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const1890
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const14
eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const210
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const14
eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const210
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const14
eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const210
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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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18229861.1 %
Date:2024-01-14 11:12:21Functions:112347.8 %
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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.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          70 : 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          70 :   const size_t expected_number_of_samples = (t_end - t_start) / dt + 1;
+      96             : 
+      97          70 :   result->clear();
+      98          70 :   result->reserve(expected_number_of_samples);
+      99             : 
+     100          70 :   if (sampling_times != nullptr) {
+     101           0 :     sampling_times->clear();
+     102           0 :     sampling_times->reserve(expected_number_of_samples);
+     103             :   }
+     104             : 
+     105          70 :   double accumulated_time = 0.0;
+     106             : 
+     107             :   // Look for the correct segment to start.
+     108          70 :   size_t i = 0;
+     109          70 :   for (i = 0; i < segments_.size(); ++i) {
+     110          70 :     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          70 :     if (accumulated_time > t_start) {
+     118             :       break;
+     119             :     }
+     120             :   }
+     121          70 :   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          70 :   accumulated_time -= segments_[i].getTime();
+     128          70 :   double time_in_segment = t_start - accumulated_time;
+     129             : 
+     130             :   // Get all the samples, incrementing the segments as we go.
+     131       10620 :   while (accumulated_time < t_end) {
+     132       10550 :     if (time_in_segment > segments_[i].getTime()) {
+     133         980 :       time_in_segment = time_in_segment - segments_[i].getTime();
+     134         980 :       i++;
+     135             :       // Make sure we don't access segments that don't exist!
+     136         980 :       if (i >= segments_.size()) {
+     137             :         break;
+     138             :       }
+     139         980 :       continue;
+     140             :     }
+     141             : 
+     142       19140 :     result->push_back(segments_[i].evaluate(time_in_segment, derivative_order));
+     143             : 
+     144        9570 :     if (sampling_times != nullptr) {
+     145           0 :       sampling_times->push_back(accumulated_time);
+     146             :     }
+     147             : 
+     148        9570 :     time_in_segment += dt;
+     149        9570 :     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        1890 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const {
+     212             : 
+     213        1890 :   CHECK_NOTNULL(minimum);
+     214        1890 :   CHECK_NOTNULL(maximum);
+     215             : 
+     216        1890 :   minimum->value = std::numeric_limits<double>::max();
+     217        1890 :   maximum->value = std::numeric_limits<double>::lowest();
+     218             : 
+     219             :   // Compute candidates.
+     220        3780 :   std::vector<Extremum> candidates;
+     221        1890 :   if (!segments_[seg].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, &candidates)) {
+     222             :     return false;
+     223             :   }
+     224             :   // Evaluate candidates.
+     225        1890 :   Extremum minimum_candidate, maximum_candidate;
+     226        1890 :   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        1890 :   if (minimum_candidate < *minimum) {
+     232        1890 :     *minimum             = minimum_candidate;
+     233        1890 :     minimum->segment_idx = static_cast<int>(seg);
+     234             :   }
+     235        1890 :   if (maximum_candidate > *maximum) {
+     236        1890 :     *maximum             = maximum_candidate;
+     237        1890 :     maximum->segment_idx = static_cast<int>(seg);
+     238             :   }
+     239             : 
+     240             :   return true;
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* computeMinMaxMagnitude() //{ */
+     246             : 
+     247         126 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const {
+     248             : 
+     249         126 :   CHECK_NOTNULL(minimum);
+     250         126 :   CHECK_NOTNULL(maximum);
+     251             : 
+     252         126 :   minimum->value = std::numeric_limits<double>::max();
+     253         126 :   maximum->value = std::numeric_limits<double>::lowest();
+     254             : 
+     255             :   // For all segments in the trajectory:
+     256        2016 :   for (size_t segment_idx = 0; segment_idx < segments_.size(); segment_idx++) {
+     257             : 
+     258             :     // Compute candidates.
+     259        3780 :     std::vector<Extremum> candidates;
+     260        1890 :     if (!segments_[segment_idx].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, &candidates)) {
+     261           0 :       return false;
+     262             :     }
+     263             :     // Evaluate candidates.
+     264        1890 :     Extremum minimum_candidate, maximum_candidate;
+     265        1890 :     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        1890 :     if (minimum_candidate < *minimum) {
+     271         592 :       *minimum             = minimum_candidate;
+     272         592 :       minimum->segment_idx = static_cast<int>(segment_idx);
+     273             :     }
+     274        1890 :     if (maximum_candidate > *maximum) {
+     275         406 :       *maximum             = maximum_candidate;
+     276         406 :       maximum->segment_idx = static_cast<int>(segment_idx);
+     277             :     }
+     278             :   }
+     279             :   return true;
+     280             : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* getSegmentTimes() //{ */
+     285             : 
+     286          14 : std::vector<double> Trajectory::getSegmentTimes() const {
+     287          14 :   std::vector<double> segment_times(segments_.size());
+     288         224 :   for (size_t i = 0; i < segment_times.size(); ++i) {
+     289         210 :     segment_times[i] = segments_[i].getTime();
+     290             :   }
+     291          14 :   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         210 : 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         210 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     426             : 
+     427         210 :   dimensions.push_back(0);
+     428         210 :   dimensions.push_back(1);
+     429             : 
+     430         210 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     431             : 
+     432         210 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     433         210 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     434         210 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     435             : 
+     436         210 :   *v_max = v_max_traj.value;
+     437         210 :   *a_max = a_max_traj.value;
+     438         210 :   *j_max = j_max_traj.value;
+     439             : 
+     440         420 :   return success;
+     441             : }
+     442             : 
+     443             : //}
+     444             : 
+     445             : /* computeMaxDerivativesHorizontal() //{ */
+     446             : 
+     447             : // compute max velocity, acceleration and jerk
+     448          14 : 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          14 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     452             : 
+     453          14 :   dimensions.push_back(0);
+     454          14 :   dimensions.push_back(1);
+     455             : 
+     456          14 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     457             : 
+     458          14 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     459          14 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     460          14 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     461             : 
+     462          14 :   *v_max = v_max_traj.value;
+     463          14 :   *a_max = a_max_traj.value;
+     464          14 :   *j_max = j_max_traj.value;
+     465             : 
+     466          28 :   return success;
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* computeMaxDerivativesVertical() //{ */
+     472             : 
+     473             : // compute max velocity, acceleration and jerk
+     474         210 : 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         210 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     478             : 
+     479         210 :   dimensions.push_back(2);
+     480             : 
+     481         210 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     482             : 
+     483         210 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     484         210 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     485         210 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     486             : 
+     487         210 :   *v_max = v_max_traj.value;
+     488         210 :   *a_max = a_max_traj.value;
+     489         210 :   *j_max = j_max_traj.value;
+     490             : 
+     491         420 :   return success;
+     492             : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* computeMaxDerivativesVertical() //{ */
+     497             : 
+     498             : // compute max velocity, acceleration and jerk
+     499          14 : 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          14 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     503             : 
+     504          14 :   dimensions.push_back(2);
+     505             : 
+     506          14 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     507             : 
+     508          14 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     509          14 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     510          14 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     511             : 
+     512          14 :   *v_max = v_max_traj.value;
+     513          14 :   *a_max = a_max_traj.value;
+     514          14 :   *j_max = j_max_traj.value;
+     515             : 
+     516          28 :   return success;
+     517             : }
+     518             : 
+     519             : //}
+     520             : 
+     521             : /* computeMaxDerivativesHeading() //{ */
+     522             : 
+     523             : // compute max velocity, acceleration and jerk
+     524         210 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const {
+     525             : 
+     526         210 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     527             : 
+     528         210 :   dimensions.push_back(3);  // 3 = heading
+     529             : 
+     530         210 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     531             : 
+     532         210 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     533         210 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     534         210 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     535             : 
+     536         210 :   *v_max = v_max_traj.value;
+     537         210 :   *a_max = a_max_traj.value;
+     538         210 :   *j_max = j_max_traj.value;
+     539             : 
+     540         420 :   return success;
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* computeMaxDerivativesHeading() //{ */
+     546             : 
+     547             : // compute max velocity, acceleration and jerk
+     548          14 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const {
+     549             : 
+     550          14 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     551             : 
+     552          14 :   dimensions.push_back(3);  // 3 = heading
+     553             : 
+     554          14 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     555             : 
+     556          14 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     557          14 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     558          14 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     559             : 
+     560          14 :   *v_max = v_max_traj.value;
+     561          14 :   *a_max = a_max_traj.value;
+     562          14 :   *j_max = j_max_traj.value;
+     563             : 
+     564          28 :   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          14 : 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          14 :   constexpr size_t kMaxCounter = 20;
+     604          14 :   constexpr double kTolerance  = 1e-3;
+     605             : 
+     606          14 :   bool within_range = false;
+     607             : 
+     608          14 :   for (size_t i = 0; i < kMaxCounter; i++) {
+     609             : 
+     610         224 :     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         210 :       double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     616         210 :       computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual, seg);
+     617             : 
+     618         210 :       double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     619         210 :       computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual, seg);
+     620             : 
+     621         210 :       double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     622         210 :       computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual, seg);
+     623             : 
+     624             :       // Reevaluate constraint/bound violation
+     625         210 :       double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     626         210 :       double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     627         210 :       double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     628         210 :       double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     629         210 :       double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     630         210 :       double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     631             : 
+     632         210 :       double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     633         210 :       double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     634         210 :       double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     635             : 
+     636         210 :       double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     637         210 :       double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     638         210 :       double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     639             : 
+     640         210 :       within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     641             : 
+     642         370 :       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         210 :       double violation_scaling_inverse = 1.0 / violation_scaling;
+     646             : 
+     647             :       // Scale the segment times of each segment.
+     648         210 :       double new_max_time = 0.0;
+     649         210 :       double new_time     = segments_[seg].getTime() * violation_scaling;
+     650             : 
+     651        1050 :       for (int d = 0; d < segments_[seg].D(); d++) {
+     652         840 :         (segments_[seg])[d].scalePolynomialInTime(violation_scaling_inverse);
+     653             :       }
+     654             : 
+     655         210 :       segments_[seg].setTime(new_time);
+     656         210 :       new_max_time += new_time;
+     657         210 :       max_time_ = new_max_time;
+     658             :     }
+     659             : 
+     660          14 :     double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     661          14 :     computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual);
+     662             : 
+     663          14 :     double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     664          14 :     computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual);
+     665             : 
+     666          14 :     double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     667          14 :     computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual);
+     668             : 
+     669             :     // Reevaluate constraint/bound violation
+     670          14 :     double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     671          14 :     double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     672          14 :     double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     673          14 :     double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     674          14 :     double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     675          14 :     double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     676             : 
+     677          14 :     double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     678          14 :     double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     679          14 :     double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     680             : 
+     681          14 :     double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     682          14 :     double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     683          14 :     double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     684             : 
+     685          14 :     within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     686             : 
+     687          14 :     if (within_range) {
+     688             :       break;
+     689             :     }
+     690             :   }
+     691          14 :   return within_range;
+     692             : }
+     693             : 
+     694             : //}
+     695             : 
+     696             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2024-01-14 11:12:21Functions: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> >*)14
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> >*)14
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
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Date:2024-01-14 11:12:21Functions: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> >*)14
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> >*)14
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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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory_sampling.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:296942.0 %
Date:2024-01-14 11:12:21Functions:2728.6 %
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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          14 : bool sampleTrajectoryInRange(const Trajectory& trajectory, double min_time, double max_time, double sampling_interval,
+      50             :                              eth_mav_msgs::EigenTrajectoryPointVector* states) {
+      51          14 :   CHECK_NOTNULL(states);
+      52          14 :   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          14 :   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          28 :   std::vector<Eigen::VectorXd> position, velocity, acceleration, jerk, snap, yaw, yaw_rate;
+      64             : 
+      65          14 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::POSITION, &position);
+      66          14 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::VELOCITY, &velocity);
+      67          14 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::ACCELERATION, &acceleration);
+      68          14 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::JERK, &jerk);
+      69          14 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::SNAP, &snap);
+      70             : 
+      71          14 :   size_t n_samples = position.size();
+      72             : 
+      73          14 :   states->resize(n_samples);
+      74        1928 :   for (size_t i = 0; i < n_samples; ++i) {
+      75        1914 :     eth_mav_msgs::EigenTrajectoryPoint& state = (*states)[i];
+      76             : 
+      77             :     /* state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+      78        1914 :     state.position_W         = position[i].head<3>();
+      79        1914 :     state.velocity_W         = velocity[i].head<3>();
+      80        1914 :     state.acceleration_W     = acceleration[i].head<3>();
+      81        1914 :     state.jerk_W             = jerk[i].head<3>();
+      82        1914 :     state.snap_W             = snap[i].head<3>();
+      83        1914 :     state.time_from_start_ns = static_cast<int64_t>((min_time + sampling_interval * i) * kNumNanosecondsPerSecond);
+      84        1914 :     if (trajectory.D() == 4) {
+      85        1914 :       state.setFromYaw(position[i](3));
+      86        1914 :       state.setFromYawRate(velocity[i](3));
+      87        1914 :       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          14 :   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          14 : bool sampleWholeTrajectory(const Trajectory& trajectory, double sampling_interval, eth_mav_msgs::EigenTrajectoryPoint::Vector* states) {
+     120          14 :   const double min_time = trajectory.getMinTime();
+     121          14 :   const double max_time = trajectory.getMaxTime();
+     122             : 
+     123          14 :   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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Date:2024-01-14 11:12:21Functions: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)15
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)15
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)15
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)28
eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)593
eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const3354
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Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13526451.1 %
Date:2024-01-14 11:12:21Functions: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)15
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)15
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)15
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&)593
eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)28
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>*) const3354
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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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:13526451.1 %
Date:2024-01-14 11:12:21Functions: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         593 : void Vertex::addConstraint(int derivative_order, const Eigen::VectorXd& constraint) {
+     135         593 :   CHECK_EQ(constraint.rows(), static_cast<long>(D_));
+     136         593 :   constraints_[derivative_order] = constraint;
+     137         593 : }
+     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          28 : void Vertex::makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative) {
+     159          28 :   addConstraint(derivative_order::POSITION, constraint);
+     160          84 :   for (int i = 1; i <= up_to_derivative; ++i) {
+     161          56 :     constraints_[i] = ConstraintValue::Zero(static_cast<int>(D_));
+     162             :   }
+     163          28 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* getConstraint() //{ */
+     168             : 
+     169        3354 : bool Vertex::getConstraint(int derivative_order, Eigen::VectorXd* value) const {
+     170        3354 :   CHECK_NOTNULL(value);
+     171        3354 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     172        3354 :   if (it != constraints_.end()) {
+     173        1744 :     *value = it->second;
+     174        1744 :     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          15 : 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          15 :   return estimateSegmentTimesEuclidean(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     270          15 :                                        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          15 : 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          15 :   CHECK_GE(vertices.size(), 2);
+     306          15 :   std::vector<double> segment_times;
+     307          15 :   segment_times.reserve(vertices.size() - 1);
+     308             : 
+     309             :   // for each vertex in the path
+     310         229 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     311             : 
+     312         428 :     Eigen::VectorXd start4d, end4d;
+     313             : 
+     314         214 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     315         214 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     316             : 
+     317         214 :     Eigen::Vector3d start     = start4d.head(3);
+     318         214 :     Eigen::Vector3d end       = end4d.head(3);
+     319         214 :     double          start_hdg = start4d(3);
+     320         214 :     double          end_hdg   = end4d(3);
+     321             : 
+     322         214 :     double acceleration_time_1 = 0;
+     323         214 :     double acceleration_time_2 = 0;
+     324             : 
+     325         214 :     double jerk_time_1 = 0;
+     326         214 :     double jerk_time_2 = 0;
+     327             : 
+     328         214 :     double acc_1_coeff = 0;
+     329         214 :     double acc_2_coeff = 0;
+     330             : 
+     331         214 :     double distance = (end - start).norm();
+     332             : 
+     333         214 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     334             : 
+     335         214 :     double v_max, a_max, j_max;
+     336             : 
+     337         214 :     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         214 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     341             :     }
+     342             : 
+     343         214 :     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         214 :       a_max = fabs(a_max_horizontal / cos(inclinator));
+     347             :     }
+     348             : 
+     349         214 :     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         214 :       j_max = fabs(j_max_horizontal / cos(inclinator));
+     353             :     }
+     354             : 
+     355         214 :     if (i >= 1) {
+     356             : 
+     357         398 :       Eigen::VectorXd pre4d;
+     358             : 
+     359         199 :       vertices[i - 1].getConstraint(derivative_order::POSITION, &pre4d);
+     360             : 
+     361         199 :       Eigen::Vector3d pre = pre4d.head(3);
+     362             : 
+     363         199 :       Eigen::Vector3d vec1 = start - pre;
+     364         199 :       Eigen::Vector3d vec2 = end - start;
+     365             : 
+     366         199 :       vec1.normalize();
+     367         199 :       vec2.normalize();
+     368             : 
+     369         398 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     370             : 
+     371         199 :       acc_1_coeff = (1 - scalar);
+     372             : 
+     373         199 :       acceleration_time_1 = acc_1_coeff * ((v_max / a_max) + (a_max / j_max));
+     374             : 
+     375         199 :       jerk_time_1 = acc_1_coeff * (2 * (a_max / j_max));
+     376             :     }
+     377             : 
+     378             :     // the first vertex
+     379         214 :     if (i == 0) {
+     380          15 :       acc_1_coeff         = 1.0;
+     381          15 :       acceleration_time_1 = (v_max / a_max) + (a_max / j_max);
+     382          15 :       jerk_time_1         = (2 * (a_max / j_max));
+     383             :     }
+     384             : 
+     385             :     // last vertex
+     386         214 :     if (i == vertices.size() - 2) {
+     387          15 :       acc_2_coeff         = 1.0;
+     388          15 :       acceleration_time_2 = (v_max / a_max) + (a_max / j_max);
+     389          15 :       jerk_time_2         = (2 * (a_max / j_max));
+     390             :     }
+     391             : 
+     392             :     // a vertex
+     393         214 :     if (i < vertices.size() - 2) {
+     394             : 
+     395         398 :       Eigen::VectorXd post4d;
+     396             : 
+     397         199 :       vertices[i + 2].getConstraint(derivative_order::POSITION, &post4d);
+     398             : 
+     399         199 :       Eigen::Vector3d post = post4d.head(3);
+     400             : 
+     401         199 :       Eigen::Vector3d vec1 = end - start;
+     402         199 :       Eigen::Vector3d vec2 = post - end;
+     403             : 
+     404         199 :       vec1.normalize();
+     405         199 :       vec2.normalize();
+     406             : 
+     407         398 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     408             : 
+     409         199 :       acc_2_coeff = (1 - scalar);
+     410             : 
+     411         199 :       acceleration_time_2 = acc_2_coeff * ((v_max / a_max) + (a_max / j_max));
+     412             : 
+     413         199 :       jerk_time_2 = acc_2_coeff * (2 * (a_max / j_max));
+     414             :     }
+     415             : 
+     416         214 :     if (acceleration_time_1 > sqrt(2 * distance / a_max)) {
+     417          30 :       acceleration_time_1 = sqrt(2 * distance / a_max);
+     418             :     }
+     419             : 
+     420         214 :     if (jerk_time_1 > sqrt(2 * v_max / j_max)) {
+     421           0 :       jerk_time_1 = sqrt(2 * v_max / j_max);
+     422             :     }
+     423             : 
+     424         214 :     if (acceleration_time_2 > sqrt(2 * distance / a_max)) {
+     425          30 :       acceleration_time_2 = sqrt(2 * distance / a_max);
+     426             :     }
+     427             : 
+     428         214 :     if (jerk_time_2 > sqrt(2 * v_max / j_max)) {
+     429           0 :       jerk_time_2 = sqrt(2 * v_max / j_max);
+     430             :     }
+     431             : 
+     432         214 :     double max_velocity_time;
+     433             : 
+     434         214 :     const double distance_due_acceleration = a_max * pow(acceleration_time_1, 2) + a_max * pow(acceleration_time_2, 2);
+     435             : 
+     436         214 :     if (distance > distance_due_acceleration) {
+     437             :       max_velocity_time = ((distance - distance_due_acceleration) / v_max);
+     438             :     } else {
+     439         214 :       max_velocity_time = (distance_due_acceleration / v_max);
+     440             :     }
+     441             : 
+     442         214 :     max_velocity_time = ((distance) / v_max);
+     443             : 
+     444             :     /* double t = max_velocity_time + acceleration_time_1 + acceleration_time_2 + jerk_time_1 + jerk_time_2; */
+     445         214 :     double t = max_velocity_time + acceleration_time_1 + acceleration_time_2;
+     446             : 
+     447             :     /* printf("segment %d, [%.2f %.2f %.2f] - > [%.2f %.2f %.2f] = %.2f\n", i, start(0), start(1), start(2), end(0), end(1), end(2), distance); */
+     448             :     /* printf("segment %d time %.2f, distance %.2f, %.2f, %.2f, %.2f, vmax: %.2f, amax: %.2f, jmax: %.2f\n", i, t, distance, max_velocity_time, */
+     449             :     /*        acceleration_time_1, acceleration_time_2, v_max, a_max, j_max); */
+     450             : 
+     451         214 :     if (t < 0.01) {
+     452           0 :       t = 0.01;
+     453             :     }
+     454             : 
+     455             :     // | ------------- check the heading rotation time ------------ |
+     456             : 
+     457         214 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     458             : 
+     459         214 :     double hdg_velocity_time     = 0;
+     460         214 :     double hdg_acceleration_time = 0;
+     461             : 
+     462         214 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     463             : 
+     464         214 :       if (((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     465         214 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     466             :       } else {
+     467             :         hdg_velocity_time = ((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     468             :       }
+     469             : 
+     470         214 :       if (angular_distance > M_PI / 4) {
+     471          22 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     472             :       }
+     473             :     }
+     474             : 
+     475             :     // what will take longer? to fix the lateral or the heading
+     476         214 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     477             : 
+     478         214 :     if (heading_fix_time > t) {
+     479           0 :       t = heading_fix_time;
+     480             :     }
+     481             : 
+     482         214 :     segment_times.push_back(t);
+     483             :   }
+     484          15 :   return segment_times;
+     485             : }
+     486             : 
+     487             : //}
+     488             : 
+     489             : /* estimateSegmentTimesEuclidean() //{ */
+     490             : 
+     491          15 : std::vector<double> estimateSegmentTimesEuclidean(const Vertex::Vector& vertices, const double v_max_horizontal, const double v_max_vertical,
+     492             :                                                   const double a_max_horizontal, const double a_max_vertical, const double j_max_horizontal,
+     493             :                                                   const double j_max_vertical, const double heading_speed_max, const double heading_acc_max) {
+     494             : 
+     495          15 :   double v_max = std::min(v_max_horizontal, v_max_vertical);
+     496             : 
+     497          15 :   CHECK_GE(vertices.size(), 2);
+     498          15 :   std::vector<double> segment_times;
+     499          15 :   segment_times.reserve(vertices.size() - 1);
+     500             : 
+     501             :   // for each vertex in the path
+     502         229 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     503             : 
+     504         428 :     Eigen::VectorXd start4d, end4d;
+     505             : 
+     506         214 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     507         214 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     508             : 
+     509         214 :     Eigen::Vector3d start = start4d.head(3);
+     510         214 :     Eigen::Vector3d end   = end4d.head(3);
+     511             : 
+     512         214 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     513             : 
+     514         214 :     double v_max;
+     515             : 
+     516         214 :     if (inclinator > atan2(v_max_vertical, v_max_horizontal) || inclinator < -atan2(v_max_vertical, v_max_horizontal)) {
+     517           0 :       v_max = fabs(v_max_vertical / sin(inclinator));
+     518             :     } else {
+     519         214 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     520             :     }
+     521             : 
+     522         214 :     double start_hdg = start4d(3);
+     523         214 :     double end_hdg   = end4d(3);
+     524             : 
+     525         214 :     double distance = (end - start).norm();
+     526             : 
+     527         214 :     double t = distance / v_max;
+     528             : 
+     529         214 :     if (t < 0.01) {
+     530           0 :       t = 0.01;
+     531             :     }
+     532             : 
+     533             :     // | ------------- check the heading rotation time ------------ |
+     534             : 
+     535             : 
+     536         214 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     537             : 
+     538         214 :     double hdg_velocity_time     = 0;
+     539         214 :     double hdg_acceleration_time = 0;
+     540             : 
+     541         214 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     542             : 
+     543         214 :       if (((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     544         192 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     545             :       } else {
+     546             :         hdg_velocity_time = ((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     547             :       }
+     548             : 
+     549         214 :       if (angular_distance > M_PI / 4) {
+     550          22 :         hdg_acceleration_time = 2 * (heading_speed_max / heading_acc_max);
+     551             :       }
+     552             :     }
+     553             : 
+     554             :     // what will take longer? to fix the lateral or the heading
+     555         214 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     556             : 
+     557         214 :     if (heading_fix_time > t) {
+     558           6 :       t = heading_fix_time;
+     559             :     }
+     560             : 
+     561         214 :     segment_times.push_back(t);
+     562             :   }
+     563             : 
+     564          15 :   return segment_times;
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* computeTimeVelocityRamp() //{ */
+     570             : 
+     571           0 : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max) {
+     572             : 
+     573           0 :   const double distance = (start - goal).norm();
+     574             :   // Time to accelerate or decelerate to or from maximum velocity:
+     575           0 :   const double acc_time = v_max / a_max;
+     576             :   // Distance covered during complete acceleration or decelerate:
+     577           0 :   const double acc_distance = 0.5 * v_max * acc_time;
+     578             :   // Compute total segment time:
+     579           0 :   if (distance < 2.0 * acc_distance) {
+     580             :     // Case 1: Distance too small to accelerate to maximum velocity.
+     581           0 :     return 2.0 * std::sqrt(distance / a_max);
+     582             :   } else {
+     583             :     // Case 2: Distance long enough to accelerate to maximum velocity.
+     584           0 :     return 2.0 * acc_time + (distance - 2.0 * acc_distance) / v_max;
+     585             :   }
+     586             : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : }  // namespace eth_trajectory_generation
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/vertex.cpp.gcov.overview.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/vertex.cpp.gcov.overview.html new file mode 100644 index 0000000000..11851bbde6 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/vertex.cpp.gcov.overview.html @@ -0,0 +1,168 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/vertex.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 + + +
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+ + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/vertex.cpp.gcov.png b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/vertex.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..f9d33f1ef24b40bf636cec0ab51c508d8ff364d8 GIT binary patch literal 2252 zcmV;-2s8JIP)D?LLZ@;MlunaXTndY z#VL4*%v#VFfa;U81%;^+CaEtIA=sf(*Kbg~LdLO0yvr+Q;F^p|yXq^OFY6YHjjsHY zb$D%gS+`eKVj$ABC7`toUZW^;1z=+#io&x*~+$60V@^DpSnrIx7c(;iUW^> zuZ$x4TWTU?U8gv-cZXMZo8CBu<`K^#4QN?pc<_{wM5@mSuvgyOQy3oA3bz-x2-8lD{H|AyC3UJ~F=#?yJGWiZ*F<=SOaJcd(ddAP2r`-_ZWzlj8<3`llvvs zsv-Z?+~d}EeU+D`?K(8r8Ggg#thsV@(yqpHk6#y>to}`~y z*+mqweLoZTNvpJ^>qkUMRhp+iXPfogJwWK7*h$O(9g8y~31in)c#7PWz5eVBr*w_L1zBHqTj zJ*M~=RmXi)kh&~NWm7ZWGVm`eTZvQMhN{qiDIqI5MO*P|Kd@;P#;-4I^jrcZ0Rc}} zHRXabwl;+hW!Q#?i2_FIEw3a<#C?LLc09Zo5;7W^jI0x4^`mHAjd~&Nl6VdfPk>Y# z>0&@aF-;-?@px8+GCG=4`jY|MdP6N!k!9OE(ty7+_Ds0{hPL6Hi$&dw0Rw6gbvr%>1K84R;DgF_YS4u-%#Uxn9<+SApJWO_X>G`|*#UmrD$gjqx`Y-1<- zTJxsHVR&W}c6l*Cl94b$%AU29=5lj$y`;vYHkrl7@R?25oy>R|!;hBCVz$q)s=|jdiO==A{=VUa65zR@h4?*`It&59*vl6M!u&(9UJAgf`XXdc;3_3+7?N`Q);tGPE zG7pVW4E~x)_H!~aQH|jm1MuqR3Zvor=7OGf9Xz72!6COJDeWpsr6}9xM)Op+aRu{` z(`t75edcM}z~;|^D<^J>>U|ff_(%uimQElg>SDQH`hG) zph6|B8SbZKB)*P!7Fj5N?S|DWz85Hrnw#_2UpxN19of|BnqW`U`cO!D;-oF6$`ofL z!YD|4hC_U$NnrF9uj8)w*p@)cDRPaXp~4N`6LZdemb7kV?ayDKG-9}lE^$BZ9O;@} znr_y(>&u@`<0bKj#=vnij|e!@`8Z?t{{S9VO49F?ny2$sx(x0{Qni7&ds{l&jv=+e z>zgYK3o!*uhYQiMJY#RVB?nen}MbM2E!M)pp)IACKt9PoOSNvPD|^F|H_Zq_s=vNajJUn+$%_={Vy= zyPN5tB{+nNX}v^EK~$#Gd$<|(z=9#AnxegH1i}8&63ycZ=JCL%2VP?ETQcHdDd7?s|KRN7g!e4VcbX!xj;1NXrDODy)0E`$z3XAApR7R9@32R*`DMM`v@U?0$ zoZVszFtzd3@31%B+DtwV>^gyEWSu@c)fxr?-YGb1YnhEm3}W5D_W*vv`-S5J&xa31 aV)7r5pZdE^X7Kj_0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:637103461.6 %
Date:2024-01-14 11:12:21Functions:212295.5 %
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:637103461.6 %
Date:2024-01-14 11:12:21Functions:212295.5 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)0
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> 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&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)2
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)3
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&)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)3
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&)3
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)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)12
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&)13
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&)14
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&)14
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()14
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)62
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()62
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)198
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()1552
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&)3578
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)8523
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackControlManagerDiag(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)10236
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackTrackerCmd(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)65378
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:637103461.6 %
Date:2024-01-14 11:12:21Functions:212295.5 %
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)62
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)3
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&)3
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&)14
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)2
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&)3578
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)198
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&)65378
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)8523
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&)14
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&)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&)3
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&)13
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackControlManagerDiag(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)10236
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()62
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)12
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)3
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()1552
mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()14
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trajectory_generation/src - mrs_trajectory_generation.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:637103461.6 %
Date:2024-01-14 11:12:21Functions:212295.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : #include <nodelet/nodelet.h>
+       6             : 
+       7             : #include <mrs_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         650 : } 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::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&  waypoints,
+     204             :                                                                            const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     205             :                                                                            const bool& relax_heading);
+     206             : 
+     207             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>              findTrajectoryFallback(const std::vector<Waypoint_t>&  waypoints,
+     208             :                                                                                                 const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     209             :                                                                                                 const bool& relax_heading);
+     210             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     211             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     212             : 
+     213             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&  waypoints,
+     214             :                                                                                 const mrs_msgs::TrackerCommand& initial_state, const double& sampling_dt,
+     215             :                                                                                 const bool& relax_heading);
+     216             : 
+     217             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     218             : 
+     219             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const ros::Time& stamp,
+     220             :                                                        const double& sampling_dt);
+     221             : 
+     222             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     223             : 
+     224             :   bool checkNaN(const Waypoint_t& a);
+     225             : 
+     226             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     227             : 
+     228             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     229             : 
+     230             :   // | --------------- dynamic reconfigure server --------------- |
+     231             : 
+     232             :   boost::recursive_mutex                           mutex_drs_;
+     233             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     234             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     235             :   boost::shared_ptr<Drs_t>                         drs_;
+     236             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     237             :   DrsParams_t                                      params_;
+     238             :   std::mutex                                       mutex_params_;
+     239             : 
+     240             :   // | ------------ Republisher for the desired path ------------ |
+     241             : 
+     242             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     243             : 
+     244             :   // | ------------- measuring the time of execution ------------ |
+     245             : 
+     246             :   ros::Time  start_time_total_;
+     247             :   std::mutex mutex_start_time_total_;
+     248             :   bool       overtime(void);
+     249             :   double     timeLeft(void);
+     250             : };
+     251             : 
+     252             : //}
+     253             : 
+     254             : /* onInit() //{ */
+     255             : 
+     256          62 : void MrsTrajectoryGeneration::onInit() {
+     257             : 
+     258             :   /* obtain node handle */
+     259          62 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     260             : 
+     261             :   /* waits for the ROS to publish clock */
+     262          62 :   ros::Time::waitForValid();
+     263             : 
+     264             :   // | ----------------------- publishers ----------------------- |
+     265             : 
+     266         186 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     267             : 
+     268             :   // | ----------------------- subscribers ---------------------- |
+     269             : 
+     270          62 :   subscriber_constraints_ = nh_.subscribe("constraints_in", 1, &MrsTrajectoryGeneration::callbackConstraints, this, ros::TransportHints().tcpNoDelay());
+     271          62 :   subscriber_tracker_cmd_ = nh_.subscribe("tracker_cmd_in", 1, &MrsTrajectoryGeneration::callbackTrackerCmd, this, ros::TransportHints().tcpNoDelay());
+     272          62 :   subscriber_control_manager_diag_ =
+     273         124 :       nh_.subscribe("control_manager_diag_in", 1, &MrsTrajectoryGeneration::callbackControlManagerDiag, this, ros::TransportHints().tcpNoDelay());
+     274          62 :   subscriber_path_ = nh_.subscribe("path_in", 1, &MrsTrajectoryGeneration::callbackPath, this, ros::TransportHints().tcpNoDelay());
+     275             : 
+     276             :   // | --------------------- service servers -------------------- |
+     277             : 
+     278          62 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     279             : 
+     280          62 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     281             : 
+     282         124 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     283             : 
+     284             :   // | ----------------------- parameters ----------------------- |
+     285             : 
+     286          62 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     287             : 
+     288         124 :   std::string custom_config_path;
+     289          62 :   std::string platform_config_path;
+     290             : 
+     291          62 :   param_loader.loadParam("custom_config", custom_config_path);
+     292          62 :   param_loader.loadParam("platform_config", platform_config_path);
+     293             : 
+     294          62 :   if (custom_config_path != "") {
+     295          62 :     param_loader.addYamlFile(custom_config_path);
+     296             :   }
+     297             : 
+     298          62 :   if (platform_config_path != "") {
+     299          62 :     param_loader.addYamlFile(platform_config_path);
+     300             :   }
+     301             : 
+     302          62 :   param_loader.addYamlFileFromParam("private_config");
+     303          62 :   param_loader.addYamlFileFromParam("public_config");
+     304             : 
+     305         124 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     306             : 
+     307          62 :   param_loader.loadParam("uav_name", _uav_name_);
+     308             : 
+     309         124 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     310             : 
+     311         124 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     312             : 
+     313         124 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     314         124 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     315             : 
+     316         124 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     317         124 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     318         124 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     319         124 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     320         124 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     321         124 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     322             : 
+     323         124 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     324         124 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", _trajectory_max_segment_deviation_);
+     325         124 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     326             : 
+     327         124 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     328         124 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     329         124 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     330             : 
+     331         124 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     332             : 
+     333             :   // | --------------------- tf transformer --------------------- |
+     334             : 
+     335          62 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     336          62 :   transformer_->setDefaultPrefix(_uav_name_);
+     337          62 :   transformer_->retryLookupNewest(true);
+     338             : 
+     339             :   // | ------------------- scope timer logger ------------------- |
+     340             : 
+     341         124 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     342         186 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     343          62 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     344             : 
+     345             :   // | --------------------- service clients -------------------- |
+     346             : 
+     347         124 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     348         124 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     349         124 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     350         124 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     351         124 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     352         124 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     353         124 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     354         124 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     355             : 
+     356         124 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_time);
+     357          62 :   max_execution_time_ = params_.max_time;
+     358             : 
+     359          62 :   if (!param_loader.loadedSuccessfully()) {
+     360           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: could not load all parameters!");
+     361           0 :     ros::shutdown();
+     362             :   }
+     363             : 
+     364             :   // | -------------------- batch visualizer -------------------- |
+     365             : 
+     366         124 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     367             : 
+     368          62 :   bw_original_.clearBuffers();
+     369          62 :   bw_original_.clearVisuals();
+     370             : 
+     371          62 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     372             : 
+     373          62 :   bw_final_.clearBuffers();
+     374          62 :   bw_final_.clearVisuals();
+     375             : 
+     376             :   // | --------------- dynamic reconfigure server --------------- |
+     377             : 
+     378          62 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     379          62 :   drs_->updateConfig(params_);
+     380         124 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     381          62 :   drs_->setCallback(f);
+     382             : 
+     383             :   // | --------------------- finish the init -------------------- |
+     384             : 
+     385         124 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: initialized");
+     386             : 
+     387          62 :   is_initialized_ = true;
+     388          62 : }
+     389             : 
+     390             : //}
+     391             : 
+     392             : // | ---------------------- main routines --------------------- |
+     393             : 
+     394             : /*
+     395             :  * 1. preprocessPath(): preprocessing the incoming path
+     396             :  *    - throughs away too close waypoints
+     397             :  *    - straightness path by neglecting waypoints close to segments
+     398             :  * 2. optimize(): solves the whole problem including
+     399             :  *    - subdivision for satisfying max deviation
+     400             :  * 3. findTrajectory(): solves single instance by the ETH tool
+     401             :  * 4. findTrajectoryFallback(): Baca's sampling for backup solution
+     402             :  * 5. validateTrajectorySpatial(): checks for the spatial soundness of a trajectory vs. the original path
+     403             :  */
+     404             : 
+     405             : /* preprocessPath() //{ */
+     406             : 
+     407           3 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     408             : 
+     409           6 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     410             : 
+     411           3 :   std::vector<Waypoint_t> waypoints;
+     412             : 
+     413           3 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     414             : 
+     415          18 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     416             : 
+     417          15 :     double x       = waypoints_in.at(i).coords[0];
+     418          15 :     double y       = waypoints_in.at(i).coords[1];
+     419          15 :     double z       = waypoints_in.at(i).coords[2];
+     420          15 :     double heading = waypoints_in.at(i).coords[3];
+     421             : 
+     422          15 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     423             : 
+     424          15 :     if (_path_straightener_enabled_ && waypoints_in.size() >= 3 && i > 0 && i < (waypoints_in.size() - 1)) {
+     425             : 
+     426           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]);
+     427           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]);
+     428             : 
+     429           0 :       double first_hdg = waypoints_in.at(last_added_idx).coords[3];
+     430           0 :       double last_hdg  = waypoints_in.at(i + 1).coords[3];
+     431             : 
+     432           0 :       size_t next_point = last_added_idx + 1;
+     433             : 
+     434           0 :       bool segment_is_ok = true;
+     435             : 
+     436           0 :       for (size_t j = next_point; j < i + 1; j++) {
+     437             : 
+     438           0 :         vec3_t mid(waypoints_in.at(j).coords[0], waypoints_in.at(j).coords[1], waypoints_in.at(j).coords[2]);
+     439           0 :         double mid_hdg = waypoints_in.at(j).coords[3];
+     440             : 
+     441           0 :         double dist_from_segment = distFromSegment(mid, first, last);
+     442             : 
+     443           0 :         if (dist_from_segment > _path_straightener_max_deviation_ || fabs(radians::diff(first_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_) ||
+     444           0 :             fabs(radians::diff(last_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_)) {
+     445           0 :           segment_is_ok = false;
+     446           0 :           break;
+     447             :         }
+     448             :       }
+     449             : 
+     450           0 :       if (segment_is_ok) {
+     451           0 :         continue;
+     452             :       }
+     453             :     }
+     454             : 
+     455          15 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     456             : 
+     457           9 :       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]);
+     458           9 :       vec3_t last(waypoints_in.at(i).coords[0], waypoints_in.at(i).coords[1], waypoints_in.at(i).coords[2]);
+     459             : 
+     460           9 :       if (mrs_lib::geometry::dist(first, last) < _min_waypoint_distance_) {
+     461           0 :         ROS_INFO("[MrsTrajectoryGeneration]: waypoint #%d too close (< %.3f m) to the previous one (#%d), throwing it away", int(i), _min_waypoint_distance_,
+     462             :                  int(last_added_idx));
+     463           0 :         continue;
+     464             :       }
+     465             :     }
+     466             : 
+     467          15 :     Waypoint_t wp;
+     468          15 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     469          15 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     470          15 :     waypoints.push_back(wp);
+     471             : 
+     472          15 :     last_added_idx = i;
+     473             :   }
+     474             : 
+     475           3 :   return waypoints;
+     476             : }
+     477             : 
+     478             : //}
+     479             : 
+     480             : /* optimize() //{ */
+     481             : 
+     482           3 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>&          waypoints_in,
+     483             :                                                                                                const std_msgs::Header&                 waypoints_header,
+     484             :                                                                                                const mrs_msgs::TrackerCommand&         tracker_cmd,
+     485             :                                                                                                const mrs_msgs::MpcPredictionFullState& current_prediction,
+     486             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     487             : 
+     488           9 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     489             : 
+     490           3 :   ros::Time optimize_time_start = ros::Time::now();
+     491             : 
+     492             :   // | ------------- prepare the initial conditions ------------- |
+     493             : 
+     494           6 :   mrs_msgs::TrackerCommand initial_condition;
+     495             : 
+     496           3 :   bool path_from_future = false;
+     497             : 
+     498             :   // positive = in the future
+     499           3 :   double path_time_offset = 0;
+     500             : 
+     501           3 :   if (waypoints_header.stamp != ros::Time(0)) {
+     502           0 :     path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     503             :   }
+     504             : 
+     505           3 :   int path_sample_offset = 0;
+     506             : 
+     507             :   // if the desired path starts in the future, more than one MPC step ahead
+     508           3 :   if (path_time_offset > 0.2) {
+     509             : 
+     510           0 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     511             : 
+     512             :     // calculate the offset in samples in the predicted trajectory
+     513             :     // 0.01 is subtracted for the first sample, which is smaller
+     514             :     // +1 is added due to the first sample, which was subtarcted
+     515           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     516             : 
+     517           0 :     if (path_sample_offset > (int(current_prediction.position.size()) - 1)) {
+     518             : 
+     519           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     520           0 :       initial_condition = tracker_cmd;
+     521             : 
+     522             :     } else {
+     523             : 
+     524             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     525           0 :       mrs_msgs::TrackerCommand full_state;
+     526             : 
+     527           0 :       full_state.header = current_prediction.header;
+     528             : 
+     529           0 :       full_state.position     = current_prediction.position[path_sample_offset];
+     530           0 :       full_state.velocity     = current_prediction.velocity[path_sample_offset];
+     531           0 :       full_state.acceleration = current_prediction.acceleration[path_sample_offset];
+     532           0 :       full_state.jerk         = current_prediction.jerk[path_sample_offset];
+     533             : 
+     534           0 :       full_state.heading              = current_prediction.heading[path_sample_offset];
+     535           0 :       full_state.heading_rate         = current_prediction.heading_rate[path_sample_offset];
+     536           0 :       full_state.heading_acceleration = current_prediction.heading_acceleration[path_sample_offset];
+     537           0 :       full_state.heading_jerk         = current_prediction.heading_jerk[path_sample_offset];
+     538             : 
+     539           0 :       ROS_INFO("[MrsTrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     540             : 
+     541           0 :       initial_condition.header = full_state.header;
+     542             : 
+     543           0 :       initial_condition.position     = full_state.position;
+     544           0 :       initial_condition.velocity     = full_state.velocity;
+     545           0 :       initial_condition.acceleration = full_state.acceleration;
+     546           0 :       initial_condition.jerk         = full_state.jerk;
+     547             : 
+     548           0 :       initial_condition.heading              = full_state.heading;
+     549           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     550           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     551           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     552             : 
+     553           0 :       path_from_future = true;
+     554             :     }
+     555             : 
+     556             :   } else {
+     557             : 
+     558           6 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     559             : 
+     560           3 :     initial_condition = tracker_cmd;
+     561             :   }
+     562             : 
+     563           3 :   auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+     564             : 
+     565           3 :   if (waypoints_header.stamp == ros::Time(0)) {
+     566           3 :     if (!control_manager_diag.tracker_status.have_goal) {
+     567           0 :       initial_condition.header.stamp = ros::Time(0);
+     568             :     }
+     569             :   }
+     570             : 
+     571             :   // | ---------------- reset the visual markers ---------------- |
+     572             : 
+     573           3 :   bw_original_.clearBuffers();
+     574           3 :   bw_original_.clearVisuals();
+     575           3 :   bw_final_.clearBuffers();
+     576           3 :   bw_final_.clearVisuals();
+     577             : 
+     578           3 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     579           3 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     580             : 
+     581           3 :   bw_original_.setPointsScale(0.4);
+     582           3 :   bw_final_.setPointsScale(0.35);
+     583             : 
+     584             :   // empty path is invalid
+     585           3 :   if (waypoints_in.size() == 0) {
+     586           0 :     std::stringstream ss;
+     587           0 :     ss << "the path is empty (before postprocessing)";
+     588           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     589           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     590             :   }
+     591             : 
+     592           6 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     593             : 
+     594           3 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     595           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     596             :   }
+     597             : 
+     598             :   // prepend the initial condition
+     599           3 :   Waypoint_t initial_waypoint;
+     600           3 :   initial_waypoint.coords =
+     601           3 :       Eigen::Vector4d(initial_condition.position.x, initial_condition.position.y, initial_condition.position.z, initial_condition.heading);
+     602           3 :   initial_waypoint.stop_at = false;
+     603           3 :   waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     604             : 
+     605           6 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     606             : 
+     607           3 :   if (waypoints.size() <= 1) {
+     608           0 :     std::stringstream ss;
+     609           0 :     ss << "the path is empty (after postprocessing)";
+     610           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     611           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     612             :   }
+     613             : 
+     614           3 :   bool              safe = false;
+     615           3 :   int               traj_idx;
+     616           6 :   std::vector<bool> segment_safeness;
+     617           3 :   double            max_deviation = 0;
+     618             : 
+     619           6 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     620             : 
+     621           3 :   double sampling_dt = 0;
+     622             : 
+     623           3 :   if (path_from_future) {
+     624           0 :     ROS_INFO("[MrsTrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     625           0 :     sampling_dt = 0.2;
+     626             :   } else {
+     627           3 :     sampling_dt = _sampling_dt_;
+     628             :   }
+     629             : 
+     630           3 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     631             : 
+     632           6 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     633             : 
+     634           3 :   if (params.enforce_fallback_solver) {
+     635           0 :     ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     636           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     637           3 :   } else if (fallback_sampling) {
+     638           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     639           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     640           3 :   } else if (running_async_planning_) {
+     641           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     642           0 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     643           3 :   } else if (overtime()) {
+     644           2 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     645           3 :     result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     646             :   } else {
+     647           6 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     648             :   }
+     649             : 
+     650           3 :   if (result) {
+     651           3 :     trajectory = result.value();
+     652             :   } else {
+     653           0 :     std::stringstream ss;
+     654           0 :     ss << "failed to find trajectory";
+     655           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     656           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     657             :   }
+     658             : 
+     659          15 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     660             : 
+     661          16 :     ROS_DEBUG("[MrsTrajectoryGeneration]: revalidation cycle #%d", k);
+     662             : 
+     663          13 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     664             : 
+     665          13 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     666             : 
+     667          14 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     668             : 
+     669          12 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     670          12 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     671             : 
+     672         174 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     673             : 
+     674         162 :         if (!(*safeness)) {
+     675             : 
+     676          40 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     677          40 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     678          40 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     679             :           }
+     680             :         }
+     681             : 
+     682         162 :         safeness++;
+     683             :       }
+     684             : 
+     685          12 :       if (params.enforce_fallback_solver) {
+     686           0 :         ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     687           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     688          12 :       } else if (fallback_sampling) {
+     689           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     690           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     691          12 :       } else if (running_async_planning_) {
+     692           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     693           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     694          12 :       } else if (overtime()) {
+     695           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     696           0 :         result = findTrajectoryFallback(waypoints, initial_condition, sampling_dt, relax_heading);
+     697             :       } else {
+     698          36 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     699             :       }
+     700             : 
+     701          12 :       if (result) {
+     702          12 :         trajectory = result.value();
+     703             :       } else {
+     704           0 :         std::stringstream ss;
+     705           0 :         ss << "failed to find trajectory";
+     706           0 :         ROS_WARN_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     707           0 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     708             :       }
+     709             : 
+     710             :     } else {
+     711           2 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     712           1 :       safe = true;
+     713           1 :       break;
+     714             :     }
+     715             :   }
+     716             : 
+     717           6 :   ROS_INFO("[MrsTrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     718             :            trajectory.size() * sampling_dt);
+     719             : 
+     720             :   // prepare rviz markers
+     721          58 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     722          55 :     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);
+     723             :   }
+     724             : 
+     725           6 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     726             : 
+     727             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     728           3 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition.header.stamp, sampling_dt);
+     729             : 
+     730             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     731           3 :   if (path_from_future) {
+     732             : 
+     733             :     // calculate the starting idx that we will use from the current_prediction
+     734           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     735           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     736             : 
+     737             :     // if there is anything to insert
+     738           0 :     if (path_sample_offset > path_sample_offset_2) {
+     739             : 
+     740           0 :       ROS_INFO("[MrsTrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     741             : 
+     742           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     743             : 
+     744           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: inserting idx %d", i);
+     745             : 
+     746           0 :         mrs_msgs::ReferenceStamped reference;
+     747             : 
+     748           0 :         reference.header = current_prediction.header;
+     749             : 
+     750           0 :         reference.reference.heading  = current_prediction.heading[i];
+     751           0 :         reference.reference.position = current_prediction.position[i];
+     752             : 
+     753           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     754             : 
+     755           0 :         if (res) {
+     756           0 :           reference = res.value();
+     757             :         } else {
+     758           0 :           std::stringstream ss;
+     759           0 :           ss << "could not transform reference to the path frame";
+     760           0 :           ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     761           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     762             :         }
+     763             : 
+     764           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     765             :       }
+     766             :     }
+     767             :   }
+     768             : 
+     769           3 :   bw_original_.publish();
+     770           3 :   bw_final_.publish();
+     771             : 
+     772           6 :   std::stringstream ss;
+     773           3 :   ss << "trajectory generated";
+     774             : 
+     775           6 :   ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     776             : 
+     777           6 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     778             : }
+     779             : 
+     780             : //}
+     781             : 
+     782             : /* findTrajectory() //{ */
+     783             : 
+     784          14 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&  waypoints,
+     785             :                                                                                                   const mrs_msgs::TrackerCommand& initial_state,
+     786             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     787             : 
+     788          42 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     789             : 
+     790          14 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     791             : 
+     792          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: findTrajectory() started");
+     793             : 
+     794          14 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     795             : 
+     796          28 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     797          14 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     798             : 
+     799          28 :   auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+     800             : 
+     801          14 :   if ((initial_state.header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag.tracker_status.have_goal) {
+     802          10 :     max_deviation_first_segment_ = false;
+     803             :   } else {
+     804           4 :     max_deviation_first_segment_ = true;
+     805             :   }
+     806             : 
+     807             :   // optimizer
+     808             : 
+     809          14 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     810             : 
+     811          14 :   parameters.f_rel                  = 0.05;
+     812          14 :   parameters.x_rel                  = 0.1;
+     813          14 :   parameters.time_penalty           = params.time_penalty;
+     814          14 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     815          14 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     816          14 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     817          14 :   if (params.time_allocation == 2) {
+     818          14 :     parameters.algorithm = nlopt::LD_LBFGS;
+     819             :   }
+     820          14 :   parameters.initial_stepsize_rel            = 0.1;
+     821          14 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     822          14 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     823          14 :   parameters.max_iterations                  = params.max_iterations;
+     824          14 :   parameters.max_time                        = NLOPT_EXEC_TIME_FACTOR * timeLeft();
+     825             : 
+     826          14 :   eth_trajectory_generation::Vertex::Vector vertices;
+     827          14 :   const int                                 dimension = 4;
+     828             : 
+     829          14 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     830             : 
+     831          14 :   switch (params.derivative_to_optimize) {
+     832             :     case 0: {
+     833             :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     834             :       break;
+     835             :     }
+     836           0 :     case 1: {
+     837           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     838           0 :       break;
+     839             :     }
+     840           0 :     case 2: {
+     841           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     842           0 :       break;
+     843             :     }
+     844             :   }
+     845             : 
+     846             :   // | --------------- add constraints to vertices -------------- |
+     847             : 
+     848          14 :   double last_heading = initial_state.heading;
+     849             : 
+     850         238 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     851         224 :     double x       = waypoints.at(i).coords[0];
+     852         224 :     double y       = waypoints.at(i).coords[1];
+     853         224 :     double z       = waypoints.at(i).coords[2];
+     854         224 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+     855         224 :     last_heading   = heading;
+     856             : 
+     857         448 :     eth_trajectory_generation::Vertex vertex(dimension);
+     858             : 
+     859         224 :     if (i == 0) {
+     860             : 
+     861          28 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     862             : 
+     863          28 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     864             : 
+     865          14 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     866          14 :                            Eigen::Vector4d(initial_state.velocity.x, initial_state.velocity.y, initial_state.velocity.z, initial_state.heading_rate));
+     867             : 
+     868          14 :       vertex.addConstraint(
+     869             :           eth_trajectory_generation::derivative_order::ACCELERATION,
+     870          14 :           Eigen::Vector4d(initial_state.acceleration.x, initial_state.acceleration.y, initial_state.acceleration.z, initial_state.heading_acceleration));
+     871             : 
+     872          14 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     873          28 :                            Eigen::Vector4d(initial_state.jerk.x, initial_state.jerk.y, initial_state.jerk.z, initial_state.heading_jerk));
+     874             : 
+     875         210 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     876             : 
+     877          28 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     878             : 
+     879          28 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     880             : 
+     881             :     } else {  // mid points
+     882             : 
+     883         392 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     884             : 
+     885         196 :       if (waypoints.at(i).stop_at) {
+     886           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     887           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     888           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     889             :       }
+     890             :     }
+     891             : 
+     892         224 :     vertices.push_back(vertex);
+     893             :   }
+     894             : 
+     895             :   // | ---------------- compute the segment times --------------- |
+     896             : 
+     897          14 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     898          14 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     899             : 
+     900             :   // use the small of the ascending/descending values
+     901          14 :   double vertical_speed_lim        = std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed);
+     902          14 :   double vertical_acceleration_lim = std::min(constraints.vertical_ascending_acceleration, constraints.vertical_descending_acceleration);
+     903             : 
+     904          14 :   v_max_horizontal = constraints.horizontal_speed;
+     905          14 :   a_max_horizontal = constraints.horizontal_acceleration;
+     906             : 
+     907          14 :   v_max_vertical = vertical_speed_lim;
+     908          14 :   a_max_vertical = vertical_acceleration_lim;
+     909             : 
+     910          14 :   j_max_horizontal = constraints.horizontal_jerk;
+     911          14 :   j_max_vertical   = std::min(constraints.vertical_ascending_jerk, constraints.vertical_descending_jerk);
+     912             : 
+     913          14 :   if (override_constraints_) {
+     914             : 
+     915           0 :     bool can_change = (hypot(initial_state.velocity.x, initial_state.velocity.y) < override_max_velocity_horizontal_) &&
+     916           0 :                       (hypot(initial_state.acceleration.x, initial_state.acceleration.y) < override_max_acceleration_horizontal_) &&
+     917           0 :                       (hypot(initial_state.jerk.x, initial_state.jerk.y) < override_max_jerk_horizontal_) &&
+     918           0 :                       (fabs(initial_state.velocity.z) < override_max_velocity_vertical_) &&
+     919           0 :                       (fabs(initial_state.acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state.jerk.z) < override_max_jerk_vertical_);
+     920             : 
+     921           0 :     if (can_change) {
+     922             : 
+     923           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+     924           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+     925           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+     926             : 
+     927           0 :       v_max_vertical = override_max_velocity_vertical_;
+     928           0 :       a_max_vertical = override_max_acceleration_vertical_;
+     929           0 :       j_max_vertical = override_max_jerk_vertical_;
+     930             : 
+     931           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+     932             : 
+     933             :     } else {
+     934             : 
+     935           0 :       ROS_WARN("[MrsTrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+     936             :     }
+     937             :   }
+     938             : 
+     939          14 :   double v_max_heading, a_max_heading, j_max_heading;
+     940             : 
+     941          14 :   if (relax_heading) {
+     942             :     v_max_heading = std::numeric_limits<float>::max();
+     943             :     a_max_heading = std::numeric_limits<float>::max();
+     944             :     j_max_heading = std::numeric_limits<float>::max();
+     945             :   } else {
+     946          14 :     v_max_heading = constraints.heading_speed;
+     947          14 :     a_max_heading = constraints.heading_acceleration;
+     948          14 :     j_max_heading = constraints.heading_jerk;
+     949             :   }
+     950             : 
+     951          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+     952          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+     953          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+     954          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+     955             : 
+     956          42 :   std::vector<double> segment_times, segment_times_baca;
+     957          14 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     958          14 :                                        v_max_heading, a_max_heading);
+     959          14 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     960          14 :                                                 v_max_heading, a_max_heading);
+     961             : 
+     962          14 :   double initial_total_time      = 0;
+     963          14 :   double initial_total_time_baca = 0;
+     964         224 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+     965         210 :     initial_total_time += segment_times[i];
+     966         210 :     initial_total_time_baca += segment_times_baca[i];
+     967             :   }
+     968             : 
+     969          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+     970          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+     971             : 
+     972             :   // | --------- create an optimizer object and solve it -------- |
+     973             : 
+     974          14 :   const int                                                     N = 10;
+     975          28 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+     976          14 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+     977             : 
+     978          14 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+     979          14 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+     980          14 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+     981             : 
+     982          14 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+     983          14 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+     984          14 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+     985             : 
+     986          14 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+     987          14 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+     988          14 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+     989             : 
+     990          14 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+     991          14 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+     992          14 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+     993             : 
+     994          14 :   opt.optimize();
+     995             : 
+     996          14 :   if (overtime()) {
+     997           0 :     return {};
+     998             :   }
+     999             : 
+    1000          28 :   std::string result_str;
+    1001             : 
+    1002          28 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1003           1 :     case nlopt::FAILURE: {
+    1004           1 :       result_str = "generic failure";
+    1005             :       break;
+    1006             :     }
+    1007           0 :     case nlopt::INVALID_ARGS: {
+    1008           0 :       result_str = "invalid args";
+    1009             :       break;
+    1010             :     }
+    1011           0 :     case nlopt::OUT_OF_MEMORY: {
+    1012           0 :       result_str = "out of memory";
+    1013             :       break;
+    1014             :     }
+    1015           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1016           0 :       result_str = "roundoff limited";
+    1017             :       break;
+    1018             :     }
+    1019           0 :     case nlopt::FORCED_STOP: {
+    1020           0 :       result_str = "forced stop";
+    1021             :       break;
+    1022             :     }
+    1023           0 :     case nlopt::STOPVAL_REACHED: {
+    1024           0 :       result_str = "stopval reached";
+    1025             :       break;
+    1026             :     }
+    1027           8 :     case nlopt::FTOL_REACHED: {
+    1028           8 :       result_str = "ftol reached";
+    1029             :       break;
+    1030             :     }
+    1031           3 :     case nlopt::XTOL_REACHED: {
+    1032           3 :       result_str = "xtol reached";
+    1033             :       break;
+    1034             :     }
+    1035           2 :     case nlopt::MAXEVAL_REACHED: {
+    1036           2 :       result_str = "maxeval reached";
+    1037             :       break;
+    1038             :     }
+    1039           0 :     case nlopt::MAXTIME_REACHED: {
+    1040           0 :       result_str = "maxtime reached";
+    1041             :       break;
+    1042             :     }
+    1043           0 :     default: {
+    1044           0 :       result_str = "UNKNOWN FAILURE CODE";
+    1045             :       break;
+    1046             :     }
+    1047             :   }
+    1048             : 
+    1049          54 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1050          15 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1051             :               result_str.c_str());
+    1052             : 
+    1053           2 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1054           2 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1055             :               result_str.c_str());
+    1056             : 
+    1057             :   } else {
+    1058           0 :     ROS_WARN("[MrsTrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1059             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1060          14 :     return {};
+    1061             :   }
+    1062             : 
+    1063             :   // | ------------- obtain the polynomial segments ------------- |
+    1064             : 
+    1065          14 :   eth_trajectory_generation::Segment::Vector segments;
+    1066          14 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1067             : 
+    1068          14 :   if (overtime()) {
+    1069           0 :     return {};
+    1070             :   }
+    1071             : 
+    1072             :   // | --------------- create the trajectory class -------------- |
+    1073             : 
+    1074          28 :   eth_trajectory_generation::Trajectory trajectory;
+    1075          14 :   opt.getTrajectory(&trajectory);
+    1076             : 
+    1077          28 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1078             : 
+    1079          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1080             : 
+    1081          14 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1082             : 
+    1083          14 :   if (overtime()) {
+    1084           0 :     return {};
+    1085             :   }
+    1086             : 
+    1087             :   // validate the temporal sampling of the trajectory
+    1088             : 
+    1089             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1090          14 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1091           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1092             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1093             : 
+    1094           0 :     std::stringstream ss;
+    1095           0 :     ss << "trajectory sampling failed";
+    1096           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1097           0 :     return {};
+    1098             : 
+    1099          14 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1100           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1101             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1102             : 
+    1103           0 :     std::stringstream ss;
+    1104           0 :     ss << "trajectory sampling failed";
+    1105           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1106           0 :     return {};
+    1107             : 
+    1108             :   } else {
+    1109          16 :     ROS_DEBUG("[MrsTrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1110             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1111             :   }
+    1112             : 
+    1113          14 :   if (success) {
+    1114          16 :     ROS_DEBUG("[MrsTrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1115          14 :     return std::optional(states);
+    1116             : 
+    1117             :   } else {
+    1118           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1119          14 :     return {};
+    1120             :   }
+    1121             : }
+    1122             : 
+    1123             : //}
+    1124             : 
+    1125             : /* findTrajectoryFallback() //{ */
+    1126             : 
+    1127           1 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>&  waypoints,
+    1128             :                                                                                                           const mrs_msgs::TrackerCommand& initial_state,
+    1129             :                                                                                                           const double&                   sampling_dt,
+    1130             :                                                                                                           const bool&                     relax_heading) {
+    1131             : 
+    1132           2 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1133             : 
+    1134           1 :   ros::Time time_start = ros::Time::now();
+    1135             : 
+    1136           2 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling started");
+    1137             : 
+    1138           2 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1139           1 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1140             : 
+    1141           2 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1142           1 :   const int                                 dimension = 4;
+    1143             : 
+    1144             :   // | --------------- add constraints to vertices -------------- |
+    1145             : 
+    1146           1 :   double last_heading = initial_state.heading;
+    1147             : 
+    1148           6 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1149             : 
+    1150           5 :     double x       = waypoints.at(i).coords[0];
+    1151           5 :     double y       = waypoints.at(i).coords[1];
+    1152           5 :     double z       = waypoints.at(i).coords[2];
+    1153           5 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+    1154           5 :     last_heading   = heading;
+    1155             : 
+    1156          10 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1157             : 
+    1158          10 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1159             : 
+    1160           5 :     vertices.push_back(vertex);
+    1161             :   }
+    1162             : 
+    1163             :   // | ---------------- compute the segment times --------------- |
+    1164             : 
+    1165           1 :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1166           1 :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1167             : 
+    1168             :   // use the small of the ascending/descending values
+    1169           1 :   double vertical_speed_lim        = std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed);
+    1170           1 :   double vertical_acceleration_lim = std::min(constraints.vertical_ascending_acceleration, constraints.vertical_descending_acceleration);
+    1171             : 
+    1172           1 :   if (override_constraints_) {
+    1173             : 
+    1174           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1175           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1176           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1177             : 
+    1178           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1179           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1180           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1181             : 
+    1182           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+    1183             :   } else {
+    1184             : 
+    1185           1 :     v_max_horizontal = constraints.horizontal_speed;
+    1186           1 :     a_max_horizontal = constraints.horizontal_acceleration;
+    1187             : 
+    1188           1 :     v_max_vertical = vertical_speed_lim;
+    1189           1 :     a_max_vertical = vertical_acceleration_lim;
+    1190             : 
+    1191           1 :     j_max_horizontal = constraints.horizontal_jerk;
+    1192           1 :     j_max_vertical   = std::min(constraints.vertical_ascending_jerk, constraints.vertical_descending_jerk);
+    1193             :   }
+    1194             : 
+    1195             : 
+    1196           1 :   double v_max_heading, a_max_heading, j_max_heading;
+    1197             : 
+    1198           1 :   if (relax_heading) {
+    1199             :     v_max_heading = std::numeric_limits<float>::max();
+    1200             :     a_max_heading = std::numeric_limits<float>::max();
+    1201             :     j_max_heading = std::numeric_limits<float>::max();
+    1202             :   } else {
+    1203           1 :     v_max_heading = constraints.heading_speed;
+    1204           1 :     a_max_heading = constraints.heading_acceleration;
+    1205           1 :     j_max_heading = constraints.heading_jerk;
+    1206             :   }
+    1207             : 
+    1208           1 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1209           1 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1210             : 
+    1211           1 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1212           1 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1213             : 
+    1214           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1215           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1216           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1217           2 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1218             : 
+    1219           3 :   std::vector<double> segment_times, segment_times_baca;
+    1220           1 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1221           1 :                                        v_max_heading, a_max_heading);
+    1222           1 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1223           1 :                                                 v_max_heading, a_max_heading);
+    1224             : 
+    1225           1 :   double initial_total_time      = 0;
+    1226           1 :   double initial_total_time_baca = 0;
+    1227           5 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1228           4 :     initial_total_time += segment_times[i];
+    1229           4 :     initial_total_time_baca += segment_times_baca[i];
+    1230             : 
+    1231           5 :     ROS_DEBUG("[MrsTrajectoryGeneration]: segment time [%d] = %.2f", i, segment_times_baca[i]);
+    1232             :   }
+    1233             : 
+    1234           2 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1235           2 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1236             : 
+    1237           2 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1238             : 
+    1239             :   // interpolate each segment
+    1240           5 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1241             : 
+    1242           8 :     Eigen::VectorXd start, end;
+    1243             : 
+    1244           4 :     const double segment_time = segment_times_baca[i];
+    1245             : 
+    1246           4 :     int    n_samples;
+    1247           4 :     double interp_step;
+    1248             : 
+    1249           4 :     if (segment_time > 1e-1) {
+    1250             : 
+    1251           4 :       n_samples = ceil(segment_time / sampling_dt);
+    1252             : 
+    1253             :       // important
+    1254           4 :       if (n_samples > 0) {
+    1255           4 :         interp_step = 1.0 / double(n_samples);
+    1256             :       } else {
+    1257             :         interp_step = 0.5;
+    1258             :       }
+    1259             : 
+    1260             :     } else {
+    1261             :       n_samples   = 0;
+    1262             :       interp_step = 0;
+    1263             :     }
+    1264             : 
+    1265           5 :     ROS_DEBUG("[MrsTrajectoryGeneration]: segment n_samples [%lu] = %d", i, n_samples);
+    1266             : 
+    1267             :     // for the last segment, hit the last waypoint completely
+    1268             :     // otherwise, it is hit as the first sample of the following segment
+    1269           4 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1270           1 :       n_samples++;
+    1271             :     }
+    1272             : 
+    1273         162 :     for (int j = 0; j < n_samples; j++) {
+    1274             : 
+    1275         158 :       Waypoint_t point = interpolatePoint(waypoints[i], waypoints[i + 1], j * interp_step);
+    1276             : 
+    1277         158 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1278         158 :       eth_point.position_W[0] = point.coords[0];
+    1279         158 :       eth_point.position_W[1] = point.coords[1];
+    1280         158 :       eth_point.position_W[2] = point.coords[2];
+    1281         158 :       eth_point.setFromYaw(point.coords[3]);
+    1282             : 
+    1283         158 :       states.push_back(eth_point);
+    1284             : 
+    1285         316 :       auto control_manager_diag = mrs_lib::get_mutexed(mutex_control_manager_diag_, control_manager_diag_);
+    1286             : 
+    1287             :       // the first sample of the first waypoint
+    1288             :       // we should stop for a little bit to give the transition
+    1289             :       // from the initial cooordinates more time
+    1290             :       /* if (((control_manager_diag.tracker_status.have_goal && i == 0) || (!control_manager_diag.tracker_status.have_goal && i == 1)) && j == 0) { */
+    1291             : 
+    1292             :       /*   double time_to_stop = 0; */
+    1293             : 
+    1294             :       /*   time_to_stop += fabs(initial_state.acceleration.x) / j_max_horizontal + fabs(initial_state.acceleration.y) / j_max_horizontal + */
+    1295             :       /*                   fabs(initial_state.acceleration.z) / j_max_vertical; */
+    1296             : 
+    1297             :       /*   int samples_to_stop = int(round(1.0 * (time_to_stop / sampling_dt))); */
+    1298             : 
+    1299             :       /*   if (_fallback_sampling_first_waypoint_additional_stop_) { */
+    1300             :       /*     if (control_manager_diag.tracker_status.have_goal) { */
+    1301             :       /*       samples_to_stop += int(round(1.0 / sampling_dt)); */
+    1302             :       /*     } */
+    1303             :       /*   } */
+    1304             : 
+    1305             :       /*   ROS_DEBUG("[MrsTrajectoryGeneration]: pre-inserting %d samples of the first point", samples_to_stop); */
+    1306             : 
+    1307             :       /*   for (int k = 0; k < samples_to_stop; k++) { */
+    1308             :       /*     states.push_back(eth_point); */
+    1309             :       /*   } */
+    1310             :       /* } */
+    1311             : 
+    1312         158 :       if (j == 0 && i > 0 && waypoints[i].stop_at) {
+    1313             : 
+    1314           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1315             : 
+    1316           0 :         for (int k = 0; k < insert_samples; k++) {
+    1317           0 :           states.push_back(eth_point);
+    1318             :         }
+    1319             :       }
+    1320             :     }
+    1321             :   }
+    1322             : 
+    1323           1 :   bool success = true;
+    1324             : 
+    1325           2 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1326             : 
+    1327             :   // | --------------- create the trajectory class -------------- |
+    1328             : 
+    1329           1 :   if (success) {
+    1330           1 :     return std::optional(states);
+    1331             :   } else {
+    1332             :     ROS_ERROR("[MrsTrajectoryGeneration]: fallback: sampling failed");
+    1333           1 :     return {};
+    1334             :   }
+    1335             : }
+    1336             : 
+    1337             : //}
+    1338             : 
+    1339             : /* validateTrajectorySpatial() //{ */
+    1340             : 
+    1341          13 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1342             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1343             : 
+    1344          26 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1345             : 
+    1346             :   // prepare the output
+    1347             : 
+    1348          26 :   std::vector<bool> segments;
+    1349         179 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1350         166 :     segments.push_back(true);
+    1351             :   }
+    1352             : 
+    1353             :   int waypoint_idx = 0;
+    1354             : 
+    1355             :   bool   is_safe       = true;
+    1356             :   double max_deviation = 0;
+    1357             : 
+    1358        1802 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1359             : 
+    1360             :     // the trajectory sample
+    1361        1789 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1362             : 
+    1363             :     // next sample
+    1364        1789 :     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]);
+    1365             : 
+    1366             :     // segment start
+    1367        1789 :     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]);
+    1368             : 
+    1369             :     // segment end
+    1370        1789 :     const vec3_t segment_end =
+    1371        1789 :         vec3_t(waypoints.at(waypoint_idx + 1).coords[0], waypoints.at(waypoint_idx + 1).coords[1], waypoints.at(waypoint_idx + 1).coords[2]);
+    1372             : 
+    1373        1789 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1374             : 
+    1375        1789 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1376             : 
+    1377        1789 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1378             : 
+    1379        1201 :       if (distance_from_segment > max_deviation) {
+    1380         179 :         max_deviation = distance_from_segment;
+    1381             :       }
+    1382             : 
+    1383        1201 :       if (distance_from_segment > _trajectory_max_segment_deviation_) {
+    1384         474 :         segments.at(waypoint_idx) = false;
+    1385         474 :         is_safe                   = false;
+    1386             :       }
+    1387             :     }
+    1388             : 
+    1389        1789 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1390             :       waypoint_idx++;
+    1391             :     }
+    1392             :   }
+    1393             : 
+    1394          26 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1395             : }
+    1396             : 
+    1397             : //}
+    1398             : 
+    1399             : // | --------------------- minor routines --------------------- |
+    1400             : 
+    1401             : /* findTrajectoryAsync() //{ */
+    1402             : 
+    1403          14 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(const std::vector<Waypoint_t>&  waypoints,
+    1404             :                                                                                                        const mrs_msgs::TrackerCommand& initial_state,
+    1405             :                                                                                                        const double& sampling_dt, const bool& relax_heading) {
+    1406             : 
+    1407          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting the async planning task");
+    1408             : 
+    1409          14 :   future_trajectory_result_ =
+    1410          14 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1411             : 
+    1412        1509 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1413             : 
+    1414        1495 :     if (overtime()) {
+    1415           0 :       ROS_WARN("[MrsTrajectoryGeneration]: async task planning timeout, breaking");
+    1416          14 :       return {};
+    1417             :     }
+    1418             :   }
+    1419             : 
+    1420          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: async planning task finished successfully");
+    1421             : 
+    1422          14 :   return future_trajectory_result_.get();
+    1423             : }
+    1424             : 
+    1425             : //}
+    1426             : 
+    1427             : /* distFromSegment() //{ */
+    1428             : 
+    1429        3578 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1430             : 
+    1431        3578 :   vec3_t segment_vector = seg2 - seg1;
+    1432        3578 :   double segment_len    = segment_vector.norm();
+    1433             : 
+    1434        3578 :   vec3_t segment_vector_norm = segment_vector;
+    1435        3578 :   segment_vector_norm.normalize();
+    1436             : 
+    1437        3578 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1438             : 
+    1439        3578 :   if (point_coordinate < 0) {
+    1440         150 :     return (point - seg1).norm();
+    1441        3503 :   } else if (point_coordinate > segment_len) {
+    1442        3372 :     return (point - seg2).norm();
+    1443             :   } else {
+    1444             : 
+    1445        3634 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1446        1817 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1447             : 
+    1448        3634 :     return (point - projection).norm();
+    1449             :   }
+    1450             : }
+    1451             : 
+    1452             : //}
+    1453             : 
+    1454             : /* getTrajectoryReference() //{ */
+    1455             : 
+    1456           3 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1457             :                                                                               const ros::Time& stamp, const double& sampling_dt) {
+    1458             : 
+    1459           3 :   mrs_msgs::TrajectoryReference msg;
+    1460             : 
+    1461           3 :   msg.header.frame_id = frame_id_;
+    1462           3 :   msg.header.stamp    = stamp;
+    1463           3 :   msg.fly_now         = fly_now_;
+    1464           3 :   msg.loop            = loop_;
+    1465           3 :   msg.use_heading     = use_heading_;
+    1466           3 :   msg.dt              = sampling_dt;
+    1467             : 
+    1468         431 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1469             : 
+    1470         428 :     mrs_msgs::Reference point;
+    1471         428 :     point.heading    = 0;
+    1472         428 :     point.position.x = trajectory[it].position_W[0];
+    1473         428 :     point.position.y = trajectory[it].position_W[1];
+    1474         428 :     point.position.z = trajectory[it].position_W[2];
+    1475         428 :     point.heading    = trajectory[it].getYaw();
+    1476             : 
+    1477         428 :     msg.points.push_back(point);
+    1478             :   }
+    1479             : 
+    1480           3 :   return msg;
+    1481             : }
+    1482             : 
+    1483             : //}
+    1484             : 
+    1485             : /* interpolatePoint() //{ */
+    1486             : 
+    1487         198 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1488             : 
+    1489         198 :   Waypoint_t      out;
+    1490         198 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1491             : 
+    1492         198 :   out.coords[0] = a.coords[0] + coeff * diff[0];
+    1493         198 :   out.coords[1] = a.coords[1] + coeff * diff[1];
+    1494         198 :   out.coords[2] = a.coords[2] + coeff * diff[2];
+    1495         198 :   out.coords[3] = radians::interp(a.coords[3], b.coords[3], coeff);
+    1496             : 
+    1497         198 :   out.stop_at = false;
+    1498             : 
+    1499         198 :   return out;
+    1500             : }
+    1501             : 
+    1502             : //}
+    1503             : 
+    1504             : /* checkNaN() //{ */
+    1505             : 
+    1506          12 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1507             : 
+    1508          12 :   if (!std::isfinite(a.coords[0])) {
+    1509           0 :     ROS_ERROR("NaN detected in variable \"a.coords[0]\"!!!");
+    1510           0 :     return false;
+    1511             :   }
+    1512             : 
+    1513          12 :   if (!std::isfinite(a.coords[1])) {
+    1514           0 :     ROS_ERROR("NaN detected in variable \"a.coords[1]\"!!!");
+    1515           0 :     return false;
+    1516             :   }
+    1517             : 
+    1518          12 :   if (!std::isfinite(a.coords[2])) {
+    1519           0 :     ROS_ERROR("NaN detected in variable \"a.coords[2]\"!!!");
+    1520           0 :     return false;
+    1521             :   }
+    1522             : 
+    1523          12 :   if (!std::isfinite(a.coords[3])) {
+    1524           0 :     ROS_ERROR("NaN detected in variable \"a.coords[3]\"!!!");
+    1525           0 :     return false;
+    1526             :   }
+    1527             : 
+    1528             :   return true;
+    1529             : }
+    1530             : 
+    1531             : //}
+    1532             : 
+    1533             : /* trajectorySrv() //{ */
+    1534             : 
+    1535           3 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1536             : 
+    1537           6 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1538           3 :   srv.request.trajectory = msg;
+    1539             : 
+    1540           3 :   bool res = service_client_trajectory_reference_.call(srv);
+    1541             : 
+    1542           3 :   if (res) {
+    1543             : 
+    1544           3 :     if (!srv.response.success) {
+    1545           0 :       ROS_WARN("[MrsTrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1546             :     }
+    1547             : 
+    1548           3 :     return srv.response.success;
+    1549             : 
+    1550             :   } else {
+    1551             : 
+    1552           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: service call for trajectory_reference failed!");
+    1553             : 
+    1554           0 :     return false;
+    1555             :   }
+    1556             : }
+    1557             : 
+    1558             : //}
+    1559             : 
+    1560             : /* transformTrackerCmd() //{ */
+    1561             : 
+    1562           3 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1563             : 
+    1564             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1565           3 :   if (target_frame == path_in.header.frame_id) {
+    1566           3 :     return path_in;
+    1567             :   }
+    1568             : 
+    1569             :   // find the transformation
+    1570           3 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1571             : 
+    1572           0 :   if (!tf) {
+    1573           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(),
+    1574             :               path_in.header.stamp.toSec());
+    1575           0 :     return {};
+    1576             :   }
+    1577             : 
+    1578           0 :   mrs_msgs::Path path_out = path_in;
+    1579             : 
+    1580           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1581           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1582             : 
+    1583           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1584             : 
+    1585           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1586             : 
+    1587           0 :     waypoint.header    = path_in.header;
+    1588           0 :     waypoint.reference = path_in.points[i];
+    1589             : 
+    1590           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1591             : 
+    1592           0 :       path_out.points[i] = ret.value().reference;
+    1593             : 
+    1594             :     } else {
+    1595           0 :       return {};
+    1596             :     }
+    1597             :   }
+    1598             : 
+    1599           0 :   return path_out;
+    1600             : }
+    1601             : 
+    1602             : //}
+    1603             : 
+    1604             : /* overtime() //{ */
+    1605             : 
+    1606        1552 : bool MrsTrajectoryGeneration::overtime(void) {
+    1607             : 
+    1608        1552 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1609        1552 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1610             : 
+    1611        1552 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1612             : 
+    1613        1552 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1614           1 :     return true;
+    1615             :   }
+    1616             : 
+    1617             :   return false;
+    1618             : }
+    1619             : 
+    1620             : //}
+    1621             : 
+    1622             : /* timeLeft() //{ */
+    1623             : 
+    1624          14 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1625             : 
+    1626          14 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1627          14 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1628             : 
+    1629          14 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1630             : 
+    1631          14 :   if (current_execution_time >= max_execution_time) {
+    1632             :     return 0;
+    1633             :   } else {
+    1634          14 :     return max_execution_time - current_execution_time;
+    1635             :   }
+    1636             : }
+    1637             : 
+    1638             : //}
+    1639             : 
+    1640             : // | ------------------------ callbacks ----------------------- |
+    1641             : 
+    1642             : /* callbackPath() //{ */
+    1643             : 
+    1644           1 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::PathConstPtr& msg) {
+    1645             : 
+    1646           1 :   if (!is_initialized_) {
+    1647           0 :     return;
+    1648             :   }
+    1649             : 
+    1650             :   /* preconditions //{ */
+    1651             : 
+    1652           1 :   if (!got_constraints_) {
+    1653           0 :     std::stringstream ss;
+    1654           0 :     ss << "missing constraints";
+    1655           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1656           0 :     return;
+    1657             :   }
+    1658             : 
+    1659           1 :   if (!got_tracker_cmd_) {
+    1660           0 :     std::stringstream ss;
+    1661           0 :     ss << "missing position cmd";
+    1662           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1663           0 :     return;
+    1664             :   }
+    1665             : 
+    1666           1 :   if (!got_control_manager_diag_) {
+    1667           0 :     std::stringstream ss;
+    1668           0 :     ss << "missing control manager diagnostics";
+    1669           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1670           0 :     return;
+    1671             :   }
+    1672             : 
+    1673             :   //}
+    1674             : 
+    1675           1 :   {
+    1676           1 :     std::scoped_lock lock(mutex_start_time_total_);
+    1677             : 
+    1678           1 :     start_time_total_ = ros::Time::now();
+    1679             :   }
+    1680             : 
+    1681           1 :   double path_time_offset = 0;
+    1682             : 
+    1683           1 :   if (msg->header.stamp != ros::Time(0)) {
+    1684           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1685             :   }
+    1686             : 
+    1687           1 :   if (path_time_offset > 1e-3) {
+    1688             : 
+    1689           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1690             : 
+    1691           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_time);
+    1692             : 
+    1693           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1694             :              path_time_offset);
+    1695             :   } else {
+    1696             : 
+    1697           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1698             : 
+    1699           1 :     max_execution_time_ = params_.max_time;
+    1700             :   }
+    1701             : 
+    1702           2 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from message");
+    1703             : 
+    1704           1 :   ph_original_path_.publish(msg);
+    1705             : 
+    1706           1 :   if (msg->points.empty()) {
+    1707           0 :     std::stringstream ss;
+    1708           0 :     ss << "received an empty message";
+    1709           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1710           0 :     return;
+    1711             :   }
+    1712             : 
+    1713           2 :   auto transformed_path = transformPath(*msg, "");
+    1714             : 
+    1715           1 :   if (!transformed_path) {
+    1716           0 :     std::stringstream ss;
+    1717           0 :     ss << "could not transform the path to the current control frame";
+    1718           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1719           0 :     return;
+    1720             :   }
+    1721             : 
+    1722           1 :   fly_now_                              = transformed_path->fly_now;
+    1723           1 :   use_heading_                          = transformed_path->use_heading;
+    1724           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1725           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1726           1 :   loop_                                 = transformed_path->loop;
+    1727           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1728           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1729           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1730           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1731           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1732           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1733           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1734             : 
+    1735           2 :   std::vector<Waypoint_t> waypoints;
+    1736             : 
+    1737           5 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1738             : 
+    1739           4 :     double x       = transformed_path->points[i].position.x;
+    1740           4 :     double y       = transformed_path->points[i].position.y;
+    1741           4 :     double z       = transformed_path->points[i].position.z;
+    1742           4 :     double heading = transformed_path->points[i].heading;
+    1743             : 
+    1744           4 :     Waypoint_t wp;
+    1745           4 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1746           4 :     wp.stop_at = stop_at_waypoints_;
+    1747             : 
+    1748           4 :     if (!checkNaN(wp)) {
+    1749           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1750           0 :       return;
+    1751             :     }
+    1752             : 
+    1753           4 :     waypoints.push_back(wp);
+    1754             :   }
+    1755             : 
+    1756           1 :   if (loop_) {
+    1757           0 :     waypoints.push_back(waypoints[0]);
+    1758             :   }
+    1759             : 
+    1760           1 :   bool                          success = false;
+    1761           2 :   std::string                   message;
+    1762           2 :   mrs_msgs::TrajectoryReference trajectory;
+    1763             : 
+    1764           1 :   for (int i = 0; i < _n_attempts_; i++) {
+    1765             : 
+    1766           1 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    1767             : 
+    1768             :     // the last iteration and the fallback sampling is enabled
+    1769           1 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1770             : 
+    1771           1 :     std::tie(success, message, trajectory) =
+    1772           2 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    1773             : 
+    1774           1 :     if (success) {
+    1775             :       break;
+    1776             :     } else {
+    1777           0 :       if (i < _n_attempts_) {
+    1778           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1779             :       } else {
+    1780           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1781             :       }
+    1782             :     }
+    1783             :   }
+    1784             : 
+    1785           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1786             : 
+    1787           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1788             : 
+    1789           1 :   if (total_time > max_execution_time) {
+    1790           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1791             :               total_time - max_execution_time);
+    1792             :   } else {
+    1793           2 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1794             :   }
+    1795             : 
+    1796           1 :   trajectory.input_id = transformed_path->input_id;
+    1797             : 
+    1798           1 :   if (success) {
+    1799             : 
+    1800           1 :     bool published = trajectorySrv(trajectory);
+    1801             : 
+    1802           1 :     if (published) {
+    1803             : 
+    1804           2 :       ROS_INFO("[MrsTrajectoryGeneration]: trajectory successfully published");
+    1805             : 
+    1806             :     } else {
+    1807             : 
+    1808           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: could not publish the trajectory");
+    1809             :     }
+    1810             : 
+    1811             :   } else {
+    1812             : 
+    1813           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1814             :   }
+    1815             : }
+    1816             : 
+    1817             : //}
+    1818             : 
+    1819             : /* callbackPathSrv() //{ */
+    1820             : 
+    1821           2 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1822             : 
+    1823           2 :   if (!is_initialized_) {
+    1824             :     return false;
+    1825             :   }
+    1826             : 
+    1827             :   /* mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("callback()"); */
+    1828             : 
+    1829             :   /* precondition //{ */
+    1830             : 
+    1831           2 :   if (!got_constraints_) {
+    1832           0 :     std::stringstream ss;
+    1833           0 :     ss << "missing constraints";
+    1834           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1835             : 
+    1836           0 :     res.message = ss.str();
+    1837           0 :     res.success = false;
+    1838           0 :     return true;
+    1839             :   }
+    1840             : 
+    1841           2 :   if (!got_tracker_cmd_) {
+    1842           0 :     std::stringstream ss;
+    1843           0 :     ss << "missing position cmd";
+    1844           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1845             : 
+    1846           0 :     res.message = ss.str();
+    1847           0 :     res.success = false;
+    1848           0 :     return true;
+    1849             :   }
+    1850             : 
+    1851           2 :   if (!got_control_manager_diag_) {
+    1852           0 :     std::stringstream ss;
+    1853           0 :     ss << "missing control manager diagnostics";
+    1854           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1855             : 
+    1856           0 :     res.message = ss.str();
+    1857           0 :     res.success = false;
+    1858           0 :     return true;
+    1859             :   }
+    1860             : 
+    1861             :   //}
+    1862             : 
+    1863           2 :   {
+    1864           2 :     std::scoped_lock lock(mutex_start_time_total_);
+    1865             : 
+    1866           2 :     start_time_total_ = ros::Time::now();
+    1867             :   }
+    1868             : 
+    1869           2 :   double path_time_offset = 0;
+    1870             : 
+    1871           2 :   if (req.path.header.stamp != ros::Time(0)) {
+    1872           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1873             :   }
+    1874             : 
+    1875           2 :   if (path_time_offset > 1e-3) {
+    1876             : 
+    1877           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1878             : 
+    1879           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_time);
+    1880             : 
+    1881           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1882             :              path_time_offset);
+    1883             :   } else {
+    1884             : 
+    1885           4 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1886             : 
+    1887           2 :     max_execution_time_ = params_.max_time;
+    1888             :   }
+    1889             : 
+    1890           4 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    1891             : 
+    1892           2 :   ph_original_path_.publish(req.path);
+    1893             : 
+    1894           2 :   if (req.path.points.empty()) {
+    1895           0 :     std::stringstream ss;
+    1896           0 :     ss << "received an empty message";
+    1897           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1898             : 
+    1899           0 :     res.message = ss.str();
+    1900           0 :     res.success = false;
+    1901           0 :     return true;
+    1902             :   }
+    1903             : 
+    1904           4 :   auto transformed_path = transformPath(req.path, "");
+    1905             : 
+    1906           2 :   if (!transformed_path) {
+    1907           0 :     std::stringstream ss;
+    1908           0 :     ss << "could not transform the path to the current control frame";
+    1909           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1910             : 
+    1911           0 :     res.message = ss.str();
+    1912           0 :     res.success = false;
+    1913           0 :     return true;
+    1914             :   }
+    1915             : 
+    1916           2 :   fly_now_                              = transformed_path->fly_now;
+    1917           2 :   use_heading_                          = transformed_path->use_heading;
+    1918           2 :   frame_id_                             = transformed_path->header.frame_id;
+    1919           2 :   override_constraints_                 = transformed_path->override_constraints;
+    1920           2 :   loop_                                 = transformed_path->loop;
+    1921           2 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1922           2 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1923           2 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1924           2 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1925           2 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1926           2 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1927           2 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1928             : 
+    1929           4 :   std::vector<Waypoint_t> waypoints;
+    1930             : 
+    1931          10 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    1932             : 
+    1933           8 :     double x       = transformed_path->points[i].position.x;
+    1934           8 :     double y       = transformed_path->points[i].position.y;
+    1935           8 :     double z       = transformed_path->points[i].position.z;
+    1936           8 :     double heading = transformed_path->points[i].heading;
+    1937             : 
+    1938           8 :     Waypoint_t wp;
+    1939           8 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1940           8 :     wp.stop_at = stop_at_waypoints_;
+    1941             : 
+    1942           8 :     if (!checkNaN(wp)) {
+    1943           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1944           0 :       res.success = false;
+    1945           0 :       res.message = "invalid path";
+    1946           0 :       return true;
+    1947             :     }
+    1948             : 
+    1949           8 :     waypoints.push_back(wp);
+    1950             :   }
+    1951             : 
+    1952           2 :   if (loop_) {
+    1953           0 :     waypoints.push_back(waypoints[0]);
+    1954             :   }
+    1955             : 
+    1956           2 :   bool                          success = false;
+    1957           4 :   std::string                   message;
+    1958           4 :   mrs_msgs::TrajectoryReference trajectory;
+    1959             : 
+    1960           2 :   for (int i = 0; i < _n_attempts_; i++) {
+    1961             : 
+    1962           2 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    1963             : 
+    1964             :     // the last iteration and the fallback sampling is enabled
+    1965           2 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1966             : 
+    1967           2 :     std::tie(success, message, trajectory) =
+    1968           4 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    1969             : 
+    1970           2 :     if (success) {
+    1971             :       break;
+    1972             :     } else {
+    1973           0 :       if (i < _n_attempts_) {
+    1974           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1975             :       } else {
+    1976           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1977             :       }
+    1978             :     }
+    1979             :   }
+    1980             : 
+    1981           2 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1982             : 
+    1983           2 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1984             : 
+    1985           2 :   if (total_time > max_execution_time) {
+    1986           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1987             :               total_time - max_execution_time);
+    1988             :   } else {
+    1989           4 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1990             :   }
+    1991             : 
+    1992           2 :   trajectory.input_id = transformed_path->input_id;
+    1993             : 
+    1994           2 :   if (success) {
+    1995             : 
+    1996           2 :     bool published = trajectorySrv(trajectory);
+    1997             : 
+    1998           2 :     if (published) {
+    1999             : 
+    2000           2 :       res.success = success;
+    2001           2 :       res.message = message;
+    2002             : 
+    2003             :     } else {
+    2004             : 
+    2005           0 :       std::stringstream ss;
+    2006           0 :       ss << "could not publish the trajectory";
+    2007             : 
+    2008           0 :       res.success = false;
+    2009           0 :       res.message = ss.str();
+    2010             : 
+    2011           0 :       ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    2012             :     }
+    2013             : 
+    2014             :   } else {
+    2015             : 
+    2016           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2017             : 
+    2018           0 :     res.success = success;
+    2019           0 :     res.message = message;
+    2020             :   }
+    2021             : 
+    2022           2 :   return true;
+    2023             : }
+    2024             : 
+    2025             : //}
+    2026             : 
+    2027             : /* callbackGetPathSrv() //{ */
+    2028             : 
+    2029           0 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2030             : 
+    2031           0 :   if (!is_initialized_) {
+    2032             :     return false;
+    2033             :   }
+    2034             : 
+    2035             :   /* precondition //{ */
+    2036             : 
+    2037           0 :   if (!got_constraints_) {
+    2038           0 :     std::stringstream ss;
+    2039           0 :     ss << "missing constraints";
+    2040           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2041             : 
+    2042           0 :     res.message = ss.str();
+    2043           0 :     res.success = false;
+    2044           0 :     return true;
+    2045             :   }
+    2046             : 
+    2047           0 :   if (!got_tracker_cmd_) {
+    2048           0 :     std::stringstream ss;
+    2049           0 :     ss << "missing position cmd";
+    2050           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2051             : 
+    2052           0 :     res.message = ss.str();
+    2053           0 :     res.success = false;
+    2054           0 :     return true;
+    2055             :   }
+    2056             : 
+    2057           0 :   if (!got_control_manager_diag_) {
+    2058           0 :     std::stringstream ss;
+    2059           0 :     ss << "missing control manager diagnostics";
+    2060           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2061             : 
+    2062           0 :     res.message = ss.str();
+    2063           0 :     res.success = false;
+    2064           0 :     return true;
+    2065             :   }
+    2066             : 
+    2067             :   //}
+    2068             : 
+    2069           0 :   {
+    2070           0 :     std::scoped_lock lock(mutex_start_time_total_);
+    2071             : 
+    2072           0 :     start_time_total_ = ros::Time::now();
+    2073             :   }
+    2074             : 
+    2075           0 :   double path_time_offset = 0;
+    2076             : 
+    2077           0 :   if (req.path.header.stamp != ros::Time(0)) {
+    2078           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2079             :   }
+    2080             : 
+    2081           0 :   if (path_time_offset > 1e-3) {
+    2082             : 
+    2083           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2084             : 
+    2085           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2086             : 
+    2087           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2088             :              path_time_offset);
+    2089             :   } else {
+    2090             : 
+    2091           0 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2092             : 
+    2093           0 :     max_execution_time_ = params_.max_time;
+    2094             :   }
+    2095             : 
+    2096           0 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    2097             : 
+    2098           0 :   ph_original_path_.publish(req.path);
+    2099             : 
+    2100           0 :   if (req.path.points.empty()) {
+    2101           0 :     std::stringstream ss;
+    2102           0 :     ss << "received an empty message";
+    2103           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2104             : 
+    2105           0 :     res.message = ss.str();
+    2106           0 :     res.success = false;
+    2107           0 :     return true;
+    2108             :   }
+    2109             : 
+    2110           0 :   auto transformed_path = transformPath(req.path, "");
+    2111             : 
+    2112           0 :   if (!transformed_path) {
+    2113           0 :     std::stringstream ss;
+    2114           0 :     ss << "could not transform the path to the current control frame";
+    2115           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2116             : 
+    2117           0 :     res.message = ss.str();
+    2118           0 :     res.success = false;
+    2119           0 :     return true;
+    2120             :   }
+    2121             : 
+    2122           0 :   fly_now_                              = transformed_path->fly_now;
+    2123           0 :   use_heading_                          = transformed_path->use_heading;
+    2124           0 :   frame_id_                             = transformed_path->header.frame_id;
+    2125           0 :   override_constraints_                 = transformed_path->override_constraints;
+    2126           0 :   loop_                                 = transformed_path->loop;
+    2127           0 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2128           0 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2129           0 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2130           0 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2131           0 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2132           0 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2133           0 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2134             : 
+    2135           0 :   std::vector<Waypoint_t> waypoints;
+    2136             : 
+    2137           0 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    2138             : 
+    2139           0 :     double x       = transformed_path->points[i].position.x;
+    2140           0 :     double y       = transformed_path->points[i].position.y;
+    2141           0 :     double z       = transformed_path->points[i].position.z;
+    2142           0 :     double heading = transformed_path->points[i].heading;
+    2143             : 
+    2144           0 :     Waypoint_t wp;
+    2145           0 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2146           0 :     wp.stop_at = stop_at_waypoints_;
+    2147             : 
+    2148           0 :     if (!checkNaN(wp)) {
+    2149           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2150           0 :       res.success = false;
+    2151           0 :       res.message = "invalid path";
+    2152           0 :       return true;
+    2153             :     }
+    2154             : 
+    2155           0 :     waypoints.push_back(wp);
+    2156             :   }
+    2157             : 
+    2158           0 :   if (loop_) {
+    2159           0 :     waypoints.push_back(waypoints[0]);
+    2160             :   }
+    2161             : 
+    2162           0 :   bool                          success = false;
+    2163           0 :   std::string                   message;
+    2164           0 :   mrs_msgs::TrajectoryReference trajectory;
+    2165             : 
+    2166           0 :   for (int i = 0; i < _n_attempts_; i++) {
+    2167             : 
+    2168           0 :     auto tracker_cmd = mrs_lib::get_mutexed(mutex_tracker_cmd_, tracker_cmd_);
+    2169             : 
+    2170             :     // the last iteration and the fallback sampling is enabled
+    2171           0 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2172             : 
+    2173           0 :     std::tie(success, message, trajectory) =
+    2174           0 :         optimize(waypoints, transformed_path->header, tracker_cmd, tracker_cmd.full_state_prediction, fallback_sampling, transformed_path->relax_heading);
+    2175             : 
+    2176           0 :     if (success) {
+    2177             :       break;
+    2178             :     } else {
+    2179           0 :       if (i < _n_attempts_) {
+    2180           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2181             :       } else {
+    2182           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2183             :       }
+    2184             :     }
+    2185             :   }
+    2186             : 
+    2187           0 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2188             : 
+    2189           0 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2190             : 
+    2191           0 :   if (total_time > max_execution_time) {
+    2192           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2193             :               total_time - max_execution_time);
+    2194             :   } else {
+    2195           0 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2196             :   }
+    2197             : 
+    2198           0 :   if (success) {
+    2199             : 
+    2200           0 :     std::optional<geometry_msgs::TransformStamped> tf_traj_state = transformer_->getTransform("", req.path.header.frame_id, ros::Time::now());
+    2201             : 
+    2202           0 :     std::stringstream ss;
+    2203             : 
+    2204           0 :     if (!tf_traj_state) {
+    2205           0 :       ss << "could not create TF transformer for the trajectory to the requested frame";
+    2206           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    2207           0 :       res.success = false;
+    2208           0 :       res.message = ss.str();
+    2209             :     }
+    2210             : 
+    2211           0 :     trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    2212             : 
+    2213           0 :     for (unsigned long i = 0; i < trajectory.points.size(); i++) {
+    2214             : 
+    2215           0 :       mrs_msgs::ReferenceStamped trajectory_point;
+    2216           0 :       trajectory_point.header    = trajectory.header;
+    2217           0 :       trajectory_point.reference = trajectory.points[i];
+    2218             : 
+    2219           0 :       auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    2220             : 
+    2221           0 :       if (!ret) {
+    2222             : 
+    2223           0 :         ss << "trajectory cannnot be transformed to the requested frame";
+    2224           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    2225           0 :         res.success = false;
+    2226           0 :         res.message = ss.str();
+    2227             : 
+    2228             :       } else {
+    2229             : 
+    2230             :         // transform the points in the trajectory to the current frame
+    2231           0 :         trajectory.points[i] = ret.value().reference;
+    2232             :       }
+    2233             :     }
+    2234             : 
+    2235           0 :     res.trajectory = trajectory;
+    2236           0 :     res.success    = success;
+    2237           0 :     res.message    = message;
+    2238             : 
+    2239             :   } else {
+    2240             : 
+    2241           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2242             : 
+    2243           0 :     res.success = success;
+    2244           0 :     res.message = message;
+    2245             :   }
+    2246             : 
+    2247           0 :   return true;
+    2248             : }
+    2249             : 
+    2250             : //}
+    2251             : 
+    2252             : /* callbackConstraints() //{ */
+    2253             : 
+    2254        8523 : void MrsTrajectoryGeneration::callbackConstraints(const mrs_msgs::DynamicsConstraintsConstPtr& msg) {
+    2255             : 
+    2256        8523 :   if (!is_initialized_) {
+    2257             :     return;
+    2258             :   }
+    2259             : 
+    2260        8585 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got constraints");
+    2261             : 
+    2262        8523 :   mrs_lib::set_mutexed(mutex_constraints_, *msg, constraints_);
+    2263             : 
+    2264        8523 :   got_constraints_ = true;
+    2265             : }
+    2266             : 
+    2267             : //}
+    2268             : 
+    2269             : /* callbackTrackerCmd() //{ */
+    2270             : 
+    2271       65378 : void MrsTrajectoryGeneration::callbackTrackerCmd(const mrs_msgs::TrackerCommandConstPtr& msg) {
+    2272             : 
+    2273       65378 :   if (!is_initialized_) {
+    2274             :     return;
+    2275             :   }
+    2276             : 
+    2277       65434 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got position cmd");
+    2278             : 
+    2279       65378 :   got_tracker_cmd_ = true;
+    2280             : 
+    2281       65378 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2282             : 
+    2283       65378 :   mrs_lib::set_mutexed(mutex_tracker_cmd_, *msg, tracker_cmd_);
+    2284             : }
+    2285             : 
+    2286             : //}
+    2287             : 
+    2288             : /* callbackControlManagerDiag() //{ */
+    2289             : 
+    2290       10236 : void MrsTrajectoryGeneration::callbackControlManagerDiag(const mrs_msgs::ControlManagerDiagnosticsConstPtr& msg) {
+    2291             : 
+    2292       10236 :   if (!is_initialized_) {
+    2293             :     return;
+    2294             :   }
+    2295             : 
+    2296       10298 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: got control manager diagnostics");
+    2297             : 
+    2298       10236 :   got_control_manager_diag_ = true;
+    2299             : 
+    2300       10236 :   mrs_lib::set_mutexed(mutex_control_manager_diag_, *msg, control_manager_diag_);
+    2301             : }
+    2302             : 
+    2303             : //}
+    2304             : 
+    2305             : /* //{ callbackDrs() */
+    2306             : 
+    2307          62 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2308             : 
+    2309         124 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2310             : 
+    2311          62 :   {
+    2312          62 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2313             : 
+    2314          62 :     max_execution_time_ = params.max_time;
+    2315             :   }
+    2316             : 
+    2317         124 :   ROS_INFO("[MrsTrajectoryGeneration]: DRS updated");
+    2318          62 : }
+    2319             : 
+    2320             : //}
+    2321             : 
+    2322             : }  // namespace mrs_uav_trajectory_generation
+    2323             : 
+    2324             : #include <pluginlib/class_list_macros.h>
+    2325             : 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..454487a34a --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html @@ -0,0 +1,602 @@ + + + + + + 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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