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Test:MRS UAV System - Test coverage reportLines:152052353064.6 %
Date:2024-02-24 08:13:25Functions:2678434961.6 %
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 +
15.1%15.1%
+ 		15.1 %67 / 44516.0 %15 / 94
mrs_uav_state_estimators/src/estimators/heading +
18.6%18.6%
+ 		18.6 %91 / 49021.1 %12 / 57
mrs_uav_trajectory_generation/src/eth_trajectory_generation +
43.6%43.6%
+ 		43.6 %452 / 103629.5 %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 / 9342.5 %51 / 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 +
72.3%72.3%
+ 		72.3 %133 / 18450.0 %17 / 34
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 +
49.1%49.1%
+ 		49.1 %316 / 64357.6 %19 / 33
mrs_lib/include/mrs_lib/impl +
82.3%82.3%
+ 		82.3 %367 / 44658.4 %806 / 1380
mrs_uav_state_estimators/src/estimators/agl +
72.1%72.1%
+ 		72.1 %75 / 10460.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_trajectory_generation/include/eth_trajectory_generation +
62.9%62.9%
+ 		62.9 %129 / 20561.7 %37 / 60
mrs_lib/include/mrs_lib +
79.3%79.3%
+ 		79.3 %781 / 98562.2 %832 / 1338
mrs_uav_trackers/src/line_tracker +
67.9%67.9%
+ 		67.9 %322 / 47463.3 %19 / 30
mrs_lib/src/transform_broadcaster +
53.3%53.3%
+ 		53.3 %16 / 3066.7 %2 / 3
mrs_uav_state_estimators/src/estimators/altitude +
53.9%53.9%
+ 		53.9 %213 / 39566.7 %22 / 33
mrs_uav_trackers/src/landoff_tracker +
73.1%73.1%
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mrs_uav_managers/src/control_manager/common +
41.3%41.3%
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mrs_uav_managers/include/transform_manager +
48.0%48.0%
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64.2%64.2%
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59.0%59.0%
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70.7%70.7%
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55.1%55.1%
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66.1%66.1%
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66.7%66.7%
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mrs_uav_trackers/src/mpc_tracker +
80.4%80.4%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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100.0%
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100.0%
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89.1%89.1%
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80.0%80.0%
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100.0%
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91.7%91.7%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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98.3%98.3%
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93.0%93.0%
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mrs_uav_autostart/src +
86.7%86.7%
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68.2%68.2%
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib/safety_zone +
0.0%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_uav_trackers/src/speed_tracker +
14.8%14.8%
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mrs_lib/src/geometry +
15.1%15.1%
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mrs_uav_state_estimators/src/estimators/heading +
18.6%18.6%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_uav_managers/src/control_manager/common +
41.3%41.3%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation +
43.6%43.6%
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mrs_uav_trackers/src/joy_tracker +
46.5%46.5%
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mrs_lib/src/batch_visualizer +
47.1%47.1%
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mrs_uav_managers/include/transform_manager +
48.0%48.0%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl +
49.1%49.1%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_uav_state_estimators/src/estimators/altitude +
53.9%53.9%
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mrs_uav_state_estimators/src/estimators/lateral +
55.1%55.1%
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mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
59.0%59.0%
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mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_trajectory_generation/include/eth_trajectory_generation +
62.9%62.9%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_uav_managers/src/control_manager +
64.2%64.2%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_uav_managers/src +
66.7%66.7%
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mrs_uav_trackers/src/line_tracker +
67.9%67.9%
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mrs_uav_trajectory_generation/src +
68.2%68.2%
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mrs_uav_managers/src/estimation_manager +
70.0%70.0%
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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_state_estimators/src/estimators/agl +
72.1%72.1%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
72.3%72.3%
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mrs_uav_trackers/src/midair_activation_tracker +
72.8%72.8%
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mrs_uav_trackers/src/landoff_tracker +
73.1%73.1%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/include/mrs_lib +
79.3%79.3%
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mrs_uav_trajectory_generation/include/eth_mav_msgs +
80.0%80.0%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_uav_trackers/src/mpc_tracker +
80.4%80.4%
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mrs_uav_controllers/src +
80.7%80.7%
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mrs_lib/include/mrs_lib/impl +
82.3%82.3%
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mrs_uav_managers/src/transform_manager +
82.5%82.5%
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mrs_uav_autostart/src +
86.7%86.7%
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mrs_lib/src/median_filter +
89.1%89.1%
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mrs_uav_trajectory_generation/src/eth_trajectory_generation/rpoly +
91.7%91.7%
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mrs_lib/src/attitude_converter +
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_controllers/include +
98.3%98.3%
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mrs_uav_managers/include/control_manager +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
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mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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mrs_uav_managers/include/mrs_uav_managers +
100.0%
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mrs_lib/src/math +
100.0%
+ 		100.0 %17 / 17100.0 %1 / 1
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+
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Generated by: LCOV version 1.14
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Date:2024-02-24 08:13:25Functions:2678434961.6 %
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Directory Sort by nameLine Coverage Sort by line coverageFunctions Sort by function coverage
mrs_lib/include/mrs_lib +
79.3%79.3%
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mrs_lib/include/mrs_lib/geometry +
71.0%71.0%
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mrs_lib/include/mrs_lib/impl +
82.3%82.3%
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mrs_lib/include/mrs_lib/safety_zone +
0.0%
+ 		0.0 %0 / 80.0 %0 / 4
mrs_lib/src/attitude_converter +
94.6%94.6%
+ 		94.6 %212 / 22495.1 %39 / 41
mrs_lib/src/batch_visualizer +
47.1%47.1%
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mrs_lib/src/geometry +
15.1%15.1%
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mrs_lib/src/math +
100.0%
+ 		100.0 %17 / 17100.0 %1 / 1
mrs_lib/src/median_filter +
89.1%89.1%
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mrs_lib/src/param_loader +
80.0%80.0%
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mrs_lib/src/profiler +
37.6%37.6%
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mrs_lib/src/safety_zone +
63.3%63.3%
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mrs_lib/src/safety_zone/polygon +
40.8%40.8%
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mrs_lib/src/scope_timer +
14.1%14.1%
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mrs_lib/src/timeout_manager +
79.0%79.0%
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mrs_lib/src/timer +
93.0%93.0%
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mrs_lib/src/transform_broadcaster +
53.3%53.3%
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mrs_lib/src/transformer +
66.1%66.1%
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mrs_lib/src/utils +
100.0%
+ 		100.0 %7 / 7100.0 %2 / 2
mrs_uav_autostart/src +
86.7%86.7%
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mrs_uav_controllers/include +
98.3%98.3%
+ 		98.3 %57 / 58100.0 %14 / 14
mrs_uav_controllers/src +
80.7%80.7%
+ 		80.7 %1752 / 217287.9 %58 / 66
mrs_uav_managers/include/control_manager +
100.0%
+ 		100.0 %4 / 4100.0 %10 / 10
mrs_uav_managers/include/mrs_uav_managers +
100.0%
+ 		100.0 %12 / 1260.0 %6 / 10
mrs_uav_managers/include/mrs_uav_managers/control_manager +
55.2%55.2%
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mrs_uav_managers/include/mrs_uav_managers/estimation_manager +
97.2%97.2%
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mrs_uav_managers/include/transform_manager +
48.0%48.0%
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mrs_uav_managers/src +
66.7%66.7%
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mrs_uav_managers/src/control_manager +
64.2%64.2%
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mrs_uav_managers/src/control_manager/common +
41.3%41.3%
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mrs_uav_managers/src/estimation_manager +
70.0%70.0%
+ 		70.0 %433 / 61985.1 %40 / 47
mrs_uav_managers/src/estimation_manager/estimators +
60.7%60.7%
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mrs_uav_managers/src/transform_manager +
82.5%82.5%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators +
59.0%59.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude +
100.0%
+ 		100.0 %9 / 983.3 %5 / 6
mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading +
58.3%58.3%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state +
100.0%
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mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors +
72.3%72.3%
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mrs_uav_state_estimators/src/estimators/agl +
72.1%72.1%
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mrs_uav_state_estimators/src/estimators/altitude +
53.9%53.9%
+ 		53.9 %213 / 39566.7 %22 / 33
mrs_uav_state_estimators/src/estimators/heading +
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mrs_uav_state_estimators/src/estimators/state +
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mrs_uav_trackers/src/joy_tracker +
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html new file mode 100644 index 0000000000..213161efce --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func-sort-c.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232785.2 %
Date:2024-02-24 08:13:25Functions:91181.8 %
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
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_Li0EEEIdEEv77810
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)247451
mrs_lib::AttitudeConverter::AttitudeConverter<double>(Eigen::AngleAxis<double>)514049
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.func.html b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html new file mode 100644 index 0000000000..fe9814843d --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.func.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:232785.2 %
Date:2024-02-24 08:13:25Functions:91181.8 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Vector3Converter::Vector3Converter(tf2::Vector3 const&)247451
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>)514049
mrs_lib::AttitudeConverter::MathErrorException::what() const0
mrs_lib::AttitudeConverter::GetHeadingException::what() const1
mrs_lib::AttitudeConverter::SetHeadingException::what() const0
mrs_lib::AttitudeConverter::InvalidAttitudeException::what() const2
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen10QuaternionIT_Li0EEEIdEEv77810
_ZNK7mrs_lib17AttitudeConvertercvN5Eigen9AngleAxisIT_EEIdEEv1
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Current view:top level - mrs_lib/include/mrs_lib - attitude_converter.h (source / functions)HitTotalCoverage
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Date:2024-02-24 08:13:25Functions:91181.8 %
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      247451 :   Vector3Converter(const tf2::Vector3& vector3) : vector3_(vector3){};
+      98             : 
+      99             :   /**
+     100             :    * @brief Constructor with Eigen::Vector3
+     101             :    *
+     102             :    * @param vector3
+     103             :    */
+     104             :   Vector3Converter(const Eigen::Vector3d& vector3);
+     105             : 
+     106             :   /**
+     107             :    * @brief Constructor with geometry_msgs::Vector3
+     108             :    *
+     109             :    * @param vector3
+     110             :    */
+     111             :   Vector3Converter(const geometry_msgs::Vector3& vector3);
+     112             : 
+     113             :   /**
+     114             :    * @brief Constructor with doubles: x, y, z
+     115             :    *
+     116             :    * @param x
+     117             :    * @param y
+     118             :    * @param z
+     119             :    */
+     120             :   Vector3Converter(const double& x, const double& y, const double& z);
+     121             : 
+     122             :   /**
+     123             :    * @brief typecast overloaded for tf2::Vector3
+     124             :    *
+     125             :    * @return vector3
+     126             :    */
+     127             :   operator tf2::Vector3() const;
+     128             : 
+     129             :   /**
+     130             :    * @brief typecast overloaded for Eigen::Vector3
+     131             :    *
+     132             :    * @return vector3
+     133             :    */
+     134             :   operator Eigen::Vector3d() const;
+     135             : 
+     136             :   /**
+     137             :    * @brief typecast overloaded for geometry_msgs::Vector3
+     138             :    *
+     139             :    * @return vector3
+     140             :    */
+     141             :   operator geometry_msgs::Vector3() const;
+     142             : 
+     143             : private:
+     144             :   tf2::Vector3 vector3_;
+     145             : };
+     146             : 
+     147             : //}
+     148             : 
+     149             : /**
+     150             :  * @brief The main convertor class. Instantiate with any type in constructor and get the value in any other type by assigning the instance to your variable,
+     151             :  * as: tf::Quaternion tf1_quaternion = AttitudeConverter(roll, pitch, yaw); All the default Euler angles are in the extrinsic RPY notation.
+     152             :  */
+     153             : class AttitudeConverter {
+     154             : public:
+     155             :   /* exceptions //{ */
+     156             : 
+     157             :   //! is thrown when calculating of heading is not possible due to atan2 exception
+     158             :   struct GetHeadingException : public std::exception
+     159             :   {
+     160           1 :     const char* what() const throw() {
+     161           1 :       return "AttitudeConverter: can not calculate the heading, the rotated x-axis is parallel to the world's z-axis";
+     162             :     }
+     163             :   };
+     164             : 
+     165             :   //! is thrown when math breaks
+     166             :   struct MathErrorException : public std::exception
+     167             :   {
+     168           0 :     const char* what() const throw() {
+     169           0 :       return "AttitudeConverter: math error";
+     170             :     }
+     171             :   };
+     172             : 
+     173             :   //! is thrown when the internal attitude becomes invalid
+     174             :   struct InvalidAttitudeException : public std::exception
+     175             :   {
+     176           2 :     const char* what() const throw() {
+     177           2 :       return "AttitudeConverter: invalid attitude, the input probably constains NaNs";
+     178             :     }
+     179             :   };
+     180             : 
+     181             :   //! is thrown when the Euler angle format is set wrongly
+     182             :   struct EulerFormatException : public std::exception
+     183             :   {
+     184             :     const char* what() const throw() {
+     185             :       return "AttitudeConverter: invalid Euler angle format";
+     186             :     }
+     187             :   };
+     188             : 
+     189             :   //! is thrown when the heading cannot be set to an existing attitude
+     190             :   struct SetHeadingException : public std::exception
+     191             :   {
+     192           0 :     const char* what() const throw() {
+     193           0 :       return "AttitudeConverter: cannot set the desired heading, the thrust vector's Z component is 0";
+     194             :     }
+     195             :   };
+     196             : 
+     197             :   //}
+     198             : 
+     199             :   /* constructors //{ */
+     200             : 
+     201             :   /**
+     202             :    * @brief Euler angles constructor
+     203             :    *
+     204             :    * @param roll
+     205             :    * @param pitch
+     206             :    * @param yaw
+     207             :    * @param format optional, Euler angle convention, {"extrinsic", "intrinsic"}, defaults to "extrinsic"
+     208             :    */
+     209    11833660 :   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      514049 :   AttitudeConverter(const Eigen::AngleAxis<T> angle_axis) {
+     254      512146 :     double       angle = angle_axis.angle();
+     255      512497 :     tf2::Vector3 axis(angle_axis.axis()[0], angle_axis.axis()[1], angle_axis.axis()[2]);
+     256             : 
+     257      513680 :     tf2_quaternion_.setRotation(axis, angle);
+     258      513321 :   }
+     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       77810 :   operator Eigen::Quaternion<T>() const {
+     334             : 
+     335       77810 :     return Eigen::Quaternion<T>(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     336             :   }
+     337             : 
+     338             :   operator Eigen::Matrix3d() const;
+     339             : 
+     340             :   /**
+     341             :    * @brief typecase to tuple of Euler angles in extrinsic RPY
+     342             :    *
+     343             :    * @return std::tuple of extrinsic RPY
+     344             :    */
+     345             :   operator std::tuple<double&, double&, double&>();
+     346             : 
+     347             :   /**
+     348             :    * @brief typecase to tf2::Matrix3x3
+     349             :    *
+     350             :    * @return tf2::Matrix3x3 rotational matrix
+     351             :    */
+     352             :   operator tf2::Matrix3x3() const;
+     353             : 
+     354             :   /**
+     355             :    * @brief typecase to tf2::Transform
+     356             :    *
+     357             :    * @return tf2::Transform
+     358             :    */
+     359             :   operator tf2::Transform() const;
+     360             : 
+     361             :   //}
+     362             : 
+     363             :   /* getters //{ */
+     364             : 
+     365             :   /**
+     366             :    * @brief get the roll angle
+     367             :    *
+     368             :    * @return roll
+     369             :    */
+     370             :   double getRoll(void);
+     371             : 
+     372             :   /**
+     373             :    * @brief get the pitch angle
+     374             :    *
+     375             :    * @return pitch
+     376             :    */
+     377             :   double getPitch(void);
+     378             : 
+     379             :   /**
+     380             :    * @brief get the yaw angle
+     381             :    *
+     382             :    * @return yaw
+     383             :    */
+     384             :   double getYaw(void);
+     385             : 
+     386             :   /**
+     387             :    * @brief get the angle of the rotated x-axis in the original XY plane, a.k.a
+     388             :    *
+     389             :    * @return heading
+     390             :    */
+     391             :   double getHeading(void);
+     392             : 
+     393             :   /**
+     394             :    * @brief get heading rate base on the orientation and body-based attitude rate
+     395             :    *
+     396             :    * @param attitude_rate in the body frame
+     397             :    *
+     398             :    * @return heading rate in the world
+     399             :    */
+     400             :   double getHeadingRate(const Vector3Converter& attitude_rate);
+     401             : 
+     402             :   /**
+     403             :    * @brief get the intrinsic yaw rate from a heading rate
+     404             :    *
+     405             :    * @param heading_rate
+     406             :    *
+     407             :    * @return intrinsic yaw rate
+     408             :    */
+     409             :   double getYawRateIntrinsic(const double& heading_rate);
+     410             : 
+     411             :   /**
+     412             :    * @brief get a unit vector pointing in the X direction
+     413             :    *
+     414             :    * @return the vector
+     415             :    */
+     416             :   Vector3Converter getVectorX(void);
+     417             : 
+     418             :   /**
+     419             :    * @brief get a unit vector pointing in the Y direction
+     420             :    *
+     421             :    * @return the vector
+     422             :    */
+     423             :   Vector3Converter getVectorY(void);
+     424             : 
+     425             :   /**
+     426             :    * @brief get a unit vector pointing in the Z direction
+     427             :    *
+     428             :    * @return the vector
+     429             :    */
+     430             :   Vector3Converter getVectorZ(void);
+     431             : 
+     432             :   /**
+     433             :    * @brief get the Roll, Pitch, Yaw angles in the Intrinsic convention
+     434             :    *
+     435             :    * @return RPY
+     436             :    */
+     437             :   std::tuple<double, double, double> getIntrinsicRPY();
+     438             : 
+     439             :   /**
+     440             :    * @brief get the Roll, Pitch, Yaw angles in the Extrinsic convention. The same as the default AttitudeConverter assignment.
+     441             :    *
+     442             :    * @return RPY
+     443             :    */
+     444             :   std::tuple<double, double, double> getExtrinsicRPY();
+     445             : 
+     446             :   //}
+     447             : 
+     448             :   /* setters //{ */
+     449             : 
+     450             :   /**
+     451             :    * @brief Updates the heading of the current orientation by updating the intrinsic yaw
+     452             :    *
+     453             :    * @param new heading
+     454             :    *
+     455             :    * @return the orientation
+     456             :    */
+     457             :   AttitudeConverter setHeading(const double& heading);
+     458             : 
+     459             :   /**
+     460             :    * @brief Updates the extrinsic yaw of the current orientation.
+     461             :    *
+     462             :    * @param new yaw
+     463             :    *
+     464             :    * @return the orientation
+     465             :    */
+     466             :   AttitudeConverter setYaw(const double& new_yaw);
+     467             : 
+     468             :   //}
+     469             : 
+     470             :   template <std::size_t I>
+     471             :   constexpr auto get();
+     472             : 
+     473             : private:
+     474             :   /**
+     475             :    * @brief Internal representation of the attitude
+     476             :    */
+     477             :   tf2::Quaternion tf2_quaternion_;
+     478             : 
+     479             :   /**
+     480             :    * @brief convert the internal quaternion representation to internally-stored RPY
+     481             :    */
+     482             :   void calculateRPY(void);
+     483             : 
+     484             :   /**
+     485             :    * @brief throws exception when the internal attitude is invalid
+     486             :    */
+     487             :   void validateOrientation(void);
+     488             : 
+     489             :   /**
+     490             :    * @brief Internal representation in RPY. is used only when converting to RPY.
+     491             :    */
+     492             :   double roll_, pitch_, yaw_;
+     493             :   bool   got_rpy_ = false;
+     494             : };
+     495             : 
+     496             : 
+     497             : template <std::size_t I>
+     498           3 : constexpr auto AttitudeConverter::get() {
+     499             : 
+     500           3 :   calculateRPY();
+     501             : 
+     502             :   // call compilation error if I > 2
+     503             :   static_assert(I <= 2);
+     504             : 
+     505             :   // get the RPY components based on the index in the tuple
+     506             :   if constexpr (I == 0) {
+     507           1 :     return static_cast<double>(roll_);
+     508             :   } else if constexpr (I == 1) {
+     509           1 :     return static_cast<double>(pitch_);
+     510             :   } else if constexpr (I == 2) {
+     511           1 :     return static_cast<double>(yaw_);
+     512             :   }
+     513             : }
+     514             : 
+     515             : }  // namespace mrs_lib
+     516             : 
+     517             : template <>
+     518             : struct std::tuple_size<mrs_lib::AttitudeConverter>
+     519             : { static constexpr int value = 3; };
+     520             : 
+     521             : template <>
+     522             : struct std::tuple_element<0, mrs_lib::AttitudeConverter>
+     523             : { using type = double; };
+     524             : 
+     525             : template <>
+     526             : struct std::tuple_element<1, mrs_lib::AttitudeConverter>
+     527             : { using type = double; };
+     528             : 
+     529             : template <>
+     530             : struct std::tuple_element<2, mrs_lib::AttitudeConverter>
+     531             : { using type = double; };
+     532             : 
+     533             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html new file mode 100644 index 0000000000..2b64ca38c0 --- /dev/null +++ b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.overview.html @@ -0,0 +1,154 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/attitude_converter.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png b/mrs_lib/include/mrs_lib/attitude_converter.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..5645ea2bb184ba5c13faadff6ae080a7ed21a006 GIT binary patch literal 1675 zcmV;626Xv}P)R0{{R3v^8aD0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vp^O~xJw}!I*vg`@baJIpOoIavV`$(K?>!`bo|a^C) za8g(t(GB3SHwi*Y*B(ABA)4cq7R?deK-XjKEeJ~&vr9LR}k6~|SE zj-$qCkGRR)tetw3kCxx*!;6UEC@RHf4BS;>N2h>L$)pCW@@QNm!OX>*`BO)Lk71D%>OnE>K^hjQTBMES? zGvhv}xdH-50z4|BgOy^!kpa(GH^`~foRA8S^Y>UW#vJMJOe}{A4}y>ij~qH^H4MF) zneqsxd6A=h9u5{hcDe;P(zMKk1rd-Ue&^knPPR3jA9^gb>#8x~Ik7N~R1Fdq@=|ju z0T!S8M{bY&wr%zW06bfshHfN{MDlGm(rkM>62Wo>ikiawavEnFLStBy1HdIWEFe%Ww^Ngwm;Hcq)jl z0*{0W;oTtCZ~llxle+lG>3#O+D&&gJrG@=)lao1h2seK7gq0SK9kjuxg-NrKGR!%~ z`au99dU_T5N&6~=-sZqq>k<~8`<@qW?#HHsHY0qrv%R~ejG3dmdiYQNZF4O4*G{-$ z^G7N8QUf@SO&a1DH?d4h1F$$gpRd=K`+0r3pV#NJ)po+CrwQ%T-SgEVtiNn>JQv4Q z$!a>`qaW=;`3?H`0rb(Ur2TajeM}|3XxAlSQK}p$B;JRoy~&s`4k)2hNq1Dm2(-&Z z%ZP0UeT*pTteufi+CMJX^?uWrH*Wvgee-&=U5j%JyB%`DkeX;_W9brNyMAW@LV=NF z`vbMAFhtINPYBIhx=Oy)`A1x1t=K11!#H_Sq=yYc#`?Mxm2Dy{cz^))?R~`tEg7 zo(>_l>s;xc@cdbu``xNXAjEdvf~QT$fk&n`v;a?Mx|iT-@?_UO)>ViPPuH7ayKcbK zIe5W=N5r<4w5LOe?HZq((Kwy}I4+3;`PQSeHB3yo++}$V=9qWo+^i(35sOuwsIM>rafH+-<*caYfll7-k8qBGOLd1CnUsn zot2`+1`_h(bt-s#>%p`$vc0^nk+7M>5i7}n<3->Z68->q@ErZ91s_QKmCsa&B%_`q z1D@+YQz7;U=C6FFLhb=op7xZL`xqZRZtpz_n1U--iU~*Zp}2TpDV}{(xy0affm7%5 z+W7_^4dR!LZX*O5l2^DZ1 z?A~WeTGw4u;hC=z$ot`PUf>U&F~>i6h8%ghnJNAcf#T%Hdy|jS=_H)EsjMJ8?!*5I z51!+@7iT$1QUD{R;|$UhBs~Y1;Zi2XPgaWJl!jXIElj|TK46~NkO7}ca2>#x;XcI* z^CV0j8!}-zAteJI3FZ@GU`1FF5~pzC_+7=3X)_ASQIrJ;gUR_iSNsD<>R>{U1Y^?W zvYR!Sg}4SeuBe%R`Cnmz$V;iPVjSJHb9JE2c3kC8_@f)zqlD5AEDo&}n_5NIC62c= zqkgYRb;F6tx*!Fl3jb2?u8vgi2?nd`J-wb + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/dynamic_reconfigure_mgr.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-02-24 08:13:25Functions: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&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)84
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&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::load_defaults(mrs_uav_state_estimators::AltitudeEstimatorConfig&)144
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)144
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)144
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&)144
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)168
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&)252
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&)252
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<double>(boost::any&, double*&)252
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)252
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)288
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&)300
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&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_defaults(mrs_uav_state_estimators::CorrectionConfig&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)300
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<double>(boost::any&, double*&)300
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)300
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&)300
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&)432
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&)432
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<double>(boost::any&, double*&)432
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)432
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)600
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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..591054bbf3 --- /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:2024-02-24 08:13:25Functions:288532.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)0
void mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::load_param<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<mrs_uav_state_estimators::CorrectionConfig::AbstractParamDescription const>&, mrs_uav_state_estimators::CorrectionConfig&)300
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&)300
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&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::update_config(mrs_uav_state_estimators::CorrectionConfig const&)600
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::print_changed_params(mrs_uav_state_estimators::CorrectionConfig const&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::CorrectionConfig&, unsigned int)300
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*&)300
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::try_cast<int>(boost::any&, int*&)300
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::CorrectionConfig>::DynamicReconfigureMgr(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)300
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&)300
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&)252
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&)252
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&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::update_config(mrs_uav_state_estimators::LateralEstimatorConfig const&)168
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::LateralEstimatorConfig const&)84
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)84
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*&)252
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::LateralEstimatorConfig>::try_cast<int>(boost::any&, int*&)252
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&)84
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&)432
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&)432
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&)144
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::update_config(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)288
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::print_changed_params(mrs_uav_state_estimators::AltitudeEstimatorConfig const&)144
mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::dynamic_reconfigure_callback(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)144
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*&)432
bool mrs_lib::DynamicReconfigureMgr<mrs_uav_state_estimators::AltitudeEstimatorConfig>::try_cast<int>(boost::any&, int*&)432
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&)144
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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 - dynamic_reconfigure_mgr.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:578765.5 %
Date:2024-02-24 08:13:25Functions: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         528 :   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         528 :         m_server(m_server_mtx, nh),
+      54             :         m_usr_cbf(user_callback),
+      55         528 :         m_pl(nh, print_values, node_name)
+      56             :   {
+      57             :     // initialize the dynamic reconfigure callback
+      58         528 :     m_server.setCallback(boost::bind(&DynamicReconfigureMgr<ConfigType>::dynamic_reconfigure_callback, this, _1, _2));
+      59         528 :   };
+      60             : 
+      61             :   /* Constructor overloads //{ */
+      62             :   // Convenience constructor to enable writing DynamicReconfigureMgr<MyConfig> drmgr(nh, node_name)
+      63         300 :   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        1056 :   void update_config(const ConfigType& cfg)
+      72             :   {
+      73        1056 :     m_server.updateConfig(cfg);
+      74        1056 :   }
+      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         528 :   void dynamic_reconfigure_callback(ConfigType& new_config, uint32_t level)
+     107             :   {
+     108         528 :     if (m_print_values)
+     109             :     {
+     110         528 :       if (m_node_name.empty())
+     111           0 :         ROS_INFO("Dynamic reconfigure request received");
+     112             :       else
+     113         528 :         ROS_INFO("[%s]: Dynamic reconfigure request received", m_node_name.c_str());
+     114             :     }
+     115             : 
+     116         528 :     if (m_not_initialized)
+     117             :     {
+     118         528 :       load_defaults(new_config);
+     119         528 :       update_config(new_config);
+     120             :     }
+     121         528 :     if (m_print_values)
+     122             :     {
+     123         528 :       print_changed_params(new_config);
+     124             :     }
+     125         528 :     m_not_initialized = false;
+     126         528 :     config = new_config;
+     127         528 :     if (m_usr_cbf)
+     128         228 :       m_usr_cbf(new_config, level);
+     129         528 :   }
+     130             : 
+     131             :   template <typename T>
+     132         984 :   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        1968 :     boost::shared_ptr<const param_descr_t> cast_descr = boost::dynamic_pointer_cast<const param_descr_t>(descr);
+     136         984 :     m_pl.loadParam(name, config.*(cast_descr->field));
+     137         984 :   }
+     138             :   
+     139         528 :   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        1056 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     143        1512 :     for (auto& descr : descrs)
+     144             :     {
+     145        1968 :       std::string name = descr->name;
+     146         984 :       size_t pos = name.find("__");
+     147         984 :       while (pos != name.npos)
+     148             :       {
+     149           0 :         name.replace(pos, 2, "/");
+     150           0 :         pos = name.find("__");
+     151             :       }
+     152             : 
+     153         984 :       if (descr->type == "bool")
+     154           0 :         load_param<bool>(name, descr, new_config);
+     155         984 :       else if (descr->type == "int")
+     156           0 :         load_param<int>(name, descr, new_config);
+     157         984 :       else if (descr->type == "double")
+     158         984 :         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         528 :   }
+     168             : 
+     169             :   // method for printing names and values of new received parameters (prints only the changed ones) //{
+     170         528 :   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        1056 :     std::vector<typename ConfigType::AbstractParamDescriptionConstPtr> descrs = new_config.__getParamDescriptions__();
+     174        1512 :     for (auto& descr : descrs)
+     175             :     {
+     176           0 :       boost::any val, old_val;
+     177         984 :       descr->getValue(new_config, val);
+     178         984 :       descr->getValue(config, old_val);
+     179         984 :       std::string name = descr->name;
+     180         984 :       const size_t pos = name.find("__");
+     181         984 :       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         984 :       if (try_cast(val, intval))
+     199             :       {
+     200           0 :         if (m_not_initialized || !try_compare(old_val, intval))
+     201           0 :           print_value(name, *intval);
+     202         984 :       } else if (try_cast(val, doubleval))
+     203             :       {
+     204         984 :         if (m_not_initialized || !try_compare(old_val, doubleval))
+     205         984 :           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         528 :   }
+     220             :   //}
+     221             :   
+     222             :   // helper method for parameter printing
+     223             :   template <typename T>
+     224         984 :   inline void print_value(const std::string& name, const T& val)
+     225             :   {
+     226         984 :     if (m_node_name.empty())
+     227           0 :       std::cout << "\t" << name << ":\t" << val << std::endl;
+     228             :     else
+     229         984 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << val);
+     230         984 :   }
+     231             :   // helper methods for automatic parameter value parsing
+     232             :   template <typename T>
+     233        1968 :   inline bool try_cast(boost::any& val, T*& out)
+     234             :   {
+     235        1968 :     return (out = boost::any_cast<T>(&val));
+     236             :   }
+     237             :   template <typename T>
+     238           0 :   inline bool try_compare(boost::any& val, T*& to_what)
+     239             :   {
+     240             :     T* tmp;
+     241           0 :     if ((tmp = boost::any_cast<T>(&val)))
+     242             :     {
+     243             :       /* std::cout << std::endl << *tmp << " vs " << *to_what << std::endl; */
+     244           0 :       return *tmp == *to_what;
+     245             :     } else
+     246             :     {  // the value should not change during runtime - this should never happen (but its better to be safe than sorry)
+     247           0 :       if (m_node_name.empty())
+     248           0 :         ROS_WARN("DynamicReconfigure value type has changed - this should not happen!");
+     249             :       else
+     250           0 :         ROS_WARN_STREAM("[" << m_node_name << "]: DynamicReconfigure value type has changed - this should not happen!");
+     251           0 :       return false;
+     252             :     }
+     253             :   }
+     254             : };
+     255             : //}
+     256             : 
+     257             : }
+     258             : 
+     259             : #endif // DYNAMIC_RECONFIGURE_MGR_H
+
+
+
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-02-24 08:13:25Functions:4811741.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::degrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::dist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::interp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::sdegrees const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pdist(double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::inRange(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::pinterp(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::sradians const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::convert<mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)1
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>&&)6
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>, double)898
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)898
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interp(double, double, double)898
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)10374
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>)356859
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)407083
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)527160
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)527160
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interp(double, double, double)527160
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::radians const&)692784
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)735486
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>)775158
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)1074344
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)1579893
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)1602305
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)2628569
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)2642252
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>)3179421
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)6458836
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::wrap(double)7094961
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+ + + diff --git a/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html new file mode 100644 index 0000000000..52c6dca8cc --- /dev/null +++ b/mrs_lib/include/mrs_lib/geometry/cyclic.h.func.html @@ -0,0 +1,548 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/geometry/cyclic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-02-24 08:13:25Functions:4811741.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::interpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::pinterpUnwrapped(double, double, double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::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)898
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::interpUnwrapped(double, double, double)898
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>)775158
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::diff(double, double)407083
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>)356859
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::dist(double, double)10374
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::wrap(double)1602305
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)898
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&)692784
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)735486
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::cyclic(double)1579893
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)527160
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::interpUnwrapped(double, double, double)527160
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>)3179421
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::diff(double, double)2642252
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)7094961
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)527160
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::unwrap(double, double)2628569
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&)1074344
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic(double)6458836
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::cyclic()0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>&&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator=(double)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator-=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::operator+=(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)0
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator><double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::radians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)2
bool mrs_lib::geometry::operator< <double, mrs_lib::geometry::sradians>(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)2
mrs_lib::geometry::operator-(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10009
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians> const&)10004
mrs_lib::geometry::operator+(mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&, mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians> const&)40000
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::degrees>::value() const4
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::radians>::value() const10002
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sdegrees>::value() const0
mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::value() const40002
mrs_lib::geometry::radians mrs_lib::geometry::cyclic<double, mrs_lib::geometry::sradians>::convert<mrs_lib::geometry::radians>() const1
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/geometry - cyclic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:608769.0 %
Date:2024-02-24 08:13:25Functions:4811741.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines the cyclic class for calculations with cyclic quantities.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef CYCLIC_H
+       8             : #define CYCLIC_H
+       9             : 
+      10             : #include <cmath>
+      11             : #include <ostream>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             :   namespace geometry
+      16             :   {
+      17             :     /**
+      18             :      * \brief Implementation of the a general cyclic value (such as angles in radians/degrees etc).
+      19             :      *
+      20             :      * This class implements a periodical value with a period of \f$ r \in {\rm I\!R} \f$ so that a general number \f$ v \in {\rm I\!R} \f$ represents the same
+      21             :      * value as \f$ v + kr,~k \in {\rm I\!N} \f$. For the purposes of calculations in this class, \f$ v \f$ is confined to a half-open interval \f$ v \in
+      22             :      * [~m,~s~[ \f$, where \f$ m \f$ is the minimum of this interval and \f$ s \f$ is its supremum, and \f$ s = m + r \f$ holds. This approach enables
+      23             :      * representing \f$ v \f$ in different intervals on the real numbers axis; eg. angle in radians may be represented within the interval \f$ v \in
+      24             :      * [~-\pi,~\pi~[ \f$ or \f$ v \in [~0,~2\pi~[ \f$, according to the needs of the specific application. The period \f$ r \f$ is called \p range for the
+      25             :      * purposes of this class, as it represents range of the interval of valid ("wrapped") values of \f$ v \f$.
+      26             :      *
+      27             :      * This class may be used as an object or its static methods may be used on regular floating-point types, avoiding any object-related overheads (see
+      28             :      * example). Specializations for the most common cyclic values are provided and a new specialization may be easily created simply by inheriting from this
+      29             :      * class and specifying a different minimum and supremum values.
+      30             :      *
+      31             :      * Implementation inspired by: https://www.codeproject.com/Articles/190833/Circular-Values-Math-and-Statistics-with-Cplusplus
+      32             :      *
+      33             :      * \parblock
+      34             :      * \note For a better intuitive understanding of the used functions, the term **walk** is sometimes used in the function explanations.
+      35             :      * You can imagine walking along the circle from one angle to another (represented by the circular quantities).
+      36             :      * The walk may be the shortest - then you're walking in such a manner that you reach the other point in the least of steps.
+      37             :      * The walk may also be oriented - then you're walking in a specific direction (ie. according to the increasing/decreasing angle).
+      38             :      * \endparblock
+      39             :      *
+      40             :      * \parblock
+      41             :      * \note The terms **circular quantity** and **value** are used in the function explanations.
+      42             :      * A circular quantity is eg. an angle and the same quantity may be represented using different values: the same angle is represented by the values of 100
+      43             :      * degrees and 460 degrees. \endparblock
+      44             :      *
+      45             :      * \tparam flt floating data type to be used by this class.
+      46             :      */
+      47             :     template <typename flt, class spec>
+      48             :     struct cyclic
+      49             :     {
+      50             :       /*!
+      51             :        * \brief Default constructor.
+      52             :        *
+      53             :        * Sets the value to the minimum.
+      54             :        */
+      55           0 :       cyclic() : val(minimum){};
+      56             :       /*!
+      57             :        * \brief Constructor overload.
+      58             :        *
+      59             :        * \param val initialization value (will be wrapped).
+      60             :        */
+      61     8078734 :       cyclic(const flt val) : val(wrap(val)){};
+      62             :       /*!
+      63             :        * \brief Copy constructor.
+      64             :        *
+      65             :        * \param val initialization value.
+      66             :        */
+      67     1809830 :       cyclic(const cyclic& other) : val(other.val){};
+      68             :       /*!
+      69             :        * \brief Copy constructor.
+      70             :        *
+      71             :        * \param val initialization value.
+      72             :        */
+      73      692784 :       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     8757271 :       static flt wrap(const flt val)
+     115             :       {
+     116             :         // these few ifs should cover most cases, improving speed and precision
+     117     8757271 :         if (val >= minimum)
+     118             :         {
+     119     8110037 :           if (val < supremum)  // value is actually in range and doesn't need to be wrapped
+     120     7878189 :             return val;
+     121      231848 :           else if (val < supremum + range)
+     122       68800 :             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      647237 :           if (val >= minimum - range)
+     126      483718 :             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      326575 :         const flt rem = std::fmod(val - minimum, range);
+     131      326575 :         const flt wrapped = rem + minimum + std::signbit(rem) * range;
+     132      326484 :         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     2658570 :       static flt unwrap(const flt what, const flt from)
+     158             :       {
+     159     2658570 :         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     3069335 :       static flt diff(const flt minuend, const flt subtrahend)
+     194             :       {
+     195     3069335 :         return diff(cyclic(minuend), cyclic(subtrahend));
+     196             :       }
+     197             : 
+     198     3974579 :       static flt diff(const cyclic minuend, const cyclic subtrahend)
+     199             :       {
+     200     3974579 :         const flt d = minuend.val - subtrahend.val;
+     201     3974579 :         if (d < -half_range)
+     202       36514 :           return d + range;
+     203     3938061 :         if (d >= half_range)
+     204       24081 :           return d - range;
+     205     3913980 :         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       20374 :       static flt dist(const flt from, const flt to)
+     220             :       {
+     221       20374 :         return dist(cyclic(from), cyclic(to));
+     222             :       }
+     223             : 
+     224      366867 :       static flt dist(const cyclic from, const cyclic to)
+     225             :       {
+     226      366867 :         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      528058 :       static flt interpUnwrapped(const flt from, const flt to, const flt coeff)
+     243             :       {
+     244      528058 :         return interpUnwrapped(cyclic(from), cyclic(to), coeff);
+     245             :       }
+     246             : 
+     247      528058 :       static flt interpUnwrapped(const cyclic from, const cyclic to, const flt coeff)
+     248             :       {
+     249      528058 :         const flt dang = diff(to, from);
+     250      528058 :         const flt intp = from.val + coeff * dang;
+     251      528058 :         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      528058 :       static flt interp(const flt from, const flt to, const flt coeff)
+     265             :       {
+     266      528058 :         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&)101253
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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&)101253
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      101259 :     double headingFromRot(const T& rot)
+      58             :     {
+      59      101259 :       const vec3_t rot_vec = rot*vec3_t::UnitX();
+      60      202518 :       return std::atan2(rot_vec.y(), rot_vec.x());
+      61             :     }
+      62             : 
+      63             :     //}
+      64             : 
+      65             :     /* angleBetween() //{ */
+      66             : 
+      67             :     /*!
+      68             :      * \brief Returns the angle between two vectors, taking orientation into account.
+      69             :      *
+      70             :      * This implementation uses \p atan2 instead of just \p acos and thus it properly
+      71             :      * takes into account orientation of the vectors, returning angle in all four quadrants.
+      72             :      *
+      73             :      * \param a vector from which the angle will be measured.
+      74             :      * \param b vector to which the angle will be measured.
+      75             :      *
+      76             :      * \returns    angle from \p a to \p b.
+      77             :      *
+      78             :      */
+      79             :     double angleBetween(const vec2_t& a, const vec2_t& b);
+      80             : 
+      81             :     /*!
+      82             :      * \brief Returns the angle between two vectors, taking orientation into account.
+      83             :      *
+      84             :      * This implementation uses \p atan2 instead of just \p acos and thus it properly
+      85             :      * takes into account orientation of the vectors, returning angle in all four quadrants.
+      86             :      *
+      87             :      * \param a vector from which the angle will be measured.
+      88             :      * \param b vector to which the angle will be measured.
+      89             :      *
+      90             :      * \returns    angle from \p a to \p b.
+      91             :      *
+      92             :      */
+      93             :     double angleBetween(const vec3_t& a, const vec3_t& b);
+      94             : 
+      95             :     //}
+      96             : 
+      97             :     /* angleaxisBetween() //{ */
+      98             : 
+      99             :     /*!
+     100             :      * \brief Returns the rotation between two vectors, represented as angle-axis.
+     101             :      *
+     102             :      * To avoid singularities, a \p tolerance parameter is used:
+     103             :      * * If the absolute angle between the two vectors is less than \p tolerance, a zero rotation is returned.
+     104             :      * * If the angle between the two vectors is closer to \f$ \pi \f$ than \p tolerance, a \f$ \pi \f$ rotation is returned.
+     105             :      *
+     106             :      * \param a vector from which the rotation starts.
+     107             :      * \param b vector at which the rotation ends.
+     108             :      *
+     109             :      * \returns    rotation from \p a to \p b.
+     110             :      *
+     111             :      */
+     112             :     anax_t angleaxisBetween(const vec3_t& a, const vec3_t& b, const double tolerance = 1e-9);
+     113             : 
+     114             :     //}
+     115             : 
+     116             :     /* quaternionBetween() //{ */
+     117             : 
+     118             :     /*!
+     119             :      * \brief Returns the rotation between two vectors, represented as a quaternion.
+     120             :      *
+     121             :      * Works the same as the angleaxisBetween() function (in fact it is used in the implementation).
+     122             :      *
+     123             :      * \param a vector from which the rotation starts.
+     124             :      * \param b vector at which the rotation ends.
+     125             :      *
+     126             :      * \returns    rotation from \p a to \p b.
+     127             :      *
+     128             :      */
+     129             :     quat_t quaternionBetween(const vec3_t& a, const vec3_t& b, const double tolerance = 1e-9);
+     130             : 
+     131             :     //}
+     132             : 
+     133             :     /* rotationBetween() //{ */
+     134             : 
+     135             :     /*!
+     136             :      * \brief Returns the rotation between two vectors, represented as a rotation matrix.
+     137             :      *
+     138             :      * Works the same as the angleaxisBetween() function (in fact it is used in the implementation).
+     139             :      *
+     140             :      * \param a vector from which the rotation starts.
+     141             :      * \param b vector at which the rotation ends.
+     142             :      *
+     143             :      * \returns    rotation from \p a to \p b.
+     144             :      *
+     145             :      */
+     146             :     Eigen::Matrix3d rotationBetween(const vec3_t& a, const vec3_t& b, const double tolerance = 1e-9);
+     147             : 
+     148             :     //}
+     149             : 
+     150             :     /* haversin() //{ */
+     151             : 
+     152             :     /**
+     153             :      * @brief computes the haversine (half of versine) for a given angle
+     154             :      *
+     155             :      * @param angle angle in radians
+     156             :      *
+     157             :      * @return
+     158             :      */
+     159             :     double haversin(const double angle);
+     160             : 
+     161             :     //}
+     162             : 
+     163             :     /* invHaversin() //{ */
+     164             : 
+     165             :     /**
+     166             :      * @brief computes the inverse haversine angle for a given value
+     167             :      *
+     168             :      * @param value
+     169             :      *
+     170             :      * @return angle in radians
+     171             :      */
+     172             :     double invHaversin(const double value);
+     173             : 
+     174             :     //}
+     175             : 
+     176             :     /* solidAngle //{ */
+     177             : 
+     178             :     /**
+     179             :      * @brief computes the solid angle for a spherical surface corresponding to a 'triangle' with edge lengths a, b, c
+     180             :      *
+     181             :      * @param a
+     182             :      * @param b
+     183             :      * @param c
+     184             :      *
+     185             :      * @return solid angle in steradians
+     186             :      */
+     187             :     double solidAngle(double a, double b, double c);
+     188             : 
+     189             :     //}
+     190             : 
+     191             :     /* quaternionFromEuler() //{ */
+     192             : 
+     193             :     /**
+     194             :      * @brief create a quaternion from 3 provided Euler angles
+     195             :      *
+     196             :      * @param x Euler angle in radians
+     197             :      * @param y Euler angle in radians
+     198             :      * @param z Euler angle in radians
+     199             :      *
+     200             :      * @return quaternion
+     201             :      */
+     202             :     quat_t quaternionFromEuler(double x, double y, double z);
+     203             : 
+     204             :     /**
+     205             :      * @brief create a quaternion from Euler angles provided as a vector
+     206             :      *
+     207             :      * @param euler components of the rotation provided as vector of Euler angles
+     208             :      *
+     209             :      * @return quaternion
+     210             :      */
+     211             :     quat_t quaternionFromEuler(const Eigen::Vector3d& euler);
+     212             : 
+     213             :     //}
+     214             : 
+     215             :     /**
+     216             :      * @brief create a quaternion from heading
+     217             :      *
+     218             :      * Heading is defined as the angle of a [1,0,0] vector rotated by the rotation and projected to the XY plane from the X axis.
+     219             :      *
+     220             :      * @param heading the heading angle.
+     221             :      *
+     222             :      * @return the quaternion corresponding to the heading rotation.
+     223             :      */
+     224             :     quat_t quaternionFromHeading(const double heading);
+     225             : 
+     226             :     //}
+     227             : 
+     228             :     // | ----------------- Miscellaneous functions ---------------- |
+     229             : 
+     230             :     /* 2D cross() //{ */
+     231             : 
+     232             :     /*!
+     233             :      * \brief Implementation of cross product for 2D vectors.
+     234             :      *
+     235             :      * Useful e.g. for finding the sine of an angle between two 2D vectors.
+     236             :      *
+     237             :      * \param a first vector of the cross product.
+     238             :      * \param b second vector of the cross product.
+     239             :      *
+     240             :      * \returns    \f$ a \times b \f$ (sine of the angle from \p a to \p b).
+     241             :      *
+     242             :      */
+     243             :     double cross(const vec2_t& a, const vec2_t b);
+     244             : 
+     245             :     //}
+     246             : 
+     247             :     /* vector distance //{ */
+     248             : 
+     249             :     /**
+     250             :      * @brief distnace between two 2D Eigen vectors
+     251             :      *
+     252             :      * @param a
+     253             :      * @param b
+     254             :      *
+     255             :      * @return Euclidean distance
+     256             :      */
+     257             :     double dist(const vec2_t& a, const vec2_t& b);
+     258             : 
+     259             :     /**
+     260             :      * @brief distnace between two 3D Eigen vectors
+     261             :      *
+     262             :      * @param a
+     263             :      * @param b
+     264             :      *
+     265             :      * @return Euclidean distance
+     266             :      */
+     267             :     double dist(const vec3_t& a, const vec3_t& b);
+     268             : 
+     269             :     //}
+     270             : 
+     271             :     /* triangleArea() //{ */
+     272             : 
+     273             :     /**
+     274             :      * @brief uses Heron's formula to compute area of a given triangle using side lengths
+     275             :      *
+     276             :      * @param a length of side1
+     277             :      * @param b length of side2
+     278             :      * @param c length of side3
+     279             :      *
+     280             :      * @return area in units squared
+     281             :      */
+     282             :     double triangleArea(const double a, const double b, const double c);
+     283             : 
+     284             :     //}
+     285             : 
+     286             :     /* sphericalTriangleArea //{ */
+     287             : 
+     288             :     /**
+     289             :      * @brief compute the area of a 'triangle' drawn on a spherical surface
+     290             :      *
+     291             :      * @param a length of side1
+     292             :      * @param b length of side2
+     293             :      * @param c length of side3
+     294             :      *
+     295             :      * @return area in units squared
+     296             :      */
+     297             :     double sphericalTriangleArea(Eigen::Vector3d a, Eigen::Vector3d b, Eigen::Vector3d c);
+     298             : 
+     299             :     //}
+     300             : 
+     301             :     /* rotateCovariance() //{ */
+     302             :     
+     303             :     /*!
+     304             :      * \brief Returns the covariance rotated using the specified rotation.
+     305             :      *
+     306             :      * \param cov the covariance to be rotated.
+     307             :      * \param rot the rotation use.
+     308             :      *
+     309             :      * \returns a new matrix object containing the rotated covariance.
+     310             :      *
+     311             :      */
+     312             :     template <typename T>
+     313             :     mat3_t rotateCovariance(const mat3_t& cov, const T& rot)
+     314             :     {
+     315             :       const mat3_t matrot(rot);
+     316             :       return matrot*cov*matrot.transpose();
+     317             :     }
+     318             :     
+     319             :     //}
+     320             : 
+     321             :   }  // namespace geometry
+     322             : }  // namespace mrs_lib
+     323             : 
+     324             : #endif
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)1777
mrs_lib::UTM(double, double, double*, double*)8510
mrs_lib::LLtoUTM(double, double, double&, double&, char*)169562
mrs_lib::UTMLetterDesignator(double)169589
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mrs_lib::UTMLetterDesignator(double)169589
mrs_lib::UTM(double, double, double*, double*)8510
mrs_lib::LLtoUTM(double, double, double&, double&, char*)169562
mrs_lib::UTMtoLL(double, double, char const*, double&, double&)1777
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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        8510 :   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        8510 :     int cm = ((lon >= 0.0) ? ((int)lon - ((int)lon) % 6 + 3) : ((int)lon - ((int)lon) % 6 - 3));
+      63             : 
+      64             :     // convert degrees into radians
+      65        8510 :     double rlat  = lat * RADIANS_PER_DEGREE;
+      66        8510 :     double rlon  = lon * RADIANS_PER_DEGREE;
+      67        8510 :     double rlon0 = cm * RADIANS_PER_DEGREE;
+      68             : 
+      69             :     // compute trigonometric functions
+      70        8510 :     double slat = sin(rlat);
+      71        8510 :     double clat = cos(rlat);
+      72        8510 :     double tlat = tan(rlat);
+      73             : 
+      74             :     // decide the false northing at origin
+      75        8510 :     double fn = (lat > 0) ? UTM_FN_N : UTM_FN_S;
+      76             : 
+      77        8510 :     double T = tlat * tlat;
+      78        8510 :     double C = UTM_EP2 * clat * clat;
+      79        8510 :     double A = (rlon - rlon0) * clat;
+      80        8510 :     double M = WGS84_A * (m0 * rlat + m1 * sin(2 * rlat) + m2 * sin(4 * rlat) + m3 * sin(6 * rlat));
+      81        8510 :     double V = WGS84_A / sqrt(1 - UTM_E2 * slat * slat);
+      82             : 
+      83             :     // compute the easting-northing coordinates
+      84        8510 :     *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        8463 :     *y = fn +
+      86        8463 :          UTM_K0 *
+      87        8481 :              (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        8463 :     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      169589 :   static inline char UTMLetterDesignator(double Lat) {
+     102             :     char LetterDesignator;
+     103             : 
+     104      169589 :     if ((84 >= Lat) && (Lat >= 72))
+     105           0 :       LetterDesignator = 'X';
+     106      169589 :     else if ((72 > Lat) && (Lat >= 64))
+     107           0 :       LetterDesignator = 'W';
+     108      169589 :     else if ((64 > Lat) && (Lat >= 56))
+     109           0 :       LetterDesignator = 'V';
+     110      169589 :     else if ((56 > Lat) && (Lat >= 48))
+     111           0 :       LetterDesignator = 'U';
+     112      169589 :     else if ((48 > Lat) && (Lat >= 40))
+     113      168378 :       LetterDesignator = 'T';
+     114        1211 :     else if ((40 > Lat) && (Lat >= 32))
+     115           0 :       LetterDesignator = 'S';
+     116        1211 :     else if ((32 > Lat) && (Lat >= 24))
+     117           0 :       LetterDesignator = 'R';
+     118        1211 :     else if ((24 > Lat) && (Lat >= 16))
+     119           0 :       LetterDesignator = 'Q';
+     120        1211 :     else if ((16 > Lat) && (Lat >= 8))
+     121           0 :       LetterDesignator = 'P';
+     122        1211 :     else if ((8 > Lat) && (Lat >= 0))
+     123           2 :       LetterDesignator = 'N';
+     124        1209 :     else if ((0 > Lat) && (Lat >= -8))
+     125           0 :       LetterDesignator = 'M';
+     126        1209 :     else if ((-8 > Lat) && (Lat >= -16))
+     127           0 :       LetterDesignator = 'L';
+     128        1209 :     else if ((-16 > Lat) && (Lat >= -24))
+     129           0 :       LetterDesignator = 'K';
+     130        1209 :     else if ((-24 > Lat) && (Lat >= -32))
+     131           0 :       LetterDesignator = 'J';
+     132        1209 :     else if ((-32 > Lat) && (Lat >= -40))
+     133           0 :       LetterDesignator = 'H';
+     134        1209 :     else if ((-40 > Lat) && (Lat >= -48))
+     135           0 :       LetterDesignator = 'G';
+     136        1209 :     else if ((-48 > Lat) && (Lat >= -56))
+     137           0 :       LetterDesignator = 'F';
+     138        1209 :     else if ((-56 > Lat) && (Lat >= -64))
+     139           0 :       LetterDesignator = 'E';
+     140        1209 :     else if ((-64 > Lat) && (Lat >= -72))
+     141           0 :       LetterDesignator = 'D';
+     142        1209 :     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        1209 :       LetterDesignator = 'Z';
+     147      169589 :     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      169562 :   static inline void LLtoUTM(const double Lat, const double Long, double& UTMNorthing, double& UTMEasting, char* UTMZone) {
+     160      169562 :     double a          = WGS84_A;
+     161      169562 :     double eccSquared = UTM_E2;
+     162      169562 :     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      169562 :     double LongTemp = (Long + 180) - int((Long + 180) / 360) * 360 - 180;
+     170             : 
+     171      169562 :     double LatRad  = Lat * RADIANS_PER_DEGREE;
+     172      169562 :     double LongRad = LongTemp * RADIANS_PER_DEGREE;
+     173             :     double LongOriginRad;
+     174             :     int    ZoneNumber;
+     175             : 
+     176      169562 :     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      169562 :     if (ZoneNumber > 99)
+     180           0 :       ZoneNumber = 99;
+     181      169562 :     if (ZoneNumber < -9)
+     182           0 :       ZoneNumber = -9;
+     183             : 
+     184      169562 :     if (Lat >= 56.0 && Lat < 64.0 && LongTemp >= 3.0 && LongTemp < 12.0)
+     185           0 :       ZoneNumber = 32;
+     186             : 
+     187             :     // Special zones for Svalbard
+     188      169562 :     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      169562 :     LongOrigin    = (ZoneNumber - 1) * 6 - 180 + 3;
+     200      169562 :     LongOriginRad = LongOrigin * RADIANS_PER_DEGREE;
+     201             : 
+     202             :     // compute the UTM Zone from the latitude and longitude
+     203      169562 :     snprintf(UTMZone, 4, "%d%c", ZoneNumber, UTMLetterDesignator(Lat));
+     204             : 
+     205      168860 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     206             : 
+     207      168860 :     N = a / sqrt(1 - eccSquared * sin(LatRad) * sin(LatRad));
+     208      168860 :     T = tan(LatRad) * tan(LatRad);
+     209      168860 :     C = eccPrimeSquared * cos(LatRad) * cos(LatRad);
+     210      168860 :     A = cos(LatRad) * (LongRad - LongOriginRad);
+     211             : 
+     212      168860 :     M = a * ((1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256) * LatRad -
+     213      168860 :              (3 * eccSquared / 8 + 3 * eccSquared * eccSquared / 32 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(2 * LatRad) +
+     214      168860 :              (15 * eccSquared * eccSquared / 256 + 45 * eccSquared * eccSquared * eccSquared / 1024) * sin(4 * LatRad) -
+     215      168860 :              (35 * eccSquared * eccSquared * eccSquared / 3072) * sin(6 * LatRad));
+     216             : 
+     217      168860 :     UTMEasting =
+     218      168860 :         (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      168860 :     UTMNorthing = (double)(k0 * (M + N * tan(LatRad) *
+     221      168860 :                                          (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 +
+     222      168860 :                                           (61 - 58 * T + T * T + 600 * C - 330 * eccPrimeSquared) * A * A * A * A * A * A / 720)));
+     223      168860 :     if (Lat < 0)
+     224           0 :       UTMNorthing += 10000000.0;  // 10000000 meter offset for southern hemisphere
+     225      168860 :   }
+     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        1777 :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, const char* UTMZone, double& Lat, double& Long) {
+     246        1777 :     double                  k0         = UTM_K0;
+     247        1777 :     double                  a          = WGS84_A;
+     248        1777 :     double                  eccSquared = UTM_E2;
+     249             :     double                  eccPrimeSquared;
+     250        1777 :     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        1777 :     x = UTMEasting - 500000.0;  // remove 500,000 meter offset for longitude
+     261        1777 :     y = UTMNorthing;
+     262             : 
+     263        1777 :     ZoneNumber = strtoul(UTMZone, &ZoneLetter, 10);
+     264        1777 :     if ((*ZoneLetter - 'N') >= 0)
+     265        1777 :       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        1777 :     LongOrigin = (ZoneNumber - 1) * 6 - 180 + 3;  //+3 puts origin in middle of zone
+     272             : 
+     273        1777 :     eccPrimeSquared = (eccSquared) / (1 - eccSquared);
+     274             : 
+     275        1777 :     M  = y / k0;
+     276        1777 :     mu = M / (a * (1 - eccSquared / 4 - 3 * eccSquared * eccSquared / 64 - 5 * eccSquared * eccSquared * eccSquared / 256));
+     277             : 
+     278        1777 :     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        1777 :               (151 * e1 * e1 * e1 / 96) * sin(6 * mu);
+     280        1777 :     phi1 = phi1Rad * DEGREES_PER_RADIAN;
+     281             : 
+     282        1777 :     N1 = a / sqrt(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad));
+     283        1777 :     T1 = tan(phi1Rad) * tan(phi1Rad);
+     284        1777 :     C1 = eccPrimeSquared * cos(phi1Rad) * cos(phi1Rad);
+     285        1777 :     R1 = a * (1 - eccSquared) / pow(1 - eccSquared * sin(phi1Rad) * sin(phi1Rad), 1.5);
+     286        1777 :     D  = x / (N1 * k0);
+     287             : 
+     288        1777 :     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        1777 :                                                 (61 + 90 * T1 + 298 * C1 + 45 * T1 * T1 - 252 * eccPrimeSquared - 3 * C1 * C1) * D * D * D * D * D * D / 720);
+     290        1777 :     Lat = Lat * DEGREES_PER_RADIAN;
+     291             : 
+     292        1777 :     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        1777 :            cos(phi1Rad);
+     294        1777 :     Long = LongOrigin + Long * DEGREES_PER_RADIAN;
+     295        1777 :   }
+     296             : 
+     297             :   static inline void UTMtoLL(const double UTMNorthing, const double UTMEasting, std::string UTMZone, double& Lat, double& Long) {
+     298             :     UTMtoLL(UTMNorthing, UTMEasting, UTMZone.c_str(), Lat, Long);
+     299             :   }
+     300             : 
+     301             : }  // namespace mrs_lib
+     302             : 
+     303             : #endif  // _UTM_H
+
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100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/index.html b/mrs_lib/include/mrs_lib/impl/index.html new file mode 100644 index 0000000000..7ed5df4f98 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/index.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/implHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:36744682.3 %
Date:2024-02-24 08:13:25Functions:806138058.4 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
param_provider.hpp +
64.3%64.3%
+ 		64.3 %9 / 14100.0 %16 / 16
publisher_handler.hpp +
81.5%81.5%
+ 		81.5 %44 / 5497.5 %197 / 202
service_client_handler.hpp +
92.9%92.9%
+ 		92.9 %52 / 56100.0 %37 / 37
subscribe_handler.hpp +
81.7%81.7%
+ 		81.7 %98 / 12046.6 %487 / 1044
timer.hpp +
87.5%87.5%
+ 		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
vector_converter.hpp +
100.0%
+ 		100.0 %18 / 18100.0 %18 / 18
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func-sort-c.html new file mode 100644 index 0000000000..f026798c5a --- /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:2024-02-24 08:13:25Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParamImpl<std::vector<double, std::allocator<double> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<double, std::allocator<double> >&) const1449
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> >&) const1449
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> > > >&) const2827
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> > > >&) const2827
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const4097
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const4097
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> >&) const13660
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> >&) const13660
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const16255
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const16255
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const33074
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const33074
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html new file mode 100644 index 0000000000..5addde4009 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.func.html @@ -0,0 +1,144 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - param_provider.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:91464.3 %
Date:2024-02-24 08:13:25Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
bool mrs_lib::ParamProvider::getParamImpl<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&) const13660
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> > > >&) const2827
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> >&) const1449
bool mrs_lib::ParamProvider::getParamImpl<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParamImpl<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParamImpl<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const16255
bool mrs_lib::ParamProvider::getParamImpl<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const33074
bool mrs_lib::ParamProvider::getParamImpl<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const4097
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> >&) const13660
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> > > >&) const2827
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> >&) const1449
bool mrs_lib::ParamProvider::getParam<std::vector<float, std::allocator<float> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<float, std::allocator<float> >&) const10
bool mrs_lib::ParamProvider::getParam<std::vector<int, std::allocator<int> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<int, std::allocator<int> >&) const5
bool mrs_lib::ParamProvider::getParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&) const16255
bool mrs_lib::ParamProvider::getParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&) const33074
bool mrs_lib::ParamProvider::getParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&) const4097
+
+
+ + + +
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..4432cbd12b --- /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:2024-02-24 08:13:25Functions:1616100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef PARAM_PROVIDER_HPP
+       2             : #define PARAM_PROVIDER_HPP
+       3             : 
+       4             : #include <mrs_lib/param_provider.h>
+       5             : 
+       6             : namespace mrs_lib
+       7             : {
+       8             :   template <typename T>
+       9       71377 :   bool ParamProvider::getParam(const std::string& param_name, T& value_out) const
+      10             :   {
+      11             :     try
+      12             :     {
+      13       71377 :       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       71377 :   bool ParamProvider::getParamImpl(const std::string& param_name, T& value_out) const
+      24             :   {
+      25             :     {
+      26       71377 :       const auto found_node = findYamlNode(param_name);
+      27       71377 :       if (found_node.has_value())
+      28             :       {
+      29             :         try
+      30             :         {
+      31             :           // try catch is the only type-generic option...
+      32       61356 :           value_out = found_node.value().as<T>();
+      33       61356 :           return true;
+      34             :         }
+      35           0 :         catch (const YAML::BadConversion& e)
+      36             :         {}
+      37             :       }
+      38             : 
+      39             :     }
+      40             : 
+      41       10021 :     if (m_use_rosparam)
+      42       10021 :       return m_nh.getParam(param_name, value_out);
+      43             : 
+      44           0 :     return false;
+      45             :   }
+      46             : }
+      47             : 
+      48             : #endif // PARAM_PROVIDER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html new file mode 100644 index 0000000000..69615a5af4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.overview.html @@ -0,0 +1,32 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/param_provider.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/param_provider.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ade5b52da3b6b1fdc1937ea78b6f4e330848bd5b GIT binary patch literal 347 zcmeAS@N?(olHy`uVBq!ia0vp^0YGfP!VDx!PCqyTq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?exI8~cZ8YuYE)5S5wqIYZPZNU}=o)*3ZtZx{i z8u&c^ua)V4vEbQ`uWa8BH!8ks+tGO{D*FweDWeR>Vxdgy18WjYI0V;~sH}Yceuu!e z0;l^`b$NRN&slSXO8W};Xs>xVM=ia4YFWZ0Ew@EJE}d3Ju7autr`5k7@L&&0yLLsS zDBjGHPiM9KksV){!x#LxZ@Z~}-j3&;nl`5^?b8Y_Wi{U3e%V`LO6vLxN&VqovDxc< zWm#+Y&A45X$$2MVXKT~#-D!1_>~XuLzF#sey8p%D#18$4a?^(i^D?KlC?1vmcshZ# noy}F#!c60lb+eQ5{_FfwLML{x?EUc*=xGK|S3j3^P6 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-02-24 08:13:25Functions:19720297.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > const&)0
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)0
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > > const&)1
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)25
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)25
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&)25
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&)81
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)81
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&)81
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&)81
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&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)81
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&)81
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&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)81
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&)81
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&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)81
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&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)81
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&)81
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)81
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&)82
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&)82
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&)84
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)84
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&)84
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&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)163
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&)166
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)166
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&)166
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&)228
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)228
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&)228
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&)243
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)243
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&)243
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&)312
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)312
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&)312
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&)324
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)324
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&)324
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)329
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&)394
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&)394
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler<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&)465
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)465
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&)465
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
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&)486
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)486
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&)486
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&)600
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)600
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&)600
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1329
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1329
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1497
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1497
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1499
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1499
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1763
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1763
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1811
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1811
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2016
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2016
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6543
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6543
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)9035
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)9035
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9549
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9549
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)10085
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)10085
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)12717
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)12717
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)14940
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)14940
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)15280
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)15280
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)18927
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)18927
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)18927
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::publish(std_msgs::String_<std::allocator<void> > const&)18927
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)28269
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)28269
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)72079
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)72079
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)79626
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)79626
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)85959
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)85959
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)121773
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)121773
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)129230
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)131423
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)131423
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)169613
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)169613
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)197492
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)197492
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)300881
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)300889
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)306531
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)306572
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)416853
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)417304
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)587034
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)587537
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)657482
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)657489
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1182830
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1182937
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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..bbb7c4281a --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.func.html @@ -0,0 +1,888 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-02-24 08:13:25Functions:19720297.5 %
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&)131423
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&)324
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > > const&)324
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1329
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&)81
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)169613
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&)84
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > > const&)84
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)28269
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&)486
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > > const&)486
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)9035
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)72079
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&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)300889
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&)465
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > > const&)465
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)85959
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&)81
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)587537
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&)312
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > > const&)312
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6543
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > > const&)2
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > > const&)1
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1763
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&)81
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)12717
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&)81
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1182937
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&)600
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > > const&)600
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)417304
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&)228
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > > const&)228
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2016
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&)82
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > > const&)163
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&)79626
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)121773
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)15280
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&)81
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)18927
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&)81
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1811
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&)81
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1499
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&)81
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)14940
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
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&)81
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > > const&)162
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1497
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&)81
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)81
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)306531
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&)166
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > > const&)166
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)657489
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)129230
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&)394
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > > const&)329
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9549
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&)25
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > > const&)25
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)10085
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&)81
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > > const&)81
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&)18927
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&)81
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > > const&)81
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)197492
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&)243
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > > const&)243
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::publish(geometry_msgs::PoseArray_<std::allocator<void> > const&)131423
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&)324
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::publish(geometry_msgs::PoseStamped_<std::allocator<void> > const&)1329
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&)81
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::publish(geometry_msgs::QuaternionStamped_<std::allocator<void> > const&)169613
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&)84
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::publish(visualization_msgs::MarkerArray_<std::allocator<void> > const&)28269
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&)486
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::publish(mrs_msgs::ControlError_<std::allocator<void> > const&)9035
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorInput_<std::allocator<void> > const&)72079
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::publish(mrs_msgs::Float64Stamped_<std::allocator<void> > const&)300881
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&)465
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::publish(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)85959
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::publish(mrs_msgs::EstimatorOutput_<std::allocator<void> > const&)587034
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&)312
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::publish(mrs_msgs::HwApiRcChannels_<std::allocator<void> > const&)6543
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)2
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::publish(mrs_msgs::ObstacleSectors_<std::allocator<void> > const&)436
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::publish(mrs_msgs::FutureTrajectory_<std::allocator<void> > const&)1763
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::publish(mrs_msgs::DynamicsConstraints_<std::allocator<void> > const&)12717
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::publish(mrs_msgs::EstimatorCorrection_<std::allocator<void> > const&)1182830
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&)600
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::publish(mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)416853
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&)228
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)2016
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&)82
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&)79626
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const&)121773
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const&)15280
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const&)18927
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const&)1811
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const&)1499
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const&)14940
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::publish(mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const&)1497
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&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::publish(mrs_msgs::Path_<std::allocator<void> > const&)5
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int const&, bool const&, double const&)81
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::publish(mrs_msgs::UavState_<std::allocator<void> > const&)306572
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&)166
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::publish(nav_msgs::Odometry_<std::allocator<void> > const&)657482
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&)394
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::publish(std_msgs::Bool_<std::allocator<void> > const&)9549
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&)25
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::publish(std_msgs::Empty_<std::allocator<void> > const&)10085
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&)81
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&)18927
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&)81
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::publish(std_msgs::Float64_<std::allocator<void> > const&)197492
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&)243
+
+
+ + + +
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..a252b8b105 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.html @@ -0,0 +1,332 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib/impl - publisher_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-02-24 08:13:25Functions:19720297.5 %
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        5358 : PublisherHandler_impl<TopicType>::PublisherHandler_impl(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+      23        5358 :                                                         const double& rate) {
+      24             : 
+      25             :   {
+      26        5358 :     std::scoped_lock lock(mutex_publisher_);
+      27             : 
+      28        5358 :     publisher_ = nh.advertise<TopicType>(address, buffer_size, latch);
+      29             : 
+      30        5358 :     if (rate > 0.0) {
+      31             : 
+      32         568 :       throttle_ = true;
+      33             : 
+      34         568 :       throttle_min_dt_ = 1.0 / rate;
+      35             : 
+      36             :     } else {
+      37             : 
+      38        4790 :       throttle_ = false;
+      39             : 
+      40        4790 :       throttle_min_dt_ = 0;
+      41             :     }
+      42             : 
+      43        5358 :     last_time_published_ = ros::Time(0);
+      44             :   }
+      45             : 
+      46        5358 :   publisher_initialized_ = true;
+      47        5358 : }
+      48             : 
+      49             : //}
+      50             : 
+      51             : /* publish(TopicType& msg) //{ */
+      52             : 
+      53             : template <class TopicType>
+      54     4483531 : void PublisherHandler_impl<TopicType>::publish(const TopicType& msg) {
+      55             : 
+      56     4483531 :   if (!publisher_initialized_) {
+      57           0 :     return;
+      58             :   }
+      59             : 
+      60             :   {
+      61     4482893 :     std::scoped_lock lock(mutex_publisher_);
+      62             : 
+      63     4482931 :     if (throttle_) {
+      64             : 
+      65      238129 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      66      109811 :         return;
+      67             :       }
+      68             : 
+      69      128318 :       last_time_published_ = ros::Time::now();
+      70             :     }
+      71             : 
+      72             :     try {
+      73     4373120 :       publisher_.publish(msg);
+      74             :     }
+      75           0 :     catch (...) {
+      76           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+      77             :     }
+      78             :   }
+      79             : }
+      80             : 
+      81             : //}
+      82             : 
+      83             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+      84             : 
+      85             : template <class TopicType>
+      86             : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+      87             : 
+      88             :   if (!publisher_initialized_) {
+      89             :     return;
+      90             :   }
+      91             : 
+      92             :   {
+      93             :     std::scoped_lock lock(mutex_publisher_);
+      94             : 
+      95             :     if (throttle_) {
+      96             : 
+      97             :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+      98             :         return;
+      99             :       }
+     100             : 
+     101             :       last_time_published_ = ros::Time::now();
+     102             :     }
+     103             : 
+     104             :     try {
+     105             :       publisher_.publish(msg);
+     106             :     }
+     107             :     catch (...) {
+     108             :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     109             :     }
+     110             :   }
+     111             : }
+     112             : 
+     113             : //}
+     114             : 
+     115             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     116             : 
+     117             : template <class TopicType>
+     118           1 : void PublisherHandler_impl<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     119             : 
+     120           1 :   if (!publisher_initialized_) {
+     121           0 :     return;
+     122             :   }
+     123             : 
+     124             :   {
+     125           1 :     std::scoped_lock lock(mutex_publisher_);
+     126             : 
+     127           1 :     if (throttle_) {
+     128             : 
+     129           0 :       if ((ros::Time::now() - last_time_published_).toSec() < throttle_min_dt_) {
+     130           0 :         return;
+     131             :       }
+     132             : 
+     133           0 :       last_time_published_ = ros::Time::now();
+     134             :     }
+     135             : 
+     136             :     try {
+     137           1 :       publisher_.publish(msg);
+     138             :     }
+     139           0 :     catch (...) {
+     140           0 :       ROS_ERROR("exception caught during publishing topic '%s'", publisher_.getTopic().c_str());
+     141             :     }
+     142             :   }
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* getNumSubscribers(void) //{ */
+     148             : 
+     149             : template <class TopicType>
+     150             : unsigned int PublisherHandler_impl<TopicType>::getNumSubscribers(void) {
+     151             : 
+     152             :   {
+     153             :     std::scoped_lock lock(mutex_publisher_);
+     154             : 
+     155             :     return publisher_.getNumSubscribers();
+     156             :   }
+     157             : }
+     158             : 
+     159             : //}
+     160             : 
+     161             : // --------------------------------------------------------------
+     162             : // |                      PublisherHandler                      |
+     163             : // --------------------------------------------------------------
+     164             : 
+     165             : /* operator= //{ */
+     166             : 
+     167             : template <class TopicType>
+     168        6020 : PublisherHandler<TopicType>& PublisherHandler<TopicType>::operator=(const PublisherHandler<TopicType>& other) {
+     169             : 
+     170        6020 :   if (this == &other) {
+     171           0 :     return *this;
+     172             :   }
+     173             : 
+     174        6020 :   if (other.impl_) {
+     175        6020 :     this->impl_ = other.impl_;
+     176             :   }
+     177             : 
+     178        6020 :   return *this;
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* copy constructor //{ */
+     184             : 
+     185             : template <class TopicType>
+     186      129230 : PublisherHandler<TopicType>::PublisherHandler(const PublisherHandler<TopicType>& other) {
+     187             : 
+     188      129230 :   if (other.impl_) {
+     189      129230 :     this->impl_ = other.impl_;
+     190             :   }
+     191      129230 : }
+     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        5358 : PublisherHandler<TopicType>::PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size, const bool& latch,
+     199        5358 :                                               const double& rate) {
+     200             : 
+     201        5358 :   impl_ = std::make_shared<PublisherHandler_impl<TopicType>>(nh, address, buffer_size, latch, rate);
+     202        5358 : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : /* publish(const TopicType& msg) //{ */
+     207             : 
+     208             : template <class TopicType>
+     209     4484566 : void PublisherHandler<TopicType>::publish(const TopicType& msg) {
+     210             : 
+     211     4484566 :   impl_->publish(msg);
+     212     4485990 : }
+     213             : 
+     214             : //}
+     215             : 
+     216             : /* publish(const boost::shared_ptr<TopicType>& msg) //{ */
+     217             : 
+     218             : template <class TopicType>
+     219             : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType>& msg) {
+     220             : 
+     221             :   impl_->publish(msg);
+     222             : }
+     223             : 
+     224             : //}
+     225             : 
+     226             : /* publish(const boost::shared_ptr<TopicType const>& msg) //{ */
+     227             : 
+     228             : template <class TopicType>
+     229           1 : void PublisherHandler<TopicType>::publish(const boost::shared_ptr<TopicType const>& msg) {
+     230             : 
+     231           1 :   impl_->publish(msg);
+     232           1 : }
+     233             : 
+     234             : //}
+     235             : 
+     236             : /* getNumSubscribers(void) //{ */
+     237             : 
+     238             : template <class TopicType>
+     239             : unsigned int PublisherHandler<TopicType>::getNumSubscribers(void) {
+     240             : 
+     241             :   return impl_->getNumSubscribers();
+     242             : }
+     243             : 
+     244             : //}
+     245             : 
+     246             : }  // namespace mrs_lib
+     247             : 
+     248             : #endif  // PUBLISHER_HANDLER_HPP
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..4ab1195056 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.overview.html @@ -0,0 +1,82 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/publisher_handler.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/publisher_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..635f18b8a53237cee5f0d09d83c1fed5e41f3609 GIT binary patch literal 798 zcmV+(1L6FMP)q?p-?i-RjX(;YJ986rs_mRR+& z!Y<6?3J4QF(~^;O<*WMRe90>Mf*%@bz^-JM1R`wOATk#1l<#Kh5t#xM6ciL;M72mR zY3+(=b}l#HiYR zek5J0OjUl2b3~AfM3}NldX^B89V%|y>-BnWMVU50Nh#uTYieeBV(Jk+$~liRzI)FV z;#$bI77;o&INwVuRV0YKAW6xF26A_>#!Pm`*C-?WDSk`wD-`8fF!E4elK=F#?Q0=I z5jzWbgpbreMs4J*n#gmAcprXrs|Y_ou^R)EUnRt4e;?wADLUG08>pUbmseoD8+7$GdOSDvk4}F5 zcno{K%D|yA? zJma6R+lHy}NUmy_>Ljl>Qlt4jV;mm8`{!rI)}k-EK*F=z01|q5F~XT4GqEY86Sm~T c=jTZ84>I7)EiN$bBme*a07*qoM6N<$g7<4~+W-In literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.html new file mode 100644 index 0000000000..ba5ee475c9 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/service_client_handler.hpp.func-sort-c.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:2024-02-24 08:13:25Functions: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&)19
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)19
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)78
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)78
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)81
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)81
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)82
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)82
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)82
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)162
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)162
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)162
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)174
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)174
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)276
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)276
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)313
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)313
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)486
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)486
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)486
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)902
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)902
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)983
+
+
+ + + +
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..0aabbf6b66 --- /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:2024-02-24 08:13:25Functions: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&)78
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)82
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> const&)82
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)81
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)19
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::Vec1> const&)81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler<mrs_msgs::String>::call(mrs_msgs::String&)313
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)162
mrs_lib::ServiceClientHandler<mrs_msgs::String>::operator=(mrs_lib::ServiceClientHandler<mrs_msgs::String> const&)162
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::call(std_srvs::SetBool&)276
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)486
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::operator=(mrs_lib::ServiceClientHandler<std_srvs::SetBool> const&)486
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::initialize(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::call(std_srvs::Trigger&)174
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&)902
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::operator=(mrs_lib::ServiceClientHandler<std_srvs::Trigger> const&)902
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::call(mrs_msgs::ReferenceStampedSrv&)78
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)82
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::call(mrs_msgs::DynamicsConstraintsSrv&)81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::call(mrs_msgs::Vec1&)19
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec4>::call(mrs_msgs::Vec4&)1
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::call(mrs_msgs::String&)313
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)162
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::call(std_srvs::SetBool&)276
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::ServiceClientHandler_impl(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)486
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::call(std_srvs::Trigger&)174
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&)983
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + 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..0fcc9b274e --- /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
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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:2024-02-24 08:13:25Functions: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        1875 : ServiceClientHandler_impl<ServiceType>::ServiceClientHandler_impl(ros::NodeHandle& nh, const std::string& address) {
+      23             : 
+      24             :   {
+      25        1875 :     std::scoped_lock lock(mutex_service_client_);
+      26             : 
+      27        1875 :     service_client_ = nh.serviceClient<ServiceType>(address);
+      28             :   }
+      29             : 
+      30        1875 :   _address_       = address;
+      31        1875 :   async_attempts_ = 1;
+      32             : 
+      33             :   /* thread_oneshot_ = std::make_shared<std::thread>(std::thread(&ServiceClientHandler_impl::threadOneshot, this, true, false)); */
+      34             : 
+      35        1875 :   service_initialized_ = true;
+      36        1875 : }
+      37             : 
+      38             : //}
+      39             : 
+      40             : /* call(ServiceType& srv) //{ */
+      41             : 
+      42             : template <class ServiceType>
+      43         942 : bool ServiceClientHandler_impl<ServiceType>::call(ServiceType& srv) {
+      44             : 
+      45         942 :   if (!service_initialized_) {
+      46           0 :     return false;
+      47             :   }
+      48             : 
+      49         942 :   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        1794 : ServiceClientHandler<ServiceType>& ServiceClientHandler<ServiceType>::operator=(const ServiceClientHandler<ServiceType>& other) {
+     205             : 
+     206        1794 :   if (this == &other) {
+     207           0 :     return *this;
+     208             :   }
+     209             : 
+     210        1794 :   if (other.impl_) {
+     211        1794 :     this->impl_ = other.impl_;
+     212             :   }
+     213             : 
+     214        1794 :   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        1794 : ServiceClientHandler<ServiceType>::ServiceClientHandler(ros::NodeHandle& nh, const std::string& address) {
+     235             : 
+     236        1794 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     237        1794 : }
+     238             : 
+     239             : //}
+     240             : 
+     241             : /* initialize(ros::NodeHandle& nh, const std::string& address) //{ */
+     242             : 
+     243             : template <class ServiceType>
+     244          81 : void ServiceClientHandler<ServiceType>::initialize(ros::NodeHandle& nh, const std::string& address) {
+     245             : 
+     246          81 :   impl_ = std::make_shared<ServiceClientHandler_impl<ServiceType>>(nh, address);
+     247          81 : }
+     248             : 
+     249             : //}
+     250             : 
+     251             : /* call(ServiceType& srv) //{ */
+     252             : 
+     253             : template <class ServiceType>
+     254         942 : bool ServiceClientHandler<ServiceType>::call(ServiceType& srv) {
+     255             : 
+     256         942 :   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
+
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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
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Joy_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().20
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::~Impl().20
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::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::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~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::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::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> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()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::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::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::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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::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::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() 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::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::Path_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::getMsg()4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const4
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const6
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)8
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::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const10
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const15
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::hasMsg() const15
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const22
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().225
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().225
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().225
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().225
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().225
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().225
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const77
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const77
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const77
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const77
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&)81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const82
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const82
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().284
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::start()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().284
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()85
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::start()85
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const92
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::getMsg()97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::getMsg()97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::hasMsg() const97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const97
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const106
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()151
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&)151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::start()151
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&)151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const151
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const160
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::lastMsgTime() const160
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::start()162
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&)162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::start()162
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&)162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::start()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()162
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::start()162
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()165
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&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::start()165
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&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()187
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&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::start()187
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&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()225
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()225
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const225
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const225
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()243
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::start()243
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const243
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()249
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&)249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::start()249
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&)249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const250
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()256
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&)256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::start()256
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&)256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const256
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()268
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&)268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::start()268
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&)268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2268
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)294
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)294
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const299
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::lastMsgTime() const299
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()309
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::start()309
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const309
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()320
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&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::start()320
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&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const320
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::start()324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const324
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::start()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::start()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const349
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const350
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)386
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)386
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()419
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()419
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const419
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const419
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const441
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()480
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&)480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()480
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&)480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2480
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)531
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)531
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::hasMsg() const549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const549
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<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const653
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1497
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1497
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1498
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1498
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)1919
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)1919
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2333
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2333
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3115
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3115
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()3666
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()3666
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3666
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const3666
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)4560
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)4562
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const9550
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)11995
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)12024
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)12704
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)12704
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()13416
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const13416
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const13436
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()13441
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16278
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::hasMsg() const16278
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16891
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::hasMsg() const16896
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16967
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const16967
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const17143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const17143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const17180
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const17180
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)18019
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)18019
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()19342
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const19342
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()19343
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const19343
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)19690
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)19690
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::lastMsgTime() const31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const31787
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()37621
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const37624
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const37625
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()37627
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const45756
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const45756
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)52346
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)52346
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const58808
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::hasMsg() const58812
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()61512
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const61544
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const61546
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()61547
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const63119
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const63139
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)64507
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)64687
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)64833
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)65000
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)121714
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)121714
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const133133
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const133153
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()134476
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const134484
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()134487
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const134488
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::hasMsg() const148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const148054
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const163233
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const163280
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()163281
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()163292
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)164099
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&)164103
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)167720
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)167723
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)171584
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)171642
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const176002
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::lastMsgTime() const176002
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()189809
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()189814
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const189814
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const189814
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const205722
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const205724
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)279629
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)279702
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)280158
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)280172
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)291804
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)292162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)293264
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)293378
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)334879
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const335344
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()335439
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()335519
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const335594
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)335808
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::hasMsg() const337075
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const337151
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const355060
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::lastMsgTime() const355186
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)426285
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const> const&)426477
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)450613
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)450862
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const457789
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::hasMsg() const457799
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const457952
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const458478
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)525899
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)526147
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const631716
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()631721
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()631728
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const631808
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const809165
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const809191
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)829548
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)829783
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1008432
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1008816
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - subscribe_handler.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9812081.7 %
Date:2024-02-24 08:13:25Functions:487104446.6 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const> const&)335808
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::start()320
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&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2320
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&)334879
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()320
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&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::Impl::~Impl().2320
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)52346
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::start()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::getMsg()9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().225
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const> const&)52346
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::start()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::getMsg()9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::~Impl().225
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()162
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&)162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2162
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()162
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&)162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::Impl::~Impl().2162
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const> const&)280172
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::start()151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::getMsg()13416
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&)151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2151
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&)280158
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()151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::getMsg()13441
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&)151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::~Impl().2151
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&)164103
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::start()85
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()3666
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&)81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)164099
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()85
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::getMsg()3666
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&)81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const> const&)526147
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::start()256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()163292
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&)256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2256
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&)525899
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()256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::getMsg()163281
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&)256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::~Impl().2256
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)1008432
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::start()480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()631721
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&)480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2480
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&)1008816
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&)8
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::start()480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::getMsg()631728
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&)480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::~Impl().2480
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const> const&)829783
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::start()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::getMsg()225
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&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2187
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&)829548
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()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::getMsg()225
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&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::~Impl().2187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const> const&)293264
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::start()165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::getMsg()148054
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&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2165
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&)293378
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()165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::getMsg()148054
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&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::~Impl().2165
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&)292162
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::start()309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::getMsg()335519
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2309
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&)291804
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()309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::getMsg()335439
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::~Impl().2309
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const> const&)279702
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::start()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::getMsg()37621
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2324
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&)279629
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()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::getMsg()37627
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::~Impl().2324
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::TrackerCommand_<std::allocator<void> > const> const&)171584
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::start()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2162
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&)171642
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()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::Impl::~Impl().2162
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimatorOutput_<std::allocator<void> > const> const&)167723
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::start()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().284
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&)167720
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()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::Impl::~Impl().284
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const> const&)19690
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::start()81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::getMsg()549
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)19690
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()81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::getMsg()549
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ObstacleSectors_<std::allocator<void> > const> const&)386
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::start()81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::getMsg()419
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)386
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()81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::getMsg()419
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)294
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const> const&)294
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&)4562
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::start()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::getMsg()19342
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&)268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2268
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&)4560
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()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::getMsg()19343
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&)268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::~Impl().2268
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const> const&)12704
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::start()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)12704
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::start()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::~Impl().281
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::Impl::~Impl().281
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > const> const&)121714
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)121714
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > const> const&)65000
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()61512
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
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&)64833
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()349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::getMsg()61547
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)1919
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().210
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const> const&)1919
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::Impl::~Impl().210
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const> const&)531
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().225
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&)531
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::start()25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().225
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > const> const&)1498
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)1498
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const> const&)3115
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().225
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&)3115
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()25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::~Impl().225
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > const> const&)64687
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::getMsg()134476
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2349
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&)64507
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()349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::getMsg()134487
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().2349
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > const> const&)1497
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
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&)1497
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::start()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::ImplThreadsafe(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().281
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::data_callback(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::process_new_message(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const> const&)1
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::default_timeout_callback(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::start()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::Impl(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::~Impl().281
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const> const&)12024
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()97
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&)11995
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()97
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&)426477
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::start()243
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2243
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&)426285
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()243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::getMsg()0
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::~Impl().2243
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)450862
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::start()249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::getMsg()189809
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&)249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2249
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&)450613
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()249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::getMsg()189814
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&)249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::~Impl().2249
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::data_callback(boost::shared_ptr<std_msgs::Float64_<std::allocator<void> > const> const&)18019
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::stop()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::start()162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::getMsg()31787
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe()162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::~ImplThreadsafe().2162
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&)18019
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()162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::getMsg()31787
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl()0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::~Impl().2162
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]() const320
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::hasMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::peekMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
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]() const162
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16891
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const13416
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() const16896
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::Impl::peekMsg() const13436
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]() const151
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() const16278
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const3666
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() const16278
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::Impl::peekMsg() const3666
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]() const82
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const337151
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const163233
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() const337075
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::Impl::peekMsg() const163280
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]() const256
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const809191
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const631716
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]() const106
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::hasMsg() const809165
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::Impl::peekMsg() const631808
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]() const653
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const160
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const17143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const225
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() const160
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::hasMsg() const17143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::Impl::peekMsg() const225
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]() const187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const148054
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() const148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::Impl::peekMsg() const148054
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]() const165
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const355060
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::newMsg() const458478
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const335344
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() const355186
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::newMsg() const457952
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::Impl::peekMsg() const335594
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]() const309
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const58808
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const37625
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() const58812
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::Impl::peekMsg() const37624
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]() const324
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const15
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() const15
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]() const162
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]() const84
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const549
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() const549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::Impl::peekMsg() const549
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]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const299
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const2333
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const419
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() const299
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::hasMsg() const2333
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::Impl::peekMsg() const419
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]() const81
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]() const10
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]() const81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const17180
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const19342
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]() const82
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::hasMsg() const17180
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::Impl::peekMsg() const19343
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]() const350
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::peekMsg() const22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
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]() const81
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]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const81
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() const81
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]() const81
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const63119
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const61544
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() const63139
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const61546
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]() const349
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]() const10
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const16967
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() const16967
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const77
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() const77
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const25
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]() const81
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const133133
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const134484
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]() const92
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const133153
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const134488
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]() const441
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const77
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() const77
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::ImplThreadsafe::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::Impl::topicName[abi:cxx11]() const81
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const97
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() const97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::Impl::peekMsg() const97
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() const176002
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const205722
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() const176002
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::hasMsg() const205724
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::Impl::peekMsg() const0
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]() const243
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const457789
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const189814
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() const457799
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::Impl::peekMsg() const189814
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]() const250
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::lastMsgTime() const31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::hasMsg() const45756
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::ImplThreadsafe::peekMsg() const31787
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() const31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::hasMsg() const45756
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::newMsg() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::Impl::peekMsg() const31787
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]() const162
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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:9812081.7 %
Date:2024-02-24 08:13:25Functions:487104446.6 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          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        5296 :     Impl(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+      29        5296 :         : m_nh(options.nh),
+      30        5296 :           m_topic_name(options.topic_name),
+      31        5296 :           m_node_name(options.node_name),
+      32             :           m_got_data(false),
+      33             :           m_new_data(false),
+      34             :           m_used_data(false),
+      35        5296 :           m_timeout_manager(options.timeout_manager),
+      36             :           m_latest_message_time(0),
+      37             :           m_latest_message(nullptr),
+      38             :           m_message_callback(message_callback),
+      39        5296 :           m_queue_size(options.queue_size),
+      40        5296 :           m_transport_hints(options.transport_hints)
+      41             :     {
+      42        5296 :       if (options.no_message_timeout != mrs_lib::no_timeout)
+      43             :       {
+      44             :         // initialize a new TimeoutManager if not provided by the user
+      45          67 :         if (!m_timeout_manager)
+      46          67 :           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         134 :         std::function<void(const ros::Time&)> timeout_mgr_callback;
+      50          67 :         if (options.timeout_callback)
+      51           1 :           timeout_mgr_callback = std::bind(options.timeout_callback, topicName(), std::placeholders::_1);
+      52             :         else
+      53          66 :           timeout_mgr_callback = std::bind(&Impl::default_timeout_callback, this, topicName(), std::placeholders::_1);
+      54             : 
+      55             :         // register the timeout callback with the TimeoutManager
+      56          67 :         m_timeout_id = m_timeout_manager->registerNew(options.no_message_timeout, timeout_mgr_callback);
+      57             :       }
+      58             : 
+      59       15888 :       const std::string msg = "Subscribed to topic '" + m_topic_name + "' -> '" + topicName() + "'";
+      60        5296 :       if (m_node_name.empty())
+      61           1 :         ROS_INFO_STREAM(msg);
+      62             :       else
+      63        5295 :         ROS_INFO_STREAM("[" << m_node_name << "]: " << msg);
+      64        5296 :     }
+      65             :     //}
+      66             : 
+      67        5296 :     virtual ~Impl() = default;
+      68             : 
+      69             :   public:
+      70             :     /* getMsg() method //{ */
+      71     1781690 :     virtual typename MessageType::ConstPtr getMsg()
+      72             :     {
+      73     1781690 :       m_new_data = false;
+      74     1781690 :       m_used_data = true;
+      75     1781690 :       return peekMsg();
+      76             :     }
+      77             :     //}
+      78             : 
+      79             :     /* peekMsg() method //{ */
+      80     1781916 :     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     1781916 :       return m_latest_message;
+      87             :     }
+      88             :     //}
+      89             : 
+      90             :     /* hasMsg() method //{ */
+      91     2355772 :     virtual bool hasMsg() const
+      92             :     {
+      93     2355772 :       return m_got_data;
+      94             :     }
+      95             :     //}
+      96             : 
+      97             :     /* newMsg() method //{ */
+      98      457952 :     virtual bool newMsg() const
+      99             :     {
+     100      457952 :       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      563593 :     virtual ros::Time lastMsgTime() const
+     130             :     {
+     131      563593 :       return m_latest_message_time;
+     132             :     };
+     133             :     //}
+     134             : 
+     135             :     /* topicName() method //{ */
+     136        5645 :     virtual std::string topicName() const
+     137             :     {
+     138        5645 :       std::string ret = m_sub.getTopic();
+     139        5645 :       if (ret.empty())
+     140        5363 :         ret = m_nh.resolveName(m_topic_name);
+     141        5645 :       return ret;
+     142             :     }
+     143             :     //}
+     144             : 
+     145             :     /* start() method //{ */
+     146        5300 :     virtual void start()
+     147             :     {
+     148        5300 :       if (m_timeout_manager)
+     149          71 :         m_timeout_manager->start(m_timeout_id);
+     150        5300 :       m_sub = m_nh.subscribe(m_topic_name, m_queue_size, &Impl::data_callback, this, m_transport_hints);
+     151        5300 :     }
+     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           8 :     void default_timeout_callback(const std::string& topic_name, const ros::Time& last_msg)
+     196             :     {
+     197           8 :       const ros::Duration since_msg = (ros::Time::now() - last_msg);
+     198           8 :       const auto n_pubs = m_sub.getNumPublishers();
+     199          24 :       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           8 :       if (m_node_name.empty())
+     202           0 :         ROS_WARN_STREAM(txt);
+     203             :       else
+     204           8 :         ROS_WARN_STREAM("[" << m_node_name << "]: " << txt);
+     205           8 :     }
+     206             :     //}
+     207             : 
+     208             :     /* process_new_message() method //{ */
+     209     5604079 :     void process_new_message(const typename MessageType::ConstPtr& msg)
+     210             :     {
+     211     5604079 :       m_latest_message_time = ros::Time::now();
+     212     5606709 :       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     5605562 :       m_new_data = !m_message_callback;
+     216     5600621 :       m_got_data = true;
+     217     5600621 :       m_new_data_cv.notify_one();
+     218     5607962 :     }
+     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        5296 :     ImplThreadsafe(const SubscribeHandlerOptions& options, const message_callback_t& message_callback = message_callback_t())
+     254        5296 :         : impl_class_t::Impl(options, message_callback)
+     255             :     {
+     256        5296 :     }
+     257             : 
+     258             :   public:
+     259     2355813 :     virtual bool hasMsg() const override
+     260             :     {
+     261     4711400 :       std::lock_guard lck(m_mtx);
+     262     4711465 :       return impl_class_t::hasMsg();
+     263             :     }
+     264      458478 :     virtual bool newMsg() const override
+     265             :     {
+     266      916250 :       std::lock_guard lck(m_mtx);
+     267      915482 :       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     1781691 :     virtual typename MessageType::ConstPtr getMsg() override
+     275             :     {
+     276     3562578 :       std::lock_guard lck(m_mtx);
+     277     3562714 :       return impl_class_t::getMsg();
+     278             :     }
+     279     1781501 :     virtual typename MessageType::ConstPtr peekMsg() const override
+     280             :     {
+     281     3562659 :       std::lock_guard lck(m_mtx);
+     282     3562269 :       return impl_class_t::peekMsg();
+     283             :     }
+     284      563467 :     virtual ros::Time lastMsgTime() const override
+     285             :     {
+     286     1127002 :       std::lock_guard lck(m_mtx);
+     287     1126938 :       return impl_class_t::lastMsgTime();
+     288             :     };
+     289         281 :     virtual std::string topicName() const override
+     290             :     {
+     291         563 :       std::lock_guard lck(m_mtx);
+     292         564 :       return impl_class_t::topicName();
+     293             :     };
+     294        5300 :     virtual void start() override
+     295             :     {
+     296       10600 :       std::lock_guard lck(m_mtx);
+     297       10600 :       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       10592 :     virtual ~ImplThreadsafe() override = default;
+     306             : 
+     307             :   protected:
+     308     5606206 :     virtual void data_callback(const typename MessageType::ConstPtr& msg) override
+     309             :     {
+     310             :       {
+     311    11209112 :         std::scoped_lock lck(m_mtx, this->m_new_data_mtx);
+     312     5588742 :         if (this->m_timeout_manager)
+     313      136520 :           this->m_timeout_manager->reset(this->m_timeout_id);
+     314     5566363 :         impl_class_t::process_new_message(msg);
+     315             :       }
+     316             : 
+     317             :       // execute the callback after unlocking the mutex to enable multi-threaded callback execution
+     318     5586791 :       if (this->m_message_callback)
+     319     3117275 :         impl_class_t::m_message_callback(msg);
+     320     5583285 :     }
+     321             : 
+     322             :   private:
+     323             :     mutable std::recursive_mutex m_mtx;
+     324             :   };
+     325             :   //}
+     326             : 
+     327             : }  // namespace mrs_lib
+     328             : 
+     329             : #endif  // SUBSCRIBE_HANDLER_HPP
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html new file mode 100644 index 0000000000..02a4b3f18a --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.overview.html @@ -0,0 +1,103 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.png b/mrs_lib/include/mrs_lib/impl/subscribe_handler.hpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..039a0b123a5be30b6b86ab27f511bc7c3edec5e5 GIT binary patch literal 1372 zcmV-i1*7_jP)PbXF zRA_$hj4@iQ$tY%%8HH^zS zW6cEpSWW-;D~SoWLPH?$vi4?$WWPqq&<)@QNwyBXCKhLurC>WWYYu4IJlu$ zh0YNwZba1sMI@ur1}1BoodzD`chMU0CaKq2J9ixq7b9FNBgj=2+oknPWgKADO5G|$ z>eIT=*2XV9fVDuGImIaQ6XuE50Sgsx4$L#=nuacVL?du^pqon%e$h)2Vvk6+u8nZs zjx+Zqpu{l^MF&#YAg*mDmw38zD>niv>=>g1Y{)AkW3Alcmgy#!WyFrOy_0myUJ6_8 zl??RO5dbY8Iw~0t^PG{`_6CpnB$bS^2Cw5*r3_Ao`HaTz5^*V>WB}_WkzB(11Pgh{ zwF5T;n+?!GY1~KxbH>ImZg*A98Oz(|zj=OvdFBhi?Y8gxW8d$`m;bmC z;{ZOWe`|ra9q8@cD{_kOGtV@Bl6jIsJAQnWUo^@@-Ue2%Sn>~9-!O~45hB|+0PhF# zktMx@bVJXyga{Yj1HtF|Ka}ySkF8iDdwn{0W;U4X8z7{D=D(l^)j;B_@EHb zdvD;*W_H=wUCK(Siv5XYk4v0A>u)c6({-u&<7$5~OX^|8?%vajS5_rekW=7_^&h}#8KHO$DWFb9 z$XyNU*`aiHp)yKF7hT|1BiGss3zUS?X)AYbSqF9y1t0^&LcR*`syj6#D~ zhi2rCwpMspEJoTa1-O{QlrW!JDi?GDnS1Zsr*&W)k!5&&My;fM5F zeG#ZYx^-W(*vofU8BnJ+I>@2Ysb?|(H`@!F)+e#Ysy5BPqfC2-M0L=$XGmpp<+ixJ zJ{B26<*ex|2(_txg=g5~eRQwlBg&BXq}0lwBaMNTKB5fS+!vmG3=bf_rVLe7D3!6- zDyl}nw<|-RO6iwo_M+4$lzEx8c%XPp4|e2A-Nr6TAaV4>F{tgYn#RyYn&o;lW?FG= zwXUZO!Ft0ayWtv&90CDPudjtwT&FZWxrWM&fbYm3<;_%-^cyno{9aucTl%v9o+2CG eIJickaQ^@zmyh{xOPAyT0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-02-24 08:13:25Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ThreadTimer::ThreadTimer<obj_t>(ros::NodeHandle const&, ros::Duration const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
mrs_lib::ROSTimer::ROSTimer<obj_t>(ros::NodeHandle const&, ros::Rate const&, void (obj_t::*)(ros::TimerEvent const&), obj_t*, bool, bool)8
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.func.html new file mode 100644 index 0000000000..c879789888 --- /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:2024-02-24 08:13:25Functions: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:2024-02-24 08:13:25Functions: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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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html new file mode 100644 index 0000000000..b7e96440c1 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/timer.hpp.gcov.overview.html @@ -0,0 +1,44 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/timer.hpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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:2024-02-24 08:13:25Functions:404883.3 %
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Function Name Sort by function nameHit count Sort by hit count
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::doTransform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
geometry_msgs::Quaternion_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3Stamped_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Point_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::Transformer::copyChangeFrame<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
cv::Point3_<double> mrs_lib::Transformer::copyChangeFrame<cv::Point3_<double> >(cv::Point3_<double> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
Eigen::Quaternion<double, 0> mrs_lib::Transformer::copyChangeFrame<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
void mrs_lib::Transformer::setHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)0
std::optional<cv::Point3_<double> > mrs_lib::Transformer::doTransform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transformImpl<cv::Point3_<double> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, cv::Point3_<double> const&)1
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transformImpl<Eigen::Quaternion<double, 0> >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, Eigen::Quaternion<double, 0> const&)2
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)5
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::Quaternion_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Quaternion_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Quaternion_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)6
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Point_<std::allocator<void> > const&)16
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::doTransform<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)18
std::optional<geometry_msgs::Vector3_<std::allocator<void> > > mrs_lib::Transformer::transformImpl<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::TransformStamped_<std::allocator<void> > const&, geometry_msgs::Vector3_<std::allocator<void> > const&)18
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)471
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)20582
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&)20582
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)20582
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&)20628
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)20628
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&)80671
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&)82711
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&)140916
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)140916
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&)239127
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&)259607
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&)259752
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&)259756
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)280388
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&)521511
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&)522023
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&)554239
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&)629719
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&)629768
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)629858
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&)630354
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&)630354
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)662713
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&)695156
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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..d9d3e1fb12 --- /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:2024-02-24 08:13:25Functions: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&)554239
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&)239127
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&)630354
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&)695156
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&)259756
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&)630354
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&)140916
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&)20628
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&)522023
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&)521511
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&)259607
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&)259752
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&)629768
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&)629719
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&)20582
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&)20582
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> > const&)662713
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> > const&)280388
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&)629858
std_msgs::Header_<std::allocator<void> > mrs_lib::Transformer::getHeader<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)20582
void mrs_lib::Transformer::setHeader<geometry_msgs::PoseStamped_<std::allocator<void> > >(geometry_msgs::PoseStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)140916
void mrs_lib::Transformer::setHeader<geometry_msgs::PointStamped_<std::allocator<void> > >(geometry_msgs::PointStamped_<std::allocator<void> >&, std_msgs::Header_<std::allocator<void> > const&)20628
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&)82711
std::optional<geometry_msgs::Vector3Stamped_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Vector3Stamped_<std::allocator<void> > >(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)471
std::optional<geometry_msgs::Point_<std::allocator<void> > > mrs_lib::Transformer::transform<geometry_msgs::Point_<std::allocator<void> > >(geometry_msgs::Point_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)4
std::optional<cv::Point3_<double> > mrs_lib::Transformer::transform<cv::Point3_<double> >(cv::Point3_<double> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
std::optional<Eigen::Quaternion<double, 0> > mrs_lib::Transformer::transform<Eigen::Quaternion<double, 0> >(Eigen::Quaternion<double, 0> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)2
std::optional<Eigen::Matrix<double, 3, 1, 0, 3, 1> > mrs_lib::Transformer::transform<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)6
std::optional<mrs_msgs::ReferenceStamped_<std::allocator<void> > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)80671
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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:2024-02-24 08:13:25Functions: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     1593541 :   std_msgs::Header Transformer::getHeader(const msg_t& msg)
+      15             :   {
+      16     1593541 :     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      161544 :   void Transformer::setHeader(msg_t& msg, const std_msgs::Header& header)
+      33             :   {
+      34      161544 :     msg.header = header;
+      35      161544 :   }
+      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      161544 :   T Transformer::copyChangeFrame(const T& what, const std::string& frame_id)
+      49             :   {
+      50      161544 :     T ret = what;
+      51             :     if constexpr (has_header_member_v<T>)
+      52             :     {
+      53      323088 :       std_msgs::Header new_header = getHeader(what);
+      54      161544 :       new_header.frame_id = frame_id;
+      55      161544 :       setHeader(ret, new_header);
+      56             :     }
+      57      161544 :     return ret;
+      58             :   }
+      59             : 
+      60             :   //}
+      61             : 
+      62             :   /* transformImpl() //{ */
+      63             : 
+      64             :   template <class T>
+      65     1585309 :   std::optional<T> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const T& what)
+      66             :   {
+      67     3170592 :     const std::string from_frame = frame_from(tf);
+      68     3170574 :     const std::string to_frame = frame_to(tf);
+      69             : 
+      70     1585292 :     if (from_frame == to_frame)
+      71      161544 :       return copyChangeFrame(what, from_frame);
+      72             : 
+      73     2847504 :     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      793386 :       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      793381 :       else if (to_frame == latlon_frame_name)
+      89             :       {
+      90        3552 :         const std::optional<T> tmp = doTransform(what, tf);
+      91        1777 :         if (!tmp.has_value())
+      92           0 :           return std::nullopt;
+      93        1777 :         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      630383 :       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     1421986 :     return doTransform(what, tf);
+     108             :   }
+     109             : 
+     110             :   //}
+     111             : 
+     112             :   /* doTransform() //{ */
+     113             : 
+     114             :   template <class T>
+     115     1423761 :   std::optional<T> Transformer::doTransform(const T& what, const geometry_msgs::TransformStamped& tf)
+     116             :   {
+     117             :     try
+     118             :     {
+     119     2847410 :       T result;
+     120     1423741 :       tf2::doTransform(what, result, tf);
+     121     1423750 :       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     1431564 :   std::optional<T> Transformer::transformSingle(const T& what, const std::string& to_frame_raw)
+     139             :   {
+     140     2864271 :     const std_msgs::Header orig_header = getHeader(what);
+     141     2863998 :     return transformSingle(orig_header.frame_id, what, to_frame_raw, orig_header.stamp);
+     142             :   }
+     143             : 
+     144             :   template <class T>
+     145     1431981 :   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     2864693 :     std::scoped_lock lck(mutex_);
+     148             : 
+     149     1432729 :     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     2865431 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+     156     2865414 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+     157     2865399 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+     158             : 
+     159             :     // get the transform
+     160     2865424 :     const auto tf_opt = getTransformImpl(from_frame, to_frame, time_stamp, latlon_frame);
+     161     1432735 :     if (!tf_opt.has_value())
+     162       11319 :       return std::nullopt;
+     163     1421389 :     const geometry_msgs::TransformStamped& tf = tf_opt.value();
+     164             : 
+     165             :     // do the transformation
+     166     2842800 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     167     1421399 :     return transformImpl(tf_resolved, what);
+     168             :   }
+     169             : 
+     170             :   //}
+     171             : 
+     172             :   /* transform() //{ */
+     173             : 
+     174             :   template <class T>
+     175      163871 :   std::optional<T> Transformer::transform(const T& what, const geometry_msgs::TransformStamped& tf)
+     176             :   {
+     177      327742 :     std::scoped_lock lck(mutex_);
+     178             : 
+     179      163871 :     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      327742 :     const std::string from_frame = resolveFrameImpl(frame_from(tf));
+     186      327742 :     const std::string to_frame = resolveFrameImpl(frame_to(tf));
+     187      327742 :     const geometry_msgs::TransformStamped tf_resolved = create_transform(from_frame, to_frame, tf.header.stamp, tf.transform);
+     188             : 
+     189      163871 :     return transformImpl(tf_resolved, what);
+     190             :   }
+     191             : 
+     192             :   /* //} */
+     193             : 
+     194             : }
+     195             : 
+     196             : #endif // TRANSFORMER_HPP
+
+
+
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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:2024-02-24 08:13:25Functions: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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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/ukf.hpp.func.html b/mrs_lib/include/mrs_lib/impl/ukf.hpp.func.html new file mode 100644 index 0000000000..7b00f00f72 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/ukf.hpp.func.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/ukf.hpp - functions + + + + + + + + + + + + + + +
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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:2024-02-24 08:13:25Functions: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:2024-02-24 08:13:25Functions: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
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+ + + 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 + + +
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+ + 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/impl/vector_converter.hpp.func-sort-c.html b/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func-sort-c.html new file mode 100644 index 0000000000..6112ec72d2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func-sort-c.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/vector_converter.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1818100.0 %
Date:2024-02-24 08:13:25Functions:1818100.0 %
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Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(double, double, double)8
cv::Vec<double, 3> mrs_lib::impl::convertTo<cv::Vec<double, 3> >(double, double, double)8
cv::Vec<float, 3> mrs_lib::impl::convertTo<cv::Vec<float, 3> >(double, double, double)8
pcl::PointXYZ mrs_lib::impl::convertTo<pcl::PointXYZ>(double, double, double)8
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(double, double, double)8
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(double, double, double)8
std::enable_if<has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<double, 3> >)&&(!(has_xfun_v<cv::Vec<double, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<double, 3> >(cv::Vec<double, 3> const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<float, 3> >)&&(!(has_xfun_v<cv::Vec<float, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<float, 3> >(cv::Vec<float, 3> const&)14
std::enable_if<has_xmem_v<pcl::PointXYZ>, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<pcl::PointXYZ>(pcl::PointXYZ const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)14
std::enable_if<(!(has_xyz_constructor_v<geometry_msgs::Vector3_<std::allocator<void> > >))&&(has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >), void>::type mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> >&, double, double, double)14
std::enable_if<has_xyz_constructor_v<cv::Vec<double, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<double, 3> >(cv::Vec<double, 3>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<cv::Vec<float, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<float, 3> >(cv::Vec<float, 3>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<pcl::PointXYZ>, void>::type mrs_lib::impl::convertTo<pcl::PointXYZ>(pcl::PointXYZ&, double, double, double)14
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&, double, double, double)14
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1>&, double, double, double)14
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func.html b/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func.html new file mode 100644 index 0000000000..488007f6e9 --- /dev/null +++ b/mrs_lib/include/mrs_lib/impl/vector_converter.hpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/impl/vector_converter.hpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1818100.0 %
Date:2024-02-24 08:13:25Functions:1818100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::enable_if<has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<double, 3> >)&&(!(has_xfun_v<cv::Vec<double, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<double, 3> >(cv::Vec<double, 3> const&)14
std::enable_if<(has_squarebracket_operator_v<cv::Vec<float, 3> >)&&(!(has_xfun_v<cv::Vec<float, 3> >)), std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<cv::Vec<float, 3> >(cv::Vec<float, 3> const&)14
std::enable_if<has_xmem_v<pcl::PointXYZ>, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<pcl::PointXYZ>(pcl::PointXYZ const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)14
std::enable_if<has_xfun_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, std::tuple<double, double, double> >::type mrs_lib::impl::convertFrom<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)14
std::enable_if<(!(has_xyz_constructor_v<geometry_msgs::Vector3_<std::allocator<void> > >))&&(has_xmem_v<geometry_msgs::Vector3_<std::allocator<void> > >), void>::type mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> >&, double, double, double)14
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::impl::convertTo<geometry_msgs::Vector3_<std::allocator<void> > >(double, double, double)8
std::enable_if<has_xyz_constructor_v<cv::Vec<double, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<double, 3> >(cv::Vec<double, 3>&, double, double, double)14
cv::Vec<double, 3> mrs_lib::impl::convertTo<cv::Vec<double, 3> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<cv::Vec<float, 3> >, void>::type mrs_lib::impl::convertTo<cv::Vec<float, 3> >(cv::Vec<float, 3>&, double, double, double)14
cv::Vec<float, 3> mrs_lib::impl::convertTo<cv::Vec<float, 3> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<pcl::PointXYZ>, void>::type mrs_lib::impl::convertTo<pcl::PointXYZ>(pcl::PointXYZ&, double, double, double)14
pcl::PointXYZ mrs_lib::impl::convertTo<pcl::PointXYZ>(double, double, double)8
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<double, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1>&, double, double, double)14
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(double, double, double)8
std::enable_if<has_xyz_constructor_v<Eigen::Matrix<float, 3, 1, 0, 3, 1> >, void>::type mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1>&, double, double, double)14
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::impl::convertTo<Eigen::Matrix<float, 3, 1, 0, 3, 1> >(double, double, double)8
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib/impl - vector_converter.hpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1818100.0 %
Date:2024-02-24 08:13:25Functions:1818100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file vector_converter.hpp
+       2             :      \brief Implements the convertTo() and convertFrom() functions for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).
+       3             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       4             :  */
+       5             : #ifndef VECTOR_CONVERTER_HPP
+       6             : #define VECTOR_CONVERTER_HPP
+       7             : 
+       8             : #include <experimental/type_traits>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             :   namespace impl
+      13             :   {
+      14             :     using unw_t = std::tuple<double, double, double>;
+      15             : 
+      16             :     /* SFINAE magic - only for black wizards! //{ */
+      17             :     
+      18             :     #define GENERATE_HAS_MEMBER_FUNC(func, rettype)                                \
+      19             :     template<class T> using _has_##func##fun_chk =                                 \
+      20             :           decltype(std::declval<T &>().func());                                    \
+      21             :     template<class T> constexpr bool has_##func##fun_v =                           \
+      22             :           std::experimental::is_detected_convertible_v<rettype, _has_##func##fun_chk, T>;
+      23             :     
+      24             :     #define GENERATE_HAS_MEMBER(memb, type)                                        \
+      25             :     template<class T> using _has_##memb##mem_chk =                                 \
+      26             :           decltype(std::declval<T &>().memb);                                      \
+      27             :     template<class T> constexpr bool has_##memb##mem_v =                           \
+      28             :           std::experimental::is_detected_convertible_v<type, _has_##memb##mem_chk, T>;
+      29             :     
+      30             :     GENERATE_HAS_MEMBER_FUNC(x, double)
+      31             :     GENERATE_HAS_MEMBER(x, double)
+      32             : 
+      33             :     template<class T> using _has_squarebracket_operator_chk = decltype(std::declval<T &>()[0]);
+      34             :     template<class T> constexpr bool has_squarebracket_operator_v = std::experimental::is_detected_convertible_v<double, _has_squarebracket_operator_chk, T>;
+      35             : 
+      36             :     template<class T> constexpr bool has_xyz_constructor_v = std::experimental::is_constructible_v<T, double, double, double>;
+      37             :     
+      38             :     //}
+      39             : 
+      40             :     // convertFrom specialization for Eigen types
+      41             :     template <typename in_t>
+      42          28 :     std::enable_if_t<has_xfun_v<in_t>, unw_t> convertFrom(const in_t& in)
+      43             :     {
+      44          28 :       return {in.x(), in.y(), in.z()};
+      45             :     }
+      46             : 
+      47             :     // convertFrom specialization for plain member types
+      48             :     template <typename in_t>
+      49          28 :     std::enable_if_t<has_xmem_v<in_t>, unw_t> convertFrom(const in_t& in)
+      50             :     {
+      51          28 :       return {in.x, in.y, in.z};
+      52             :     }
+      53             : 
+      54             :     // convertFrom specialization for OpenCV vectors
+      55             :     template <typename in_t>
+      56          28 :     std::enable_if_t<has_squarebracket_operator_v<in_t> && !has_xfun_v<in_t>, unw_t> convertFrom(const in_t& in)
+      57             :     {
+      58          28 :       return {in[0], in[1], in[2]};
+      59             :     }
+      60             : 
+      61             :     // convertTo specialization for types with a constructor that takes three doubles
+      62             :     template <typename ret_t>
+      63          70 :     std::enable_if_t<has_xyz_constructor_v<ret_t>, void> convertTo(ret_t& out, const double x, const double y, const double z)
+      64             :     {
+      65          70 :       out = {x, y, z};
+      66          70 :     }
+      67             : 
+      68             :     // convertTo specialization for other types
+      69             :     template <typename ret_t>
+      70          14 :     std::enable_if_t<!has_xyz_constructor_v<ret_t> && has_xmem_v<ret_t>, void> convertTo(ret_t& out, const double x, const double y, const double z)
+      71             :     {
+      72          14 :       out.x = x;
+      73          14 :       out.y = y;
+      74          14 :       out.z = z;
+      75          14 :     }
+      76             : 
+      77             :     template <typename ret_t>
+      78          48 :     ret_t convertTo(const double x, const double y, const double z)
+      79             :     {
+      80          48 :       ret_t ret;
+      81          48 :       convertTo(ret, x, y, z);
+      82          48 :       return ret;
+      83             :     }
+      84             : 
+      85             :   }  // namespace impl
+      86             : 
+      87             : }  // namespace mrs_lib
+      88             : 
+      89             : #endif // VECTOR_CONVERTER_HPP
+
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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
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0.0%
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dynamic_reconfigure_mgr.h +
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scope_timer.h +
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msg_extractor.h +
33.3%33.3%
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<unnamed>33.3 %33 / 9934.1 %15 / 44
repredictor.h +
90.1%90.1%
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subscribe_handler.h +
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lkf.h +
81.5%81.5%
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<unnamed>81.5 %44 / 5453.2 %25 / 47
transformer.h +
85.0%85.0%
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<unnamed>85.0 %51 / 6077.8 %14 / 18
attitude_converter.h +
85.2%85.2%
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<unnamed>85.2 %23 / 2781.8 %9 / 11
mutex.h +
100.0%
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<unnamed>100.0 %11 / 1182.3 %65 / 79
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
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timeout_manager.h +
100.0%
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<unnamed>100.0 %4 / 4-0 / 0
visual_object.h +
100.0%
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<unnamed>100.0 %2 / 2100.0 %1 / 1
quadratic_throttle_model.h +
100.0%
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<unnamed>100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
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<unnamed>76.5 %104 / 136100.0 %4 / 4
utils.h +
100.0%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
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100.0%
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vector_converter.h +
100.0%
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90.3%90.3%
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Test:MRS UAV System - Test coverage reportLines:78198579.3 %
Date:2024-02-24 08:13:25Functions:832133862.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
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0.0%
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33.3%33.3%
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msg_extractor.h +
33.3%33.3%
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<unnamed>33.3 %33 / 9934.1 %15 / 44
dynamic_reconfigure_mgr.h +
65.5%65.5%
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<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
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lkf.h +
81.5%81.5%
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85.0%85.0%
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<unnamed>85.0 %51 / 6077.8 %14 / 18
attitude_converter.h +
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<unnamed>85.2 %23 / 2781.8 %9 / 11
subscribe_handler.h +
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<unnamed>89.8 %44 / 4952.7 %387 / 735
repredictor.h +
90.1%90.1%
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<unnamed>90.1 %100 / 11145.5 %20 / 44
param_loader.h +
90.3%90.3%
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<unnamed>90.3 %271 / 300100.0 %78 / 78
visual_object.h +
100.0%
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<unnamed>100.0 %2 / 2100.0 %1 / 1
service_client_handler.h +
100.0%
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<unnamed>100.0 %3 / 3100.0 %18 / 18
timeout_manager.h +
100.0%
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<unnamed>100.0 %4 / 4-0 / 0
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
quadratic_throttle_model.h +
100.0%
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<unnamed>100.0 %4 / 4100.0 %2 / 2
publisher_handler.h +
100.0%
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<unnamed>100.0 %4 / 499.2 %118 / 119
vector_converter.h +
100.0%
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<unnamed>100.0 %5 / 5100.0 %36 / 36
mutex.h +
100.0%
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utils.h +
100.0%
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Test:MRS UAV System - Test coverage reportLines:78198579.3 %
Date:2024-02-24 08:13:25Functions:832133862.2 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
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85.2%85.2%
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<unnamed>85.2 %23 / 2781.8 %9 / 11
dynamic_reconfigure_mgr.h +
65.5%65.5%
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<unnamed>65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
76.5%76.5%
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<unnamed>76.5 %104 / 136100.0 %4 / 4
lkf.h +
81.5%81.5%
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<unnamed>81.5 %44 / 5453.2 %25 / 47
msg_extractor.h +
33.3%33.3%
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<unnamed>33.3 %33 / 9934.1 %15 / 44
mutex.h +
100.0%
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<unnamed>100.0 %11 / 1182.3 %65 / 79
param_loader.h +
90.3%90.3%
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<unnamed>90.3 %271 / 300100.0 %78 / 78
publisher_handler.h +
100.0%
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<unnamed>100.0 %4 / 499.2 %118 / 119
quadratic_throttle_model.h +
100.0%
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<unnamed>100.0 %4 / 4100.0 %2 / 2
repredictor.h +
90.1%90.1%
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<unnamed>90.1 %100 / 11145.5 %20 / 44
scope_timer.h +
33.3%33.3%
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<unnamed>33.3 %2 / 633.3 %1 / 3
service_client_handler.h +
100.0%
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<unnamed>100.0 %3 / 3100.0 %18 / 18
subscribe_handler.h +
89.8%89.8%
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<unnamed>89.8 %44 / 4952.7 %387 / 735
timeout_manager.h +
100.0%
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<unnamed>100.0 %4 / 4-0 / 0
timer.h +
100.0%
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<unnamed>100.0 %4 / 485.7 %6 / 7
transformer.h +
85.0%85.0%
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ukf.h +
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utils.h +
100.0%
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<unnamed>100.0 %15 / 15100.0 %5 / 5
vector_converter.h +
100.0%
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<unnamed>100.0 %5 / 5100.0 %36 / 36
visual_object.h +
100.0%
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Test:MRS UAV System - Test coverage reportLines:78198579.3 %
Date:2024-02-24 08:13:25Functions:832133862.2 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
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dynamic_reconfigure_mgr.h +
65.5%65.5%
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scope_timer.h +
33.3%33.3%
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msg_extractor.h +
33.3%33.3%
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repredictor.h +
90.1%90.1%
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subscribe_handler.h +
89.8%89.8%
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lkf.h +
81.5%81.5%
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transformer.h +
85.0%85.0%
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attitude_converter.h +
85.2%85.2%
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mutex.h +
100.0%
+ 		100.0 %11 / 1182.3 %65 / 79
timer.h +
100.0%
+ 		100.0 %4 / 485.7 %6 / 7
publisher_handler.h +
100.0%
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timeout_manager.h +
100.0%
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visual_object.h +
100.0%
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quadratic_throttle_model.h +
100.0%
+ 		100.0 %4 / 4100.0 %2 / 2
gps_conversions.h +
76.5%76.5%
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utils.h +
100.0%
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service_client_handler.h +
100.0%
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vector_converter.h +
100.0%
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param_loader.h +
90.3%90.3%
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Date:2024-02-24 08:13:25Functions:832133862.2 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
ukf.h +
0.0%
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scope_timer.h +
33.3%33.3%
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msg_extractor.h +
33.3%33.3%
+ 		33.3 %33 / 9934.1 %15 / 44
dynamic_reconfigure_mgr.h +
65.5%65.5%
+ 		65.5 %57 / 8732.9 %28 / 85
gps_conversions.h +
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:78198579.3 %
Date:2024-02-24 08:13:25Functions:832133862.2 %
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
attitude_converter.h +
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dynamic_reconfigure_mgr.h +
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LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - lkf.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:445481.5 %
Date:2024-02-24 08:13:25Functions:254753.2 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<3, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 3, 3, 0, 3, 3> (double)> const&, std::function<Eigen::Matrix<double, 3, 1, 0, 3, 1> (double)> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)0
mrs_lib::varstepLKF<6, 2, 2>::varstepLKF(std::function<Eigen::Matrix<double, 6, 6, 0, 6, 6> (double)> const&, std::function<Eigen::Matrix<double, 6, 2, 0, 6, 2> (double)> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)0
mrs_lib::LKF<2, 1, 1>::LKF(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)0
mrs_lib::LKF<3, 1, 1>::LKF()0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 4, 1, 0, 4, 1> >::type mrs_lib::LKF<4, 1, 2>::state_predict<1>(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)0
mrs_lib::LKF<4, 1, 2>::covariance_predict(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double)0
mrs_lib::LKF<4, 1, 2>::correction_optimized(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)0
mrs_lib::LKF<4, 1, 2>::LKF(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::LKF()0
mrs_lib::LKF<6, 2, 2>::LKF()0
mrs_lib::varstepLKF<3, 1, 1>::predict(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double) const0
mrs_lib::varstepLKF<6, 2, 2>::predict(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double) const0
mrs_lib::LKF<2, 1, 1>::inverse_exception::what() const0
mrs_lib::LKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const0
mrs_lib::LKF<3, 1, 1>::inverse_exception::what() const0
std::enable_if<(4)>=(0), mrs_lib::KalmanFilter<4, 1, 2>::statecov_t>::type mrs_lib::LKF<4, 1, 2>::correction_impl<4>(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::computeKalmanGain(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&) const0
mrs_lib::LKF<4, 1, 2>::inverse_exception::what() const0
mrs_lib::LKF<4, 1, 2>::correct(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&) const0
mrs_lib::LKF<4, 1, 2>::predict(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double) const0
mrs_lib::LKF<6, 2, 2>::inverse_exception::what() const0
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
mrs_lib::LKF<2, 1, 1>::LKF()3
mrs_lib::LKF<6, 2, 2>::LKF(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)84
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&)144
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5828
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&) const5828
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&) const5828
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&) const5828
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&)18268
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)18268
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) const18268
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) const153894
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)153896
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&)153908
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)176679
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&) const176796
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&) const176810
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&) const176811
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) const263606
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&)263791
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)263980
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)402725
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&) const402949
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&) const403437
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&) const403600
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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:2024-02-24 08:13:25Functions:254753.2 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::varstepLKF<2, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 2, 2, 0, 2, 2> (double)> const&, std::function<Eigen::Matrix<double, 2, 1, 0, 2, 1> (double)> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&)3
mrs_lib::varstepLKF<3, 1, 1>::varstepLKF(std::function<Eigen::Matrix<double, 3, 3, 0, 3, 3> (double)> const&, std::function<Eigen::Matrix<double, 3, 1, 0, 3, 1> (double)> const&, Eigen::Matrix<double, 1, 3, 1, 1, 3> const&)0
mrs_lib::varstepLKF<6, 2, 2>::varstepLKF(std::function<Eigen::Matrix<double, 6, 6, 0, 6, 6> (double)> const&, std::function<Eigen::Matrix<double, 6, 2, 0, 6, 2> (double)> const&, Eigen::Matrix<double, 2, 6, 0, 2, 6> const&)0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 2, 1, 0, 2, 1> >::type mrs_lib::LKF<2, 1, 1>::state_predict<1>(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)18268
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)18268
mrs_lib::LKF<2, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)5828
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&)263791
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)263980
mrs_lib::LKF<3, 1, 1>::invert_W(Eigen::Matrix<double, 1, 1, 0, 1, 1>)402725
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&)144
mrs_lib::LKF<3, 1, 1>::LKF()0
std::enable_if<(1)!=(0), Eigen::Matrix<double, 4, 1, 0, 4, 1> >::type mrs_lib::LKF<4, 1, 2>::state_predict<1>(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&)0
mrs_lib::LKF<4, 1, 2>::covariance_predict(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, double)0
mrs_lib::LKF<4, 1, 2>::correction_optimized(mrs_lib::KalmanFilter<4, 1, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)0
mrs_lib::LKF<4, 1, 2>::LKF(Eigen::Matrix<double, 4, 4, 0, 4, 4> const&, Eigen::Matrix<double, 4, 1, 0, 4, 1> const&, Eigen::Matrix<double, 2, 4, 0, 2, 4> const&)0
mrs_lib::LKF<4, 1, 2>::LKF()0
std::enable_if<(2)!=(0), Eigen::Matrix<double, 6, 1, 0, 6, 1> >::type mrs_lib::LKF<6, 2, 2>::state_predict<2>(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 2, 0, 6, 2> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)153908
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)153896
mrs_lib::LKF<6, 2, 2>::invert_W(Eigen::Matrix<double, 2, 2, 0, 2, 2>)176679
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&)84
mrs_lib::LKF<6, 2, 2>::LKF()0
mrs_lib::varstepLKF<2, 1, 1>::predict(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, double) const18268
mrs_lib::varstepLKF<3, 1, 1>::predict(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, double) const0
mrs_lib::varstepLKF<6, 2, 2>::predict(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, double) const0
std::enable_if<(2)>=(0), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::LKF<2, 1, 1>::correction_impl<2>(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 2, 1, 1, 2> const&) const5828
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&) const5828
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&) const5828
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&) const403600
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&) const403437
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&) const402949
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) const263606
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&) const176810
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&) const176796
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&) const176811
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) const153894
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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         228 :     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      585588 :     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      585588 :       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      417500 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, [[maybe_unused]] double dt) const override
+     139             :     {
+     140      417500 :       statecov_t ret;
+     141      416970 :       ret.x = state_predict(A, sc.x, B, u);
+     142      417140 :       ret.P = covariance_predict(A, sc.P, Q, dt);
+     143      416816 :       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      436144 :     static P_t covariance_predict(const A_t& A, const P_t& P, const Q_t& Q, const double dt)
+     155             :     {
+     156      436144 :       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      435967 :     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      435967 :       return A * x + B * u;
+     172             :     }
+     173             :     //}
+     174             : 
+     175             :   protected:
+     176             :     /* invert_W() method //{ */
+     177      585232 :     static R_t invert_W(R_t W)
+     178             :     {
+     179      585232 :       Eigen::ColPivHouseholderQR<R_t> qr(W);
+     180      583751 :       if (!qr.isInvertible())
+     181             :       {
+     182             :         // add some stuff to the tmp matrix diagonal to make it invertible
+     183       38107 :         R_t ident = R_t::Identity(W.rows(), W.cols());
+     184       38131 :         W += 1e-9 * ident;
+     185       38125 :         qr.compute(W);
+     186       38130 :         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      583293 :       const R_t W_inv = qr.inverse();
+     193     1171342 :       return W_inv;
+     194             :     }
+     195             :     //}
+     196             : 
+     197             :     /* computeKalmanGain() method //{ */
+     198      586061 :     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      586061 :       const R_t W = H * sc.P * H.transpose() + R;
+     202      585936 :       const R_t W_inv = invert_W(W);
+     203      584494 :       const K_t K = sc.P * H.transpose() * W_inv;
+     204     1170862 :       return K;
+     205             :     }
+     206             :     //}
+     207             : 
+     208             :     /* correction_impl() method //{ */
+     209             :     template<int check=n>
+     210      586238 :     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      586238 :       statecov_t ret;
+     214      585778 :       const K_t K = computeKalmanGain(sc, z, R, H);
+     215      585851 :       ret.x = sc.x + K * (z - (H * sc.x));
+     216      585462 :       ret.P = (P_t::Identity() - (K * H)) * sc.P;
+     217     1170642 :       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       18268 :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override
+     317             :     {
+     318       18268 :       statecov_t ret;
+     319       18268 :       A_t A = m_generateA(dt);
+     320       18268 :       B_t B = m_generateB(dt);
+     321       18268 :       ret.x = Base_class::state_predict(A, sc.x, B, u);
+     322       18268 :       ret.P = Base_class::covariance_predict(A, sc.P, Q, dt);
+     323       36536 :       return ret;
+     324             :     };
+     325             :     //}
+     326             :     
+     327             :   private:
+     328             :     generateA_t m_generateA;
+     329             :     generateB_t m_generateB;
+     330             :   };
+     331             :   //}
+     332             : 
+     333             :   /* class LKF_MRS_odom //{ */
+     334             :   class LKF_MRS_odom : public LKF<3, 1, 1>
+     335             :   {
+     336             :   public:
+     337             :     /* LKF definitions (typedefs, constants etc) //{ */
+     338             :     static const int n = 3;
+     339             :     static const int m = 1;
+     340             :     static const int p = 1;
+     341             :     using Base_class = LKF<n, m, p>;
+     342             : 
+     343             :     using x_t = typename Base_class::x_t;
+     344             :     using u_t = typename Base_class::u_t;
+     345             :     using z_t = typename Base_class::z_t;
+     346             :     using P_t = typename Base_class::P_t;
+     347             :     using R_t = typename Base_class::R_t;
+     348             :     using statecov_t = typename Base_class::statecov_t;
+     349             :     using A_t = typename Base_class::A_t;  // measurement mapping p*n
+     350             :     using B_t = typename Base_class::B_t;  // process covariance n*n
+     351             :     using H_t = typename Base_class::H_t;  // measurement mapping p*n
+     352             :     using Q_t = typename Base_class::Q_t;  // process covariance n*n
+     353             : 
+     354             :     using coeff_A_t = A_t;                            // matrix of constant coefficients in matrix A
+     355             :     typedef Eigen::Matrix<unsigned, n, n> dtexp_A_t;  // matrix of dt exponents in matrix A
+     356             :     using coeff_B_t = B_t;                            // matrix of constant coefficients in matrix B
+     357             :     typedef Eigen::Matrix<unsigned, n, m> dtexp_B_t;  // matrix of dt exponents in matrix B
+     358             :     //}
+     359             : 
+     360             :   public:
+     361             :     LKF_MRS_odom(const std::vector<H_t>& Hs, const double default_dt = 1);
+     362             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     363             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R, int param = 0) const;
+     364             : 
+     365             :   public:
+     366             :     x_t state_predict_optimized(const x_t& x_prev, const u_t& u, double dt) const;
+     367             :     P_t covariance_predict_optimized(const P_t& P, const Q_t& Q, double dt) const;
+     368             : 
+     369             :   private:
+     370             :     std::vector<H_t> m_Hs;
+     371             :   };
+     372             :   //}
+     373             : 
+     374             : }  // namespace mrs_lib
+     375             : 
+     376             : #endif // LKFSYSTEMMODELS_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html b/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html new file mode 100644 index 0000000000..1e9597d534 --- /dev/null +++ b/mrs_lib/include/mrs_lib/lkf.h.gcov.overview.html @@ -0,0 +1,114 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/lkf.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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..7c02fa8907 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-02-24 08:13:25Functions: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&)263
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)263
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)263
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)263
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)263
mrs_lib::getPose(nav_msgs::Odometry_<std::allocator<void> > const&)1485
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)186640
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)186640
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)186641
mrs_lib::getHeading(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)186641
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)186641
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)186642
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)186643
mrs_lib::getPosition(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)186643
mrs_lib::getXYZ(geometry_msgs::Point_<std::allocator<void> > const&)187169
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.func.html b/mrs_lib/include/mrs_lib/msg_extractor.h.func.html new file mode 100644 index 0000000000..1c8a199379 --- /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:2024-02-24 08:13:25Functions:154434.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::getHeading(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)186640
mrs_lib::getHeading(geometry_msgs::Pose_<std::allocator<void> > const&)186641
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&)186641
mrs_lib::getHeading(mrs_msgs::Reference_<std::allocator<void> > const&)263
mrs_lib::getHeading(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)0
mrs_lib::getHeading(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)263
mrs_lib::getHeading(nav_msgs::Odometry_<std::allocator<void> > const&)186640
mrs_lib::getPosition(geometry_msgs::PoseWithCovariance_<std::allocator<void> > const&)186642
mrs_lib::getPosition(geometry_msgs::Pose_<std::allocator<void> > const&)186643
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&)186643
mrs_lib::getPosition(mrs_msgs::Reference_<std::allocator<void> > const&)263
mrs_lib::getPosition(mrs_msgs::TrackerCommand_<std::allocator<void> > const&)263
mrs_lib::getPosition(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)263
mrs_lib::getPosition(nav_msgs::Odometry_<std::allocator<void> > const&)186641
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&)187169
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&)1485
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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:2024-02-24 08:13:25Functions:154434.1 %
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : /**  \file
+       3             :  *   \brief utility functions for getting stuff from ROS msgs
+       4             :  *   \author Tomas Baca - tomas.baca@fel.cvut.cz
+       5             :  */
+       6             : #ifndef MRS_LIB_MSG_EXTRACTOR_H
+       7             : #define MRS_LIB_MSG_EXTRACTOR_H
+       8             : 
+       9             : #include <mrs_msgs/TrackerCommand.h>
+      10             : #include <mrs_msgs/Reference.h>
+      11             : #include <mrs_msgs/ReferenceStamped.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : 
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : 
+      17             : namespace mrs_lib
+      18             : {
+      19             : 
+      20             : /* geometry_msgs::Point //{ */
+      21             : 
+      22             : /**
+      23             :  * @brief get XYZ from geometry_msgs::Point
+      24             :  *
+      25             :  * @param data point
+      26             :  *
+      27             :  * @return x, y, z
+      28             :  */
+      29      187169 : std::tuple<double, double, double> getXYZ(const geometry_msgs::Point& data) {
+      30             : 
+      31      187169 :   double x = data.x;
+      32      187169 :   double y = data.y;
+      33      187169 :   double z = data.z;
+      34             : 
+      35      374334 :   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      186643 : std::tuple<double, double, double> getPosition(const geometry_msgs::Pose& data) {
+      96             : 
+      97      186643 :   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      186641 : double getHeading(const geometry_msgs::Pose& data) {
+     124             : 
+     125      186641 :   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      186642 : std::tuple<double, double, double> getPosition(const geometry_msgs::PoseWithCovariance& data) {
+     184             : 
+     185      186642 :   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      186640 : double getHeading(const geometry_msgs::PoseWithCovariance& data) {
+     212             : 
+     213      186640 :   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      186641 : std::tuple<double, double, double> getPosition(const nav_msgs::Odometry& data) {
+     336             : 
+     337      186641 :   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      186643 : std::tuple<double, double, double> getPosition(const nav_msgs::OdometryConstPtr& data) {
+     348             : 
+     349      186643 :   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      186640 : double getHeading(const nav_msgs::Odometry& data) {
+     392             : 
+     393      186640 :   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      186641 : double getHeading(const nav_msgs::OdometryConstPtr& data) {
+     404             : 
+     405      186641 :   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        1485 : geometry_msgs::Pose getPose(const nav_msgs::Odometry& data) {
+     448             : 
+     449        1485 :   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         263 : std::tuple<double, double, double> getPosition(const mrs_msgs::TrackerCommand& data) {
+     480             : 
+     481         263 :   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         263 : std::tuple<double, double, double> getPosition(const mrs_msgs::Reference& data) {
+     579             : 
+     580         263 :   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         263 : double getHeading(const mrs_msgs::Reference& data) {
+     607             : 
+     608         263 :   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         263 : std::tuple<double, double, double> getPosition(const mrs_msgs::ReferenceStamped& data) {
+     639             : 
+     640         263 :   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         263 : double getHeading(const mrs_msgs::ReferenceStamped& data) {
+     667             : 
+     668         263 :   return getHeading(data.reference);
+     669             : }
+     670             : 
+     671             : /**
+     672             :  * @brief get heading from mrs_msgs::ReferenceStampedConstPtr
+     673             :  *
+     674             :  * @param data referencestamped (ContrPtr)
+     675             :  *
+     676             :  * @return heading
+     677             :  */
+     678           0 : double getHeading(const mrs_msgs::ReferenceStampedConstPtr& data) {
+     679             : 
+     680           0 :   return getHeading(*data);
+     681             : }
+     682             : 
+     683             : //}
+     684             : 
+     685             : //}
+     686             : 
+     687             : }  // namespace mrs_lib
+     688             : 
+     689             : //}
+     690             : 
+     691             : #endif  // MRS_LIB_MSG_EXTRACTOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png b/mrs_lib/include/mrs_lib/msg_extractor.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..8043ecf807c268d9ebf3ec73e92b93e3796c8069 GIT binary patch literal 1287 zcmV+i1^D`jP)o6G8|QE17xcIDPQ~O}I%wnMSorb!w5W z0Y!DQCakha+q@xH*lxd^|F-j=&QM(1pFiEYu!)Tr=-RiB`&d+9L}*2{sBI|FFr12D z9}Ps**N^XGBATa9-HYGtB}|XjE7fZGp0&-MU3~y zLwt28Vw=vzJ;CfTj(Z+oiqUxIVNwc_du-_?agUWt8H(7Zb8!!+tu>-BvZwjuL8lZF z_W=BI9qwUdp480VsfcYl8}}d-qy2I8d18`3+Vb&2kyV_fh;2F>_aGEgZ0)l5U8}gP z>t;OloV>cwE*D6123-0OUKcJx&&|AwB62gAtu<36*qS4=uXUkU?ob!nLAyBj|LCDIBo5(3y(=!tqZvj(|3Ff^Oxrygkox~V3rHN<&Ti95B4t4JqSex zTOaIQ>q0I>{^!l))rGbqw&^Q8!G@|8270X^`{@VM)(o-mdQXQL}`1POm8-^ zau49yAH}3S&Fy7RBgD~S;nnsu8QvOV<(}-ecG#O}Yrvk@$$RANX*%yM&pimmgnh2{ zElNAYkz(P+_B5^g%X1GxF>z1RviDv0G+W+^E7~8`?vdSkILz*ox?h&(p74<3*8qAr z`Ju%^P_cO49&vWC!xZr7{R2%1_Tc+-T~z=8002ovPDHLkV1gERfj9sF literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html new file mode 100644 index 0000000000..11eeb626e8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func-sort-c.html @@ -0,0 +1,396 @@ + + + + + + + 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:2024-02-24 08:13:25Functions:657982.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<double, double, double, double> mrs_lib::get_mutexed<double, double, double, double>(std::mutex&, double&, double&, double&, double&)0
mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const mrs_lib::get_mutexed<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const>(std::mutex&, mrs_msgs::Float64ArrayStamped_<std::allocator<void> > const&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&)0
Eigen::Matrix<double, 2, 2, 0, 2, 2> mrs_lib::get_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >(std::mutex&, mrs_msgs::SpeedTrackerCommand_<std::allocator<void> >&)0
mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::ConstraintsOverrideRequest_<std::allocator<void> >&)0
mrs_lib::KalmanFilter<2, 1, 1>::statecov_t mrs_lib::get_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 1, 0, 2, 1> >(std::mutex&, Eigen::Matrix<double, 2, 1, 0, 2, 1>, Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 2, 2, 0, 2, 2> >(std::mutex&, Eigen::Matrix<double, 2, 2, 0, 2, 2>, Eigen::Matrix<double, 2, 2, 0, 2, 2>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 1, 0, 3, 1> >(std::mutex&, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 3, 3, 0, 3, 3> >(std::mutex&, Eigen::Matrix<double, 3, 3, 0, 3, 3>, Eigen::Matrix<double, 3, 3, 0, 3, 3>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 1, 0, 6, 1> >(std::mutex&, Eigen::Matrix<double, 6, 1, 0, 6, 1>, Eigen::Matrix<double, 6, 1, 0, 6, 1>&)0
auto mrs_lib::set_mutexed<Eigen::Matrix<double, 6, 6, 0, 6, 6> >(std::mutex&, Eigen::Matrix<double, 6, 6, 0, 6, 6>, Eigen::Matrix<double, 6, 6, 0, 6, 6>&)0
auto mrs_lib::set_mutexed<mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>(std::mutex&, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t, mrs_lib::KalmanFilter<2, 1, 1>::statecov_t&)0
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)39
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)81
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> >&)96
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)162
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)162
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)436
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)497
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)893
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> >&)1776
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&)4239
int mrs_lib::get_mutexed<int>(std::mutex&, int&)6833
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&)12244
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)12429
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&)12459
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)14858
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)15262
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&)15966
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&)20877
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)25477
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&)29943
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> >&)30617
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)53148
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&)58732
mrs_msgs::MpcPredictionFullState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::MpcPredictionFullState_<std::allocator<void> > >(std::mutex&, mrs_msgs::MpcPredictionFullState_<std::allocator<void> >&)58732
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&)61583
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)65459
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)65459
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> >&)72236
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)86132
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)111655
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> >&)120495
mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&)134862
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>&)153876
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&)163117
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&)164200
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&)169624
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>&)175850
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>&)190538
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> >&)190708
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>&)209716
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)223648
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&)245206
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>&)261747
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&)273784
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&)284806
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&)306632
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> >&)328355
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&)330670
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&)330678
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> >&)448786
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&)495827
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)589977
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> > >&)596768
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)665800
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&)666498
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&)667551
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)793525
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)821291
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)855851
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> >&)875431
double mrs_lib::get_mutexed<double>(std::mutex&, double&)881315
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)940335
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&)2069546
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&)2179149
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&)2281466
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.func.html b/mrs_lib/include/mrs_lib/mutex.h.func.html new file mode 100644 index 0000000000..91a2625641 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.func.html @@ -0,0 +1,396 @@ + + + + + + + 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:2024-02-24 08:13:25Functions:657982.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
std::tuple<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double> mrs_lib::get_mutexed<Eigen::Matrix<double, -1, 1, 0, -1, 1>, double>(std::mutex&, Eigen::Matrix<double, -1, 1, 0, -1, 1>&, double&)58732
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>&)190538
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&)273784
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>&)175850
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&)12244
std::tuple<bool, double, double> mrs_lib::get_mutexed<bool, double, double>(std::mutex&, bool&, double&, double&)65459
std::tuple<double, double> mrs_lib::get_mutexed<double, double>(std::mutex&, double&, double&)15262
std::tuple<double, double, double> mrs_lib::get_mutexed<double, double, double>(std::mutex&, double&, double&, double&)25477
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&)20877
std::tuple<int, double> mrs_lib::get_mutexed<int, double>(std::mutex&, int&, double&)12429
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&)2179149
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&)163117
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&)495827
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&)169624
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&)245206
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&)164200
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&)306632
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&)2069546
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&)2281466
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&)15966
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&)284806
double const mrs_lib::get_mutexed<double const>(std::mutex&, double const&)589977
mrs_uav_managers::Controller::ControlOutput mrs_lib::get_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput&)665800
mrs_uav_trackers::mpc_trackerConfig mrs_lib::get_mutexed<mrs_uav_trackers::mpc_trackerConfig>(std::mutex&, mrs_uav_trackers::mpc_trackerConfig&)65459
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&)61583
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&)29943
mrs_uav_controllers::mpc_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig&)111655
mrs_uav_controllers::se3_controllerConfig mrs_lib::get_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig&)53148
mrs_uav_trajectory_generation::drsConfig mrs_lib::get_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig&)39
ros::Time mrs_lib::get_mutexed<ros::Time>(std::mutex&, ros::Time&)793525
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>&)261747
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>&)153876
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>&)209716
mrs_msgs::ObstacleSectors_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ObstacleSectors_<std::allocator<void> > >(std::mutex&, mrs_msgs::ObstacleSectors_<std::allocator<void> >&)436
mrs_msgs::ReferenceStamped_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(std::mutex&, mrs_msgs::ReferenceStamped_<std::allocator<void> >&)893
mrs_msgs::VelocityReference_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::VelocityReference_<std::allocator<void> > >(std::mutex&, mrs_msgs::VelocityReference_<std::allocator<void> >&)497
mrs_msgs::DynamicsConstraints_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >(std::mutex&, mrs_msgs::DynamicsConstraints_<std::allocator<void> >&)223648
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> >&)58732
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> >&)134862
mrs_msgs::UavState_<std::allocator<void> > mrs_lib::get_mutexed<mrs_msgs::UavState_<std::allocator<void> > >(std::mutex&, mrs_msgs::UavState_<std::allocator<void> >&)855851
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&)667551
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&)330678
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> >&)72236
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> >&)190708
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> > >&)596768
std::optional<double> mrs_lib::get_mutexed<std::optional<double> >(std::mutex&, std::optional<double>&)14858
double mrs_lib::get_mutexed<double>(std::mutex&, double&)881315
int mrs_lib::get_mutexed<int>(std::mutex&, int&)6833
unsigned int mrs_lib::get_mutexed<unsigned int>(std::mutex&, unsigned int&)821291
auto mrs_lib::set_mutexed<mrs_uav_managers::Controller::ControlOutput>(std::mutex&, mrs_uav_managers::Controller::ControlOutput, mrs_uav_managers::Controller::ControlOutput&)86132
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&)12459
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&)4239
auto mrs_lib::set_mutexed<mrs_uav_controllers::mpc_controllerConfig>(std::mutex&, mrs_uav_controllers::mpc_controllerConfig, mrs_uav_controllers::mpc_controllerConfig&)162
auto mrs_lib::set_mutexed<mrs_uav_controllers::se3_controllerConfig>(std::mutex&, mrs_uav_controllers::se3_controllerConfig, mrs_uav_controllers::se3_controllerConfig&)162
auto mrs_lib::set_mutexed<mrs_uav_trajectory_generation::drsConfig>(std::mutex&, mrs_uav_trajectory_generation::drsConfig, mrs_uav_trajectory_generation::drsConfig&)81
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> >&)120495
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> >&)1776
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> >&)448786
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> >&)96
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> >&)875431
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> >&)328355
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&)666498
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&)330670
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> >&)30617
auto mrs_lib::set_mutexed<double>(std::mutex&, double, double&)940335
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/mutex.h.gcov.frameset.html new file mode 100644 index 0000000000..c07acea5c8 --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/mutex.h.gcov.html b/mrs_lib/include/mrs_lib/mutex.h.gcov.html new file mode 100644 index 0000000000..1df4b09f7c --- /dev/null +++ b/mrs_lib/include/mrs_lib/mutex.h.gcov.html @@ -0,0 +1,260 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/mutex.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions:657982.3 %
Legend: Lines: + hit + not hit +
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+       1             : /**  \file
+       2             :      \brief Defines helper routines for getting and setting variables under mutex locks
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef MUTEX_H
+       6             : #define MUTEX_H
+       7             : 
+       8             : #include <iostream>
+       9             : #include <mutex>
+      10             : #include <tuple>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             : 
+      15             : /**
+      16             :  * @brief thread-safe getter and setter for values of variables (args)
+      17             :  *
+      18             :  * @tparam GetArgs types of the variables to get
+      19             :  * @tparam SetArgs types of the variables to set
+      20             :  * @param mut mutex which protects the variables
+      21             :  * @param get tuple of variable references to obtain the values from
+      22             :  * @param to_set tuple of variable references to set the new values from \p from_set
+      23             :  * @param from_set tuple of the new values to be set to \p to_set
+      24             :  *
+      25             :  * @return tuple of the values from \p get
+      26             :  */
+      27             : template <class... GetArgs, class... SetArgs>
+      28             : std::tuple<GetArgs...> get_set_mutexed(std::mutex& mut, std::tuple<GetArgs&...> get, std::tuple<SetArgs...> from_set, std::tuple<SetArgs&...> to_set) {
+      29             : 
+      30             :   std::scoped_lock lock(mut);
+      31             : 
+      32             :   std::tuple<GetArgs...> result = get;
+      33             :   to_set = from_set;
+      34             : 
+      35             :   return result;
+      36             : }
+      37             : 
+      38             : /**
+      39             :  * @brief thread-safe getter for values of variables (args)
+      40             :  *
+      41             :  * @tparam Args types of the variables
+      42             :  * @param mut mutex which protects the variables
+      43             :  * @param args variables to obtain the values from
+      44             :  *
+      45             :  * @return std::tuple of the values
+      46             :  */
+      47             : template <class... Args>
+      48      850652 : std::tuple<Args...> get_mutexed(std::mutex& mut, Args&... args) {
+      49             : 
+      50     1701306 :   std::scoped_lock lock(mut);
+      51             : 
+      52      850654 :   std::tuple result = std::tuple(args...);
+      53             : 
+      54     1701308 :   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    16229164 : T get_mutexed(std::mutex& mut, T& arg) {
+      69             : 
+      70    26718620 :   std::scoped_lock lock(mut);
+      71             : 
+      72    32457506 :   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     3846294 : auto set_mutexed(std::mutex& mut, const T what, T& where) {
+     117             : 
+     118     6729093 :   std::scoped_lock lock(mut);
+     119             : 
+     120     3839358 :   where = what;
+     121             : 
+     122     7687097 :   return where;
+     123             : }
+     124             : 
+     125             : /**
+     126             :  * @brief thread-safe setter for multiple variables
+     127             :  *
+     128             :  * example:
+     129             :  *   set_mutexed(my_mutex_, a, a_, b, b_, c, c_);
+     130             :  *   where a, b, c are the values to be set
+     131             :  *         a_, b_, c_ are the variables to be updated
+     132             :  *
+     133             :  * @tparam Args types of the variables
+     134             :  * @param mut mutex to be locked
+     135             :  * @param args
+     136             :  *
+     137             :  * @return alternating list of values that were just set
+     138             :  */
+     139             : template <class... Args>
+     140             : auto set_mutexed(std::mutex& mut, Args&... args) {
+     141             : 
+     142             :   std::scoped_lock lock(mut);
+     143             : 
+     144             :   set_mutexed_impl(args...);
+     145             : 
+     146             :   return std::tuple(args...);
+     147             : }
+     148             : 
+     149             : /**
+     150             :  * @brief thread-safe setter for multiple variables
+     151             :  *
+     152             :  * example:
+     153             :  *   set_mutexed(mu_mutex, std::tuple(a, b, c), std::forward_as_tuple(a_, b_, c_));
+     154             :  *   where a, b, c are the values to be set
+     155             :  *         a_, b_, c_ are the updated variables
+     156             :  *
+     157             :  * @tparam Args types of the variables
+     158             :  * @param mut mutex to be locked
+     159             :  * @param from std::tuple of the values
+     160             :  * @param to std::tuple of reference to the variablaes
+     161             :  *
+     162             :  * @return
+     163             :  */
+     164             : template <class... Args>
+     165             : auto set_mutexed(std::mutex& mut, const std::tuple<Args...> from, std::tuple<Args&...> to) {
+     166             : 
+     167             :   std::scoped_lock lock(mut);
+     168             : 
+     169             :   to = from;
+     170             : 
+     171             :   return to;
+     172             : }
+     173             : 
+     174             : }  // namespace mrs_lib
+     175             : 
+     176             : #endif
+
+
+
+ + + + +
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:27130090.3 %
Date:2024-02-24 08:13:25Functions:7878100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixStatic<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>&)1
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
std::pair<Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
bool mrs_lib::ParamLoader::loadMatrixKnown<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)2
bool mrs_lib::ParamLoader::loadMatrixKnown<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)2
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)3
mrs_lib::ParamLoader::resetLoadedSuccessfully()3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
mrs_lib::ParamLoader::printValue_recursive(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, unsigned int)5
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5
std::pair<Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
std::pair<XmlRpc::XmlRpcValue, bool> mrs_lib::ParamLoader::load<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)8
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)10
mrs_lib::ParamLoader::resetUniques()20
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)62
bool mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)64
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > > const&)81
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&, int, int)81
std::pair<Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)81
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixDynamic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)147
bool mrs_lib::ParamLoader::loadMatrixKnown<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)324
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)324
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&)405
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)558
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&)562
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)648
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&)891
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)891
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> >&)891
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1365
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1576
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2170
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&)2826
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)2827
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> > > >&)2827
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)3137
mrs_lib::ParamLoader::loadedSuccessfully()3510
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)4092
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)4092
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)4092
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)4791
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8944
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)9541
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> >&)13215
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&)13660
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)13660
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)14332
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)14332
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)32426
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)33073
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)33074
mrs_lib::ParamLoader::check_duplicit_loading(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)69453
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:27130090.3 %
Date:2024-02-24 08:13:25Functions:7878100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ParamLoader::loadParam2(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
XmlRpc::XmlRpcValue mrs_lib::ParamLoader::loadParam2<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue const&)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::ParamLoader::loadParam2<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)405
mrs_lib::ParamLoader::printError(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)7
mrs_lib::ParamLoader::printValue(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
void mrs_lib::ParamLoader::printValue<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)2826
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&)13660
void mrs_lib::ParamLoader::printValue<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool const&)14332
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&)562
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&)891
void mrs_lib::ParamLoader::printValue<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double const&)33073
void mrs_lib::ParamLoader::printValue<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&)8
void mrs_lib::ParamLoader::printValue<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&)4092
mrs_lib::ParamLoader::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)8944
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)558
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixX<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t, mrs_lib::ParamLoader::swap_t, bool)10
mrs_lib::ParamLoader::resetUniques()20
mrs_lib::ParamLoader::print_warning(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&)1
void mrs_lib::ParamLoader::loadMatrixArray<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > >&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)1
bool mrs_lib::ParamLoader::loadMatrixKnown<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)324
bool mrs_lib::ParamLoader::loadMatrixKnown<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, int, int)2
bool mrs_lib::ParamLoader::loadMatrixKnown<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)2
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&)2
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)1
Eigen::Matrix<float, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixKnown2<float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, -1, -1, 0, -1, -1> > > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixStatic<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>&)1
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3, 0, 3, 3> > > const&)81
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&)3
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> > > const&)2
bool mrs_lib::ParamLoader::loadMatrixStatic<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, int, int)64
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, int, int)1
bool mrs_lib::ParamLoader::loadMatrixDynamic<double, Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1>&, Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 4, 4, 0, 4, 4> > > const&, int, int)81
Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> mrs_lib::ParamLoader::loadMatrixStatic2<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> mrs_lib::ParamLoader::loadMatrixStatic2<3, 3, float, Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::Product<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 3, 3, 0, 3, 3> >, 0> > const&)1
bool mrs_lib::ParamLoader::loadParamReusable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)1
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int, int)62
Eigen::Matrix<double, -1, -1, 0, -1, -1> mrs_lib::ParamLoader::loadMatrixDynamic2<double, Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> const> const, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, -1> > const> > const&, int, int)1
mrs_lib::ParamLoader::loadedSuccessfully()3510
mrs_lib::ParamLoader::addYamlFileFromParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2170
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&)69453
mrs_lib::ParamLoader::resetLoadedSuccessfully()3
std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > mrs_lib::ParamLoader::loadMatrixArray_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<Eigen::Matrix<double, -1, -1, 0, -1, -1>, std::allocator<Eigen::Matrix<double, -1, -1, 0, -1, -1> > > const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)5
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)324
std::pair<Eigen::Matrix<float, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixKnown_internal<float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)4
std::pair<Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<0, 0, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 0, 0, ((Eigen::StorageOptions)0)|((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)1) : ((((0)==(1))&&((0)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 0, 0> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)1
std::pair<Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)81
std::pair<Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3>, bool> mrs_lib::ParamLoader::loadMatrixStatic_internal<3, 3, float>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<float, 3, 3, ((Eigen::StorageOptions)0)|((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)1) : ((((3)==(1))&&((3)!=(1)))?((Eigen::StorageOptions)0) : ((Eigen::StorageOptions)0))), 3, 3> const&, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)6
std::pair<Eigen::Matrix<double, -1, -1, 0, -1, -1>, bool> mrs_lib::ParamLoader::loadMatrixDynamic_internal<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int, int, mrs_lib::ParamLoader::optional_t, mrs_lib::ParamLoader::unique_t)147
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)13660
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)2827
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)891
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)14332
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)33074
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)4092
mrs_lib::ParamLoader::resolved(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)5
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
mrs_lib::ParamLoader::loadParam(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&)3
bool mrs_lib::ParamLoader::loadParam<XmlRpc::XmlRpcValue>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue const&)2
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&)13215
bool mrs_lib::ParamLoader::loadParam<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)39
bool mrs_lib::ParamLoader::loadParam<std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >&)2827
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> >&)891
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&)9541
bool mrs_lib::ParamLoader::loadParam<bool>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool&, bool const&)4791
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&)32426
bool mrs_lib::ParamLoader::loadParam<double>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, double&, double const&)648
bool mrs_lib::ParamLoader::loadParam<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int&)4092
mrs_lib::ParamLoader::setPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1576
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, std::basic_string_view<char, std::char_traits<char> >)1365
mrs_lib::ParamLoader::ParamLoader(ros::NodeHandle const&, bool, std::basic_string_view<char, std::char_traits<char> >)3137
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Current view:top level - mrs_lib/include/mrs_lib - param_loader.h (source / functions)HitTotalCoverage
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Date:2024-02-24 08:13:25Functions:7878100.0 %
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief Defines ParamLoader - a convenience class for loading static ROS parameters.
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef PARAM_LOADER_H
+       8             : #define PARAM_LOADER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : #include <string>
+      12             : #include <map>
+      13             : #include <unordered_set>
+      14             : #include <iostream>
+      15             : #include <Eigen/Dense>
+      16             : #include <std_msgs/ColorRGBA.h>
+      17             : #include <mrs_lib/param_provider.h>
+      18             : 
+      19             : namespace mrs_lib
+      20             : {
+      21             : 
+      22             : /*** ParamLoader CLASS //{ **/
+      23             : 
+      24             : /**
+      25             : * \brief Convenience class for loading parameters from rosparam server.
+      26             : *
+      27             : * The parameters can be loaded as compulsory. If a compulsory parameter is not found
+      28             : * on the rosparam server (e.g. because it is missing in the launchfile or the yaml config file),
+      29             : * an internal flag is set to false, indicating that the parameter loading procedure failed.
+      30             : * This flag can be checked using the loaded_successfully() method after all parameters were
+      31             : * attempted to be loaded (see usage example usage below).
+      32             : *
+      33             : * The loaded parameter names and corresponding values are printed to stdout by default
+      34             : * for user convenience. Special cases such as loading of Eigen matrices or loading
+      35             : * of std::vectors of various values are also provided.
+      36             : *
+      37             : * To load parameters into the `rosparam` server, use a launchfile prefferably.
+      38             : * See documentation of ROS launchfiles here: http://wiki.ros.org/roslaunch/XML.
+      39             : * Specifically, the `param` XML tag is used for loading parameters directly from the launchfile: http://wiki.ros.org/roslaunch/XML/param,
+      40             : * and the `rosparam` XML tag tag is used for loading parameters from a `yaml` file: http://wiki.ros.org/roslaunch/XML/rosparam.
+      41             : *
+      42             : */
+      43             : class ParamLoader
+      44             : {
+      45             : 
+      46             : private:
+      47             :   enum unique_t
+      48             :   {
+      49             :     UNIQUE = true,
+      50             :     REUSABLE = false
+      51             :   };
+      52             :   enum optional_t
+      53             :   {
+      54             :     OPTIONAL = true,
+      55             :     COMPULSORY = false
+      56             :   };
+      57             :   enum swap_t
+      58             :   {
+      59             :     SWAP = true,
+      60             :     NO_SWAP = false
+      61             :   };
+      62             : 
+      63             :   template <typename T>
+      64             :   using MatrixX = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>;
+      65             : 
+      66             : private:
+      67             :   bool m_load_successful, m_print_values;
+      68             :   std::string m_node_name;
+      69             :   std::string m_prefix;
+      70             :   const ros::NodeHandle& m_nh;
+      71             :   mrs_lib::ParamProvider m_pp;
+      72             :   std::unordered_set<std::string> m_loaded_params;
+      73             : 
+      74             :   /* printing helper functions //{ */
+      75             :   /* printError and print_warning functions //{*/
+      76           7 :   void printError(const std::string& str)
+      77             :   {
+      78           7 :     if (m_node_name.empty())
+      79           7 :       ROS_ERROR_STREAM(str);
+      80             :     else
+      81           0 :       ROS_ERROR_STREAM("[" << m_node_name << "]: " << str);
+      82           7 :   }
+      83           1 :   void print_warning(const std::string& str)
+      84             :   {
+      85           1 :     if (m_node_name.empty())
+      86           1 :       ROS_WARN_STREAM(str);
+      87             :     else
+      88           0 :       ROS_WARN_STREAM("[" << m_node_name << "]: " << str);
+      89           1 :   }
+      90             :   //}
+      91             : 
+      92             :   /* printValue function and overloads //{ */
+      93             : 
+      94             :   template <typename T>
+      95       65157 :   void printValue(const std::string& name, const T& value)
+      96             :   {
+      97       65157 :     if (m_node_name.empty())
+      98       36516 :       std::cout << "\t" << name << ":\t" << value << std::endl;
+      99             :     else
+     100       28642 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':\t" << value);
+     101       65158 :   }
+     102             : 
+     103             :   template <typename T>
+     104        3717 :   void printValue(const std::string& name, const std::vector<T>& value)
+     105             :   {
+     106        7434 :     std::stringstream strstr;
+     107        3717 :     if (m_node_name.empty())
+     108        1808 :       strstr << "\t";
+     109        3717 :     strstr << name << ":\t";
+     110        3717 :     size_t it = 0;
+     111       13014 :     for (const auto& elem : value)
+     112             :     {
+     113        9297 :       strstr << elem;
+     114        9297 :       if (it < value.size() - 1)
+     115        5990 :         strstr << ", ";
+     116        9297 :       it++;
+     117             :     }
+     118        3717 :     if (m_node_name.empty())
+     119        1808 :       std::cout << strstr.str() << std::endl;
+     120             :     else
+     121        1909 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << strstr.str());
+     122        3717 :   }
+     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         570 :   void printValue(const std::string& name, const MatrixX<T>& value)
+     147             :   {
+     148        1140 :     std::stringstream strstr;
+     149             :     /* const Eigen::IOFormat fmt(4, 0, ", ", "\n", "\t\t[", "]"); */
+     150             :     /* strstr << value.format(fmt); */
+     151        1710 :     const Eigen::IOFormat fmt;
+     152         570 :     strstr << value.format(fmt);
+     153         570 :     if (m_node_name.empty())
+     154          84 :       std::cout << "\t" << name << ":\t" << std::endl << strstr.str() << std::endl;
+     155             :     else
+     156         486 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << name << "':" << std::endl << strstr.str());
+     157         570 :   }
+     158             : 
+     159           5 :   std::string printValue_recursive(const std::string& name, XmlRpc::XmlRpcValue& value, unsigned depth = 0)
+     160             :   {
+     161          10 :     std::stringstream strstr;
+     162           8 :     for (unsigned it = 0; it < depth; it++)
+     163           3 :       strstr << "\t";
+     164           5 :     strstr << name << ":";
+     165           5 :     switch (value.getType())
+     166             :     {
+     167           1 :       case XmlRpc::XmlRpcValue::TypeArray:
+     168             :         {
+     169           2 :           for (int it = 0; it < value.size(); it++)
+     170             :           {
+     171           1 :             strstr << std::endl;
+     172           2 :             const std::string name = "[" + std::to_string(it) + "]";
+     173           1 :             strstr << printValue_recursive(name, value[it], depth+1);
+     174             :           }
+     175           1 :           break;
+     176             :         }
+     177           1 :       case XmlRpc::XmlRpcValue::TypeStruct:
+     178             :         {
+     179           1 :           int it = 0;
+     180           2 :           for (auto& pair : value)
+     181             :           {
+     182           1 :             strstr << std::endl;
+     183           1 :             strstr << printValue_recursive(pair.first, pair.second, depth+1);
+     184           1 :             it++;
+     185             :           }
+     186           1 :           break;
+     187             :         }
+     188           3 :       default:
+     189             :         {
+     190           3 :           strstr << "\t" << value;
+     191           3 :           break;
+     192             :         }
+     193             :     }
+     194          10 :     return strstr.str();
+     195             :   }
+     196             : 
+     197           3 :   void printValue(const std::string& name, XmlRpc::XmlRpcValue& value)
+     198             :   {
+     199           6 :     const std::string txt = printValue_recursive(name, value);
+     200           3 :     if (m_node_name.empty())
+     201           3 :       std::cout << txt << std::endl;
+     202             :     else
+     203           0 :       ROS_INFO_STREAM("[" << m_node_name << "]: parameter '" << txt);
+     204           3 :   }
+     205             : 
+     206             :   //}
+     207             :   
+     208           5 :   std::string resolved(const std::string& param_name)
+     209             :   {
+     210           5 :     return m_nh.resolveName(param_name);
+     211             :   }
+     212             :   //}
+     213             : 
+     214             :   /* check_duplicit_loading checks whether the parameter was already loaded - returns true if yes //{ */
+     215       69453 :   bool check_duplicit_loading(const std::string& name)
+     216             :   {
+     217       69453 :     if (m_loaded_params.count(name))
+     218             :     {
+     219           2 :       printError(std::string("Tried to load parameter ") + name + std::string(" twice"));
+     220           2 :       m_load_successful = false;
+     221           2 :       return true;
+     222             :     } else
+     223             :     {
+     224       69451 :       return false;
+     225             :     }
+     226             :   }
+     227             :   //}
+     228             : 
+     229             :   /* helper functions for loading dynamic Eigen matrices //{ */
+     230             :   // loadMatrixX helper function for loading dynamic Eigen matrices //{
+     231             :   template <typename T>
+     232         568 :   std::pair<MatrixX<T>, bool> loadMatrixX(const std::string& name, const MatrixX<T>& default_value, int rows, int cols = Eigen::Dynamic, optional_t optional = OPTIONAL, unique_t unique = UNIQUE, swap_t swap = NO_SWAP, bool printValues = true)
+     233             :   {
+     234        1136 :     const std::string name_prefixed = m_prefix + name;
+     235        1136 :     MatrixX<T> loaded = default_value;
+     236         568 :     bool used_rosparam_value = false;
+     237             :     // first, check if the user already tried to load this parameter
+     238         568 :     if (unique && check_duplicit_loading(name_prefixed))
+     239           0 :       return {loaded, used_rosparam_value};
+     240             : 
+     241             :     // this function only accepts dynamic columns (you can always transpose the matrix afterward)
+     242         568 :     if (rows < 0)
+     243             :     {
+     244             :       // if the parameter was compulsory, alert the user and set the flag
+     245           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed));
+     246           0 :       m_load_successful = false;
+     247           0 :       return {loaded, used_rosparam_value};
+     248             :     }
+     249         568 :     const bool expect_zero_matrix = rows == 0;
+     250         568 :     if (expect_zero_matrix)
+     251             :     {
+     252           1 :       if (cols > 0)
+     253             :       {
+     254           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + ". One dimension indicates zero matrix, but other expects non-zero.");
+     255           0 :         m_load_successful = false;
+     256           0 :         return {loaded, used_rosparam_value};
+     257             :       }
+     258             :     }
+     259             : 
+     260         568 :     bool cur_load_successful = true;
+     261         568 :     bool check_size_exact = true;
+     262         568 :     if (cols <= 0)  // this means that the cols dimension is dynamic or a zero matrix is expected
+     263         145 :       check_size_exact = false;
+     264             : 
+     265        1136 :     std::vector<T> tmp_vec;
+     266             :     // try to load the parameter
+     267         568 :     const bool success = m_pp.getParam(name_prefixed, tmp_vec);
+     268             :     // check if the loaded vector has correct length
+     269         568 :     bool correct_size = (int)tmp_vec.size() == rows * cols;
+     270         568 :     if (!check_size_exact && !expect_zero_matrix)
+     271         144 :       correct_size = (int)tmp_vec.size() % rows == 0;  // if the cols dimension is dynamic, the size just has to be divisable by rows
+     272             : 
+     273         568 :     if (success && correct_size)
+     274             :     {
+     275             :       // if successfully loaded, everything is in order
+     276             :       // transform the vector to the matrix
+     277         478 :       if (cols <= 0 && rows > 0)
+     278         144 :         cols = tmp_vec.size() / rows;
+     279         478 :       if (swap)
+     280          62 :         std::swap(rows, cols);
+     281         478 :       loaded = Eigen::Map<Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>, Eigen::Unaligned>(tmp_vec.data(), rows, cols);
+     282         478 :       used_rosparam_value = true;
+     283             :     } else
+     284             :     {
+     285          90 :       if (success && !correct_size)
+     286             :       {
+     287             :         // warn the user that this parameter was not successfully loaded because of wrong vector length (might be an oversight)
+     288           3 :         std::string warning =
+     289             :             std::string("Matrix parameter ") + name_prefixed
+     290             :             + std::string(" could not be loaded because the vector has a wrong length " + std::to_string(tmp_vec.size()) + " instead of expected ");
+     291             :         // process the message correctly based on whether the loaded matrix should be dynamic or static
+     292           1 :         if (cols <= 0)  // for dynamic matrices
+     293           0 :           warning = warning + std::string("number divisible by ") + std::to_string(rows);
+     294             :         else  // for static matrices
+     295           1 :           warning = warning + std::to_string(rows * cols);
+     296           1 :         print_warning(warning);
+     297             :       }
+     298             :       // if it was not loaded, the default value is used (set at the beginning of the function)
+     299          90 :       if (!optional)
+     300             :       {
+     301             :         // if the parameter was compulsory, alert the user and set the flag
+     302           3 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     303           3 :         cur_load_successful = false;
+     304             :       }
+     305             :     }
+     306             : 
+     307             :     // check if load was a success
+     308         568 :     if (cur_load_successful)
+     309             :     {
+     310         565 :       if (m_print_values && printValues)
+     311         560 :         printValue(name_prefixed, loaded);
+     312         565 :       m_loaded_params.insert(name_prefixed);
+     313             :     } else
+     314             :     {
+     315           3 :       m_load_successful = false;
+     316             :     }
+     317             :     // finally, return the resulting value
+     318         568 :     return {loaded, used_rosparam_value};
+     319             :   }
+     320             :   //}
+     321             : 
+     322             :   /* loadMatrixStatic_internal helper function for loading static Eigen matrices //{ */
+     323             :   template <int rows, int cols, typename T>
+     324          88 :   std::pair<Eigen::Matrix<T, rows, cols>, bool> loadMatrixStatic_internal(const std::string& name, const Eigen::Matrix<T, rows, cols>& default_value, optional_t optional, unique_t unique)
+     325             :   {
+     326         264 :     const auto [dynamic, loaded_ok] = loadMatrixX(name, MatrixX<T>(default_value), rows, cols, optional, unique, NO_SWAP);
+     327         176 :     return {dynamic, loaded_ok};
+     328             :   }
+     329             :   //}
+     330             : 
+     331             :   /* loadMatrixKnown_internal helper function for loading EigenXd matrices with known dimensions //{ */
+     332             :   template <typename T>
+     333         328 :   std::pair<MatrixX<T>, bool> loadMatrixKnown_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     334             :   {
+     335         656 :     MatrixX<T> loaded = default_value;
+     336             :     // first, check that at least one dimension is set
+     337         328 :     if (rows <= 0 || cols <= 0)
+     338             :     {
+     339           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (use loadMatrixDynamic?)"));
+     340           0 :       m_load_successful = false;
+     341           0 :       return {loaded, false};
+     342             :     }
+     343             : 
+     344         328 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, NO_SWAP);
+     345             :   }
+     346             :   //}
+     347             : 
+     348             :   /* loadMatrixDynamic_internal helper function for loading Eigen matrices with one dynamic (unspecified) dimension //{ */
+     349             :   template <typename T>
+     350         147 :   std::pair<MatrixX<T>, bool> loadMatrixDynamic_internal(const std::string& name, const MatrixX<T>& default_value, int rows, int cols, optional_t optional, unique_t unique)
+     351             :   {
+     352         294 :     MatrixX<T> loaded = default_value;
+     353             : 
+     354             :     // next, check that at least one dimension is set
+     355         147 :     if (rows <= 0 && cols <= 0)
+     356             :     {
+     357           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name) + std::string(" (at least one dimension must be specified)"));
+     358           0 :       m_load_successful = false;
+     359           0 :       return {loaded, false};
+     360             :     }
+     361             : 
+     362         147 :     swap_t swap = NO_SWAP;
+     363         147 :     if (rows <= 0)
+     364             :     {
+     365          62 :       std::swap(rows, cols);
+     366          62 :       swap = SWAP;
+     367             :     }
+     368         147 :     return loadMatrixX(name, default_value, rows, cols, optional, unique, swap);
+     369             :   }
+     370             :   //}
+     371             :   //}
+     372             : 
+     373             :   /* loadMatrixArray_internal helper function for loading an array of EigenXd matrices with known dimensions //{ */
+     374             :   template <typename T>
+     375           5 :   std::vector<MatrixX<T>> loadMatrixArray_internal(const std::string& name, const std::vector<MatrixX<T>>& default_value, optional_t optional, unique_t unique)
+     376             :   {
+     377          10 :     const std::string name_prefixed = m_prefix + name;
+     378             :     int rows;
+     379          10 :     std::vector<int> cols;
+     380           5 :     bool success = true;
+     381           5 :     success = success && m_pp.getParam(name_prefixed + "/rows", rows);
+     382           5 :     success = success && m_pp.getParam(name_prefixed + "/cols", cols);
+     383             : 
+     384          10 :     std::vector<MatrixX<T>> loaded;
+     385           5 :     loaded.reserve(cols.size());
+     386             : 
+     387           5 :     int total_cols = 0;
+     388             :     /* check correctness of loaded parameters so far calculate the total dimension //{ */
+     389             : 
+     390           5 :     if (!success)
+     391             :     {
+     392           0 :       printError(std::string("Failed to load ") + resolved(name_prefixed) + std::string("/rows or ") + resolved(name_prefixed) + std::string("/cols"));
+     393           0 :       m_load_successful = false;
+     394           0 :       return default_value;
+     395             :     }
+     396           5 :     if (rows < 0)
+     397             :     {
+     398           0 :       printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     399           0 :       m_load_successful = false;
+     400           0 :       return default_value;
+     401             :     }
+     402          15 :     for (const auto& col : cols)
+     403             :     {
+     404          10 :       if (col < 0)
+     405             :       {
+     406           0 :         printError(std::string("Invalid expected matrix dimensions for parameter ") + resolved(name_prefixed) + std::string(" (rows and cols must be >= 0)"));
+     407           0 :         m_load_successful = false;
+     408           0 :         return default_value;
+     409             :       }
+     410          10 :       total_cols += col;
+     411             :     }
+     412             :     
+     413             :     //}
+     414             : 
+     415          15 :     const auto [loaded_matrix, loaded_ok] = loadMatrixX(name + "/data", MatrixX<T>(), rows, total_cols, optional, unique, NO_SWAP, false);
+     416             :     /* std::cout << "loaded_matrix: " << loaded_matrix << std::endl; */
+     417             :     /* std::cout << "loaded_matrix: " << loaded_matrix.rows() << "x" << loaded_matrix.cols() << std::endl; */
+     418             :     /* std::cout << "expected dims: " << rows << "x" << total_cols << std::endl; */
+     419           5 :     if (loaded_matrix.rows() != rows || loaded_matrix.cols() != total_cols)
+     420             :     {
+     421           0 :       m_load_successful = false;
+     422           0 :       return default_value;
+     423             :     }
+     424             : 
+     425           5 :     int cols_loaded = 0;
+     426          15 :     for (unsigned it = 0; it < cols.size(); it++)
+     427             :     {
+     428          10 :       const int cur_cols = cols.at(it);
+     429          10 :       const MatrixX<T> cur_mat = loaded_matrix.block(0, cols_loaded, rows, cur_cols);
+     430             :       /* std::cout << "cur_mat: " << cur_mat << std::endl; */
+     431          10 :       loaded.push_back(cur_mat);
+     432          10 :       cols_loaded += cur_cols;
+     433          10 :       printValue(name_prefixed + "/matrix#" + std::to_string(it), cur_mat);
+     434             :     }
+     435           5 :     return loaded;
+     436             :   }
+     437             :   //}
+     438             : 
+     439             :   /* load helper function for generic types //{ */
+     440             :   // This function tries to load a parameter with name 'name' and a default value.
+     441             :   // You can use the flag 'optional' to not throw a ROS_ERROR when the parameter
+     442             :   // cannot be loaded and the flag 'printValues' to set whether the loaded
+     443             :   // value and name of the parameter should be printed to cout.
+     444             :   // If 'optional' is set to false and the parameter could not be loaded,
+     445             :   // the flag 'load_successful' is set to false and a ROS_ERROR message
+     446             :   // is printer.
+     447             :   // If 'unique' flag is set to false then the parameter is not checked
+     448             :   // for being loaded twice.
+     449             :   // Returns a tuple, containing either the loaded or the default value and a bool,
+     450             :   // indicating if the value was loaded (true) or the default value was used (false).
+     451             :   template <typename T>
+     452       68882 :   std::pair<T, bool> load(const std::string& name, const T& default_value, optional_t optional = OPTIONAL, unique_t unique = UNIQUE)
+     453             :   {
+     454      137764 :     const std::string name_prefixed = m_prefix + name;
+     455       86266 :     T loaded = default_value;
+     456       68882 :     if (unique && check_duplicit_loading(name_prefixed))
+     457           2 :       return {loaded, false};
+     458             : 
+     459       68880 :     bool cur_load_successful = true;
+     460             :     // try to load the parameter
+     461       68880 :     const bool success = m_pp.getParam(name_prefixed, loaded);
+     462       68880 :     if (!success)
+     463             :     {
+     464             :       // if it was not loaded, set the default value
+     465        1239 :       loaded = default_value;
+     466        1239 :       if (!optional)
+     467             :       {
+     468             :         // if the parameter was compulsory, alert the user and set the flag
+     469           2 :         printError(std::string("Could not load non-optional parameter ") + resolved(name_prefixed));
+     470           2 :         cur_load_successful = false;
+     471             :       }
+     472             :     }
+     473             : 
+     474       68880 :     if (cur_load_successful)
+     475             :     {
+     476             :       // everything is fine and just print the name_prefixed and value if required
+     477       68878 :       if (m_print_values)
+     478       68877 :         printValue(name_prefixed, loaded);
+     479             :       // mark the param name_prefixed as successfully loaded
+     480       68879 :       m_loaded_params.insert(name_prefixed);
+     481             :     } else
+     482             :     {
+     483           2 :       m_load_successful = false;
+     484             :     }
+     485             :     // finally, return the resulting value
+     486       68880 :     return {loaded, success};
+     487             :   }
+     488             :   //}
+     489             : 
+     490             : public:
+     491             :   /*!
+     492             :     * \brief Main constructor.
+     493             :     *
+     494             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     495             :     * \param printValues  If true, the loaded values will be printed to stdout using std::cout or ROS_INFO if node_name is not empty.
+     496             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     497             :     */
+     498        3137 :   ParamLoader(const ros::NodeHandle& nh, bool printValues = true, std::string_view node_name = std::string())
+     499        3137 :       : m_load_successful(true),
+     500             :         m_print_values(printValues),
+     501             :         m_node_name(node_name),
+     502             :         m_nh(nh),
+     503        3137 :         m_pp(nh, m_node_name)
+     504             :   {
+     505             :     /* std::cout << "Initialized1 ParamLoader for node " << node_name << std::endl; */
+     506        3137 :   }
+     507             : 
+     508             :   /* Constructor overloads //{ */
+     509             :   /*!
+     510             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, node_name);
+     511             :     *
+     512             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     513             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     514             :     */
+     515        1365 :   ParamLoader(const ros::NodeHandle& nh, std::string_view node_name)
+     516        1365 :       : ParamLoader(nh, true, node_name)
+     517             :   {
+     518             :     /* std::cout << "Initialized2 ParamLoader for node " << node_name << std::endl; */
+     519        1365 :   }
+     520             : 
+     521             :   /*!
+     522             :     * \brief Convenience overload to enable writing ParamLoader pl(nh, "node_name");
+     523             :     *
+     524             :     * \param nh            The parameters will be loaded from rosparam using this node handle.
+     525             :     * \param node_name     Optional node name used when printing the loaded values or loading errors.
+     526             :     */
+     527             :   ParamLoader(const std::string& filepath, const ros::NodeHandle& nh)
+     528             :     : ParamLoader(nh, "none")
+     529             :   {
+     530             :     YAML::Node node = YAML::Load(filepath);
+     531             :   }
+     532             :   //}
+     533             : 
+     534             :   /* setPrefix function //{ */
+     535             :   
+     536             :   /*!
+     537             :     * \brief All loaded parameters will be prefixed with this string.
+     538             :     *
+     539             :     * \param prefix  the prefix to be applied to all loaded parameters from now on.
+     540             :     */
+     541        1576 :   void setPrefix(const std::string& prefix)
+     542             :   {
+     543        1576 :     m_prefix = prefix;
+     544        1576 :   }
+     545             :   
+     546             :   //}
+     547             : 
+     548             :   /* getPrefix function //{ */
+     549             :   
+     550             :   /*!
+     551             :     * \brief Returns the current parameter name prefix.
+     552             :     *
+     553             :     * \return the current prefix to be applied to the loaded parameters.
+     554             :     */
+     555             :   std::string getPrefix()
+     556             :   {
+     557             :     return m_prefix;
+     558             :   }
+     559             :   
+     560             :   //}
+     561             : 
+     562             :   /* addYamlFile() function //{ */
+     563             :   
+     564             :   /*!
+     565             :     * \brief Adds the specified file as a source of static parameters.
+     566             :     *
+     567             :     * \param filepath The full path to the yaml file to be loaded.
+     568             :     * \return true if loading and parsing the file was successful, false otherwise.
+     569             :     */
+     570        8944 :   bool addYamlFile(const std::string& filepath)
+     571             :   {
+     572        8944 :     return m_pp.addYamlFile(filepath);
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* addYamlFileFromParam() function //{ */
+     577             :   
+     578             :   /*!
+     579             :     * \brief Loads a filepath from a parameter loads that file as a YAML.
+     580             :     *
+     581             :     * \param param_name Name of the parameter from which to load the YAML filename to be loaded.
+     582             :     * \return true      if loading and parsing the file was successful, false otherwise.
+     583             :     */
+     584        2170 :   bool addYamlFileFromParam(const std::string& param_name)
+     585             :   {
+     586        4340 :     std::string filepath;
+     587        2170 :     if (!loadParam(param_name, filepath))
+     588           0 :       return false;
+     589        2170 :     return m_pp.addYamlFile(filepath);
+     590             :   }
+     591             :   //}
+     592             : 
+     593             :   /* loadedSuccessfully function //{ */
+     594             :   /*!
+     595             :     * \brief Indicates whether all compulsory parameters were successfully loaded.
+     596             :     *
+     597             :     * \return false if any compulsory parameter was not loaded (is not present at rosparam server). Otherwise returns true.
+     598             :     */
+     599        3510 :   bool loadedSuccessfully()
+     600             :   {
+     601        3510 :     return m_load_successful;
+     602             :   }
+     603             :   //}
+     604             : 
+     605             :   /* resetLoadedSuccessfully function //{ */
+     606             :   /*!
+     607             :     * \brief Resets the loadedSuccessfully flag back to true.
+     608             :     */
+     609           3 :   void resetLoadedSuccessfully()
+     610             :   {
+     611           3 :     m_load_successful = true;
+     612           3 :   }
+     613             :   //}
+     614             : 
+     615             :   /* resetUniques function //{ */
+     616             :   /*!
+     617             :     * \brief Resets the list of already loaded parameter names used when checking for uniqueness.
+     618             :     */
+     619          20 :   void resetUniques()
+     620             :   {
+     621          20 :     m_loaded_params.clear();
+     622          20 :   }
+     623             :   //}
+     624             : 
+     625             :   /* loadParam function for optional parameters //{ */
+     626             :   /*!
+     627             :     * \brief Loads a parameter from the rosparam server with a default value.
+     628             :     *
+     629             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     630             :     * the default value is used.
+     631             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     632             :     *
+     633             :     * \param name          Name of the parameter in the rosparam server.
+     634             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     635             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     636             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     637             :     */
+     638             :   template <typename T>
+     639        5480 :   bool loadParam(const std::string& name, T& out_value, const T& default_value)
+     640             :   {
+     641        5480 :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     642        5480 :     out_value = ret;
+     643        5521 :     return success;
+     644             :   }
+     645             :   /*!
+     646             :     * \brief Loads a parameter from the rosparam server with a default value.
+     647             :     *
+     648             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     649             :     * the default value is used.
+     650             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     651             :     *
+     652             :     * \param name          Name of the parameter in the rosparam server.
+     653             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     654             :     * \return              The loaded parameter value.
+     655             :     */
+     656             :   template <typename T>
+     657         406 :   T loadParam2(const std::string& name, const T& default_value)
+     658             :   {
+     659         812 :     const auto loaded = load<T>(name, default_value, OPTIONAL, UNIQUE);
+     660         812 :     return loaded.first;
+     661             :   }
+     662             :   /*!
+     663             :     * \brief Loads a parameter from the rosparam server with a default value.
+     664             :     *
+     665             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     666             :     * the default value is used.
+     667             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     668             :     *
+     669             :     * \param name          Name of the parameter in the rosparam server.
+     670             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     671             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     672             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     673             :     */
+     674             :   template <typename T>
+     675             :   bool loadParamReusable(const std::string& name, T& out_value, const T& default_value)
+     676             :   {
+     677             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     678             :     out_value = ret;
+     679             :     return success;
+     680             :   }
+     681             :   /*!
+     682             :     * \brief Loads an optional reusable parameter from the rosparam server.
+     683             :     *
+     684             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     685             :     * the default value is used.
+     686             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     687             :     *
+     688             :     * \param name          Name of the parameter in the rosparam server.
+     689             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     690             :     * \return              The loaded parameter value.
+     691             :     */
+     692             :   template <typename T>
+     693             :   T loadParamReusable2(const std::string& name, const T& default_value)
+     694             :   {
+     695             :     const auto [ret, success] = load<T>(name, default_value, OPTIONAL, REUSABLE);
+     696             :     return ret;
+     697             :   }
+     698             :   //}
+     699             : 
+     700             :   /* loadParam function for compulsory parameters //{ */
+     701             :   /*!
+     702             :     * \brief Loads a compulsory parameter from the rosparam server.
+     703             :     *
+     704             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     705             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     706             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     707             :     *
+     708             :     * \param name          Name of the parameter in the rosparam server.
+     709             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     710             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     711             :     */
+     712             :   template <typename T>
+     713       62995 :   bool loadParam(const std::string& name, T& out_value)
+     714             :   {
+     715       79931 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     716       62995 :     out_value = ret;
+     717       79931 :     return success;
+     718             :   }
+     719             :   /*!
+     720             :     * \brief Loads a compulsory parameter from the rosparam server.
+     721             :     *
+     722             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     723             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     724             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     725             :     *
+     726             :     * \param name          Name of the parameter in the rosparam server.
+     727             :     * \return              The loaded parameter value.
+     728             :     */
+     729             :   template <typename T>
+     730             :   T loadParam2(const std::string& name)
+     731             :   {
+     732             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, UNIQUE);
+     733             :     return ret;
+     734             :   }
+     735             :   /*!
+     736             :     * \brief Loads a compulsory parameter from the rosparam server.
+     737             :     *
+     738             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     739             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     740             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     741             :     *
+     742             :     * \param name          Name of the parameter in the rosparam server.
+     743             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     744             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     745             :     */
+     746             :   template <typename T>
+     747           1 :   bool loadParamReusable(const std::string& name, T& out_value)
+     748             :   {
+     749           2 :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     750           1 :     out_value = ret;
+     751           2 :     return success;
+     752             :   }
+     753             :   /*!
+     754             :     * \brief Loads a compulsory parameter from the rosparam server.
+     755             :     *
+     756             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     757             :     * the loading process is unsuccessful (loaded_successfully() will return false).
+     758             :     * Using this method, the parameter can be loaded multiple times using the same ParamLoader instance without error.
+     759             :     *
+     760             :     * \param name          Name of the parameter in the rosparam server.
+     761             :     * \return              The loaded parameter value.
+     762             :     */
+     763             :   template <typename T>
+     764             :   T loadParamReusable2(const std::string& name)
+     765             :   {
+     766             :     const auto [ret, success] = load<T>(name, T(), COMPULSORY, REUSABLE);
+     767             :     return ret;
+     768             :   }
+     769             :   //}
+     770             : 
+     771             :   /* loadParam specializations for ros::Duration type //{ */
+     772             : 
+     773             :   /*!
+     774             :     * \brief An overload for loading ros::Duration.
+     775             :     *
+     776             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     777             :     *
+     778             :     * \param name          Name of the parameter in the rosparam server.
+     779             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     780             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     781             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     782             :     */
+     783             :   bool loadParam(const std::string& name, ros::Duration& out, const ros::Duration& default_value)
+     784             :   {
+     785             :     double secs;
+     786             :     const bool ret = loadParam<double>(name, secs, default_value.toSec());
+     787             :     out = ros::Duration(secs);
+     788             :     return ret;
+     789             :   }
+     790             : 
+     791             :   /*!
+     792             :     * \brief An overload for loading ros::Duration.
+     793             :     *
+     794             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+     795             :     *
+     796             :     * \param name          Name of the parameter in the rosparam server.
+     797             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     798             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     799             :     */
+     800             :   bool loadParam(const std::string& name, ros::Duration& out)
+     801             :   {
+     802             :     double secs;
+     803             :     const bool ret = loadParam<double>(name, secs);
+     804             :     out = ros::Duration(secs);
+     805             :     return ret;
+     806             :   }
+     807             :   
+     808             :   //}
+     809             : 
+     810             :   /* loadParam specializations for std_msgs::ColorRGBA type //{ */
+     811             : 
+     812             :   /*!
+     813             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     814             :     *
+     815             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     816             :     *
+     817             :     * \param name          Name of the parameter in the rosparam server.
+     818             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     819             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     820             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     821             :     */
+     822             :   bool loadParam(const std::string& name, std_msgs::ColorRGBA& out, const std_msgs::ColorRGBA& default_value = {})
+     823             :   {
+     824             :     std_msgs::ColorRGBA res;
+     825             :     bool ret = true;
+     826             :     ret = ret & loadParam(name+"/r", res.r, default_value.r);
+     827             :     ret = ret & loadParam(name+"/g", res.g, default_value.g);
+     828             :     ret = ret & loadParam(name+"/b", res.b, default_value.b);
+     829             :     ret = ret & loadParam(name+"/a", res.a, default_value.a);
+     830             :     if (ret)
+     831             :       out = res;
+     832             :     return ret;
+     833             :   }
+     834             : 
+     835             :   /*!
+     836             :     * \brief An overload for loading std_msgs::ColorRGBA.
+     837             :     *
+     838             :     * The color will be loaded as several \p double -typed variables, representing the R, G, B and A color elements.
+     839             :     *
+     840             :     * \param name          Name of the parameter in the rosparam server.
+     841             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     842             :     * \return              The loaded parameter value.
+     843             :     */
+     844             :   std_msgs::ColorRGBA loadParam2(const std::string& name, const std_msgs::ColorRGBA& default_value = {})
+     845             :   {
+     846             :     std_msgs::ColorRGBA ret;
+     847             :     loadParam(name, ret, default_value);
+     848             :     return ret;
+     849             :   }
+     850             : 
+     851             :   //}
+     852             : 
+     853             :   /* loadParam specializations for XmlRpc::Value type //{ */
+     854             : 
+     855             :   /*!
+     856             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     857             :     *
+     858             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     859             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     860             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     861             :     *
+     862             :     * \param name          Name of the parameter in the rosparam server.
+     863             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     864             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     865             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     866             :     */
+     867           2 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out, const XmlRpc::XmlRpcValue& default_value)
+     868             :   {
+     869           2 :     return loadParam<XmlRpc::XmlRpcValue>(name, out, default_value);
+     870             :   }
+     871             : 
+     872             :   /*!
+     873             :     * \brief An overload for loading a compulsory XmlRpc::XmlRpcValue.
+     874             :     *
+     875             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     876             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     877             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     878             :     *
+     879             :     * \param name          Name of the parameter in the rosparam server.
+     880             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     881             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     882             :     */
+     883           3 :   bool loadParam(const std::string& name, XmlRpc::XmlRpcValue& out)
+     884             :   {
+     885           3 :     return loadParam<XmlRpc::XmlRpcValue>(name, out);
+     886             :   }
+     887             : 
+     888             :   /*!
+     889             :     * \brief An overload for loading an optional XmlRpc::XmlRpcValue.
+     890             :     *
+     891             :     * This can be used if you want to manually parse some more complex parameter but still take advantage of ParamLoader.
+     892             :     * \warning  XmlRpc::XmlRpcValue must be loaded from a rosparam server and not directly from a YAML file
+     893             :     * (i.e. you cannot use it to load parameters from a file added using the addYamlFile() or addYamlFileFromParam() methods).
+     894             :     *
+     895             :     * \param name          Name of the parameter in the rosparam server.
+     896             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     897             :     * \return              the loaded parameter.
+     898             :     */
+     899           1 :   XmlRpc::XmlRpcValue loadParam2(const std::string& name, const XmlRpc::XmlRpcValue& default_value)
+     900             :   {
+     901           1 :     return loadParam2<XmlRpc::XmlRpcValue>(name, default_value);
+     902             :   }
+     903             : 
+     904             :   //}
+     905             : 
+     906             :   /* loadParam specializations and convenience functions for Eigen dynamic matrix type //{ */
+     907             : 
+     908             :   /*!
+     909             :     * \brief An overload for loading Eigen matrices.
+     910             :     *
+     911             :     * Matrix dimensions are deduced from the provided default value.
+     912             :     * For compulsory Eigen matrices, use loadMatrixStatic(), loadMatrixKnown() or loadMatrixDynamic().
+     913             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     914             :     * the default value is used.
+     915             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     916             :     *
+     917             :     * \param name          Name of the parameter in the rosparam server.
+     918             :     * \param out_value     Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     919             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     920             :     * \return              True if loaded successfully, false otherwise.
+     921             :     */
+     922             :   template <typename T>
+     923             :   bool loadParam(const std::string& name, MatrixX<T>& mat, const MatrixX<T>& default_value)
+     924             :   {
+     925             :     const int rows = default_value.rows();
+     926             :     const int cols = default_value.cols();
+     927             :     const bool loaded_ok = loadMatrixDynamic(name, mat, default_value, rows, cols);
+     928             :     return loaded_ok;
+     929             :   }
+     930             : 
+     931             :   /*!
+     932             :     * \brief An overload for loading Eigen matrices.
+     933             :     *
+     934             :     * Matrix dimensions are deduced from the provided default value.
+     935             :     * For compulsory Eigen matrices, use loadMatrixStatic(), loadMatrixKnown() or loadMatrixDynamic().
+     936             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     937             :     * the default value is used.
+     938             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     939             :     *
+     940             :     * \param name          Name of the parameter in the rosparam server.
+     941             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     942             :     * \return              The loaded parameter value.
+     943             :     */
+     944             :   template <typename T>
+     945             :   MatrixX<T> loadParam2(const std::string& name, const MatrixX<T>& default_value)
+     946             :   {
+     947             :     MatrixX<T> ret;
+     948             :     loadParam(name, ret, default_value);
+     949             :     return ret;
+     950             :   }
+     951             :   
+     952             :   //}
+     953             : 
+     954             :   // loadMatrixStatic function for loading of static Eigen::Matrices //{
+     955             : 
+     956             :   /*!
+     957             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+     958             :     *
+     959             :     * This variant assumes that the matrix dimensions are known in compiletime.
+     960             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     961             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     962             :     * the loading process is unsuccessful.
+     963             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     964             :     *
+     965             :     * \tparam rows  Expected number of rows of the matrix.
+     966             :     * \tparam cols  Expected number of columns of the matrix.
+     967             :     *
+     968             :     * \param name  Name of the parameter in the rosparam server.
+     969             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     970             :     * \return      true if loaded successfully, false otherwise.
+     971             :     *
+     972             :     */
+     973             :   template <int rows, int cols, typename T>
+     974           4 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat)
+     975             :   {
+     976           4 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>::Zero(), COMPULSORY, UNIQUE);
+     977           4 :     mat = ret;
+     978           4 :     return loaded_ok;
+     979             :   }
+     980             : 
+     981             :   /*!
+     982             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+     983             :     *
+     984             :     * This variant assumes that the matrix dimensions are known in compiletime.
+     985             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+     986             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+     987             :     * the default value is used.
+     988             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+     989             :     *
+     990             :     * \tparam rows          Expected number of rows of the matrix.
+     991             :     * \tparam cols          Expected number of columns of the matrix.
+     992             :     *
+     993             :     * \param name          Name of the parameter in the rosparam server.
+     994             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+     995             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+     996             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+     997             :     *
+     998             :     */
+     999             :   template <int rows, int cols, typename T, typename Derived>
+    1000          84 :   bool loadMatrixStatic(const std::string& name, Eigen::Matrix<T, rows, cols>& mat, const Eigen::MatrixBase<Derived>& default_value)
+    1001             :   {
+    1002          84 :     const auto [ret, loaded_ok] = loadMatrixStatic_internal<rows, cols, T>(name, Eigen::Matrix<T, rows, cols>(default_value), OPTIONAL, UNIQUE);
+    1003          84 :     mat = ret;
+    1004          84 :     return loaded_ok;
+    1005             :   }
+    1006             : 
+    1007             :   /*!
+    1008             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1009             :     *
+    1010             :     * This variant assumes that the matrix dimensions are known in compiletime.
+    1011             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1012             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1013             :     * the loading process is unsuccessful.
+    1014             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1015             :     *
+    1016             :     * \tparam rows  Expected number of rows of the matrix.
+    1017             :     * \tparam cols  Expected number of columns of the matrix.
+    1018             :     *
+    1019             :     * \param name  Name of the parameter in the rosparam server.
+    1020             :     * \return      The loaded parameter value.
+    1021             :     *
+    1022             :     */
+    1023             :   template <int rows, int cols, typename T = double>
+    1024           2 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name)
+    1025             :   {
+    1026           2 :     Eigen::Matrix<T, rows, cols> ret;
+    1027           2 :     loadMatrixStatic(name, ret);
+    1028           2 :     return ret;
+    1029             :   }
+    1030             : 
+    1031             :   /*!
+    1032             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1033             :     *
+    1034             :     * This variant assumes that the matrix dimensions are known in compiletime.
+    1035             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1036             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1037             :     * the default value is used.
+    1038             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1039             :     *
+    1040             :     * \tparam rows          Expected number of rows of the matrix.
+    1041             :     * \tparam cols          Expected number of columns of the matrix.
+    1042             :     *
+    1043             :     * \param name          Name of the parameter in the rosparam server.
+    1044             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1045             :     * \return              The loaded parameter value.
+    1046             :     *
+    1047             :     */
+    1048             :   template <int rows, int cols, typename T, typename Derived>
+    1049           1 :   Eigen::Matrix<T, rows, cols> loadMatrixStatic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value)
+    1050             :   {
+    1051           1 :     Eigen::Matrix<T, rows, cols> ret;
+    1052           1 :     loadMatrixStatic(name, ret, default_value);
+    1053           1 :     return ret;
+    1054             :   }
+    1055             :   //}
+    1056             : 
+    1057             :   // loadMatrixKnown function for loading of Eigen matrices with known dimensions //{
+    1058             : 
+    1059             :   /*!
+    1060             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1061             :     *
+    1062             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1063             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1064             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1065             :     * the loading process is unsuccessful.
+    1066             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1067             :     *
+    1068             :     * \param name  Name of the parameter in the rosparam server.
+    1069             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1070             :     * \param rows  Expected number of rows of the matrix.
+    1071             :     * \param cols  Expected number of columns of the matrix.
+    1072             :     * \return      true if loaded successfully, false otherwise.
+    1073             :     */
+    1074             :   template <typename T>
+    1075         326 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1076             :   {
+    1077         652 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1078         326 :     mat = ret;
+    1079         652 :     return loaded_ok;
+    1080             :   }
+    1081             : 
+    1082             :   /*!
+    1083             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1084             :     *
+    1085             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1086             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1087             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1088             :     * the default value is used.
+    1089             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1090             :     *
+    1091             :     * \param name          Name of the parameter in the rosparam server.
+    1092             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1093             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1094             :     * \param rows          Expected number of rows of the matrix.
+    1095             :     * \param cols          Expected number of columns of the matrix.
+    1096             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+    1097             :     */
+    1098             :   template <typename T, typename Derived>
+    1099           2 :   bool loadMatrixKnown(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1100             :   {
+    1101           4 :     const auto [ret, loaded_ok] = loadMatrixKnown_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1102           2 :     mat = ret;
+    1103           4 :     return loaded_ok;
+    1104             :   }
+    1105             : 
+    1106             :   /*!
+    1107             :     * \brief Specialized method for loading compulsory Eigen matrix parameters.
+    1108             :     *
+    1109             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1110             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1111             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1112             :     * the loading process is unsuccessful.
+    1113             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1114             :     *
+    1115             :     * \param name  Name of the parameter in the rosparam server.
+    1116             :     * \param rows  Expected number of rows of the matrix.
+    1117             :     * \param cols  Expected number of columns of the matrix.
+    1118             :     * \return      The loaded parameter value.
+    1119             :     */
+    1120             :   template <typename T = double>
+    1121           1 :   MatrixX<T> loadMatrixKnown2(const std::string& name, int rows, int cols)
+    1122             :   {
+    1123           1 :     MatrixX<T> ret;
+    1124           1 :     loadMatrixKnown(name, ret, rows, cols);
+    1125           1 :     return ret;
+    1126             :   }
+    1127             : 
+    1128             :   /*!
+    1129             :     * \brief Specialized method for loading Eigen matrix parameters with default value.
+    1130             :     *
+    1131             :     * This variant assumes that the matrix dimensions are known in runtime, but not compiletime.
+    1132             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1133             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1134             :     * the default value is used.
+    1135             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1136             :     *
+    1137             :     * \param name          Name of the parameter in the rosparam server.
+    1138             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1139             :     * \param rows          Expected number of rows of the matrix.
+    1140             :     * \param cols          Expected number of columns of the matrix.
+    1141             :     * \return              The loaded parameter value.
+    1142             :     */
+    1143             :   template <typename T, typename Derived>
+    1144           1 :   MatrixX<T> loadMatrixKnown2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1145             :   {
+    1146           1 :     MatrixX<T> ret;
+    1147           1 :     loadMatrixKnown(name, ret, default_value, rows, cols);
+    1148           1 :     return ret;
+    1149             :   }
+    1150             :   //}
+    1151             : 
+    1152             :   // loadMatrixDynamic function for half-dynamic loading of MatrixX<T> //{
+    1153             : 
+    1154             :   /*!
+    1155             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1156             :     *
+    1157             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1158             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1159             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1160             :     * the loading process is unsuccessful.
+    1161             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1162             :     *
+    1163             :     * \param name  Name of the parameter in the rosparam server.
+    1164             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1165             :     * \param rows  Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1166             :     * \param cols  Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1167             :     * \return      true if loaded successfully, false otherwise.
+    1168             :     */
+    1169             :   template <typename T>
+    1170          64 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, int rows, int cols)
+    1171             :   {
+    1172         128 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(), rows, cols, COMPULSORY, UNIQUE);
+    1173          64 :     mat = ret;
+    1174         128 :     return loaded_ok;
+    1175             :   }
+    1176             : 
+    1177             :   /*!
+    1178             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1179             :     *
+    1180             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1181             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1182             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1183             :     * the default value is used.
+    1184             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1185             :     *
+    1186             :     * \param name          Name of the parameter in the rosparam server.
+    1187             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1188             :     * \param mat           Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1189             :     * \param rows          Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1190             :     * \param cols          Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1191             :     * \return              true if the parameter was loaded from \p rosparam, false if the default value was used.
+    1192             :     */
+    1193             :   template <typename T, typename Derived>
+    1194          83 :   bool loadMatrixDynamic(const std::string& name, MatrixX<T>& mat, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1195             :   {
+    1196         166 :     const auto [ret, loaded_ok] = loadMatrixDynamic_internal(name, MatrixX<T>(default_value), rows, cols, OPTIONAL, UNIQUE);
+    1197          83 :     mat = ret;
+    1198         166 :     return loaded_ok;
+    1199             :   }
+    1200             : 
+    1201             :   /*!
+    1202             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1203             :     *
+    1204             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1205             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1206             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1207             :     * the loading process is unsuccessful.
+    1208             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1209             :     *
+    1210             :     * \param name  Name of the parameter in the rosparam server.
+    1211             :     * \param rows  Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1212             :     * \param cols  Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1213             :     * \return      The loaded parameter value.
+    1214             :     */
+    1215             :   template <typename T = double>
+    1216          62 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, int rows, int cols)
+    1217             :   {
+    1218          62 :     MatrixX<T> ret;
+    1219          62 :     loadMatrixDynamic(name, ret, rows, cols);
+    1220          62 :     return ret;
+    1221             :   }
+    1222             : 
+    1223             :   /*!
+    1224             :     * \brief Specialized method for loading compulsory dynamic Eigen matrix parameters.
+    1225             :     *
+    1226             :     * This variant assumes that the only one of the matrix dimensions are known, the other is selected based on the loaded value.
+    1227             :     * If the dimensions of the loaded matrix do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1228             :     * If the parameter with the specified name is not found on the rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1229             :     * the default value is used.
+    1230             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1231             :     *
+    1232             :     * \param name          Name of the parameter in the rosparam server.
+    1233             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1234             :     * \param rows          Expected number of rows of the matrix (negative value indicates that the number of rows is to be deduced from the specified number of columns and the size of the loaded array).
+    1235             :     * \param cols          Expected number of columns of the matrix (negative value indicates that the number of columns is to be deduced from the specified number of rows and the size of the loaded array).
+    1236             :     * \return              The loaded parameter value.
+    1237             :     */
+    1238             :   template <typename T, typename Derived>
+    1239           1 :   MatrixX<T> loadMatrixDynamic2(const std::string& name, const Eigen::MatrixBase<Derived>& default_value, int rows, int cols)
+    1240             :   {
+    1241           1 :     MatrixX<T> ret;
+    1242           1 :     loadMatrixDynamic(name, ret, default_value, rows, cols);
+    1243           1 :     return ret;
+    1244             :   }
+    1245             : 
+    1246             :   //}
+    1247             : 
+    1248             :   // loadMatrixArray function for loading of an array of MatrixX<T> with known dimensions //{
+    1249             :   /*!
+    1250             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1251             :     *
+    1252             :     * The number of rows and columns of the matrices to be loaded is specified in the \c rosparam parameter. Specifically, the \c name/rows value specifies the
+    1253             :     * number of rows, which must be common to all the loaded matrices (i.e. it is one integer >= 0), and the \c name/cols value specifies the number of columns of
+    1254             :     * each matrix (i.e. it is an array of integers > 0). The \c name/data array contains the values of the elements of the matrices and it must have length
+    1255             :     * \f$ r\sum_i c_i \f$, where \f$ r \f$ is the common number of rows and \f$ c_i \f$ is the number of columns of the \f$ i \f$-th matrix.
+    1256             :     * A typical structure of a \c yaml file, specifying the
+    1257             :     * matrix array to be loaded using this method, is
+    1258             :     *
+    1259             :     * \code{.yaml}
+    1260             :     *
+    1261             :     * matrix_array:
+    1262             :     *   rows: 3
+    1263             :     *   cols: [1, 2]
+    1264             :     *   data: [-5.0, 0.0, 23.0,
+    1265             :     *          -5.0, 0.0, 12.0,
+    1266             :     *           2.0,   4.0,  7.0]
+    1267             :     *
+    1268             :     * \endcode
+    1269             :     *
+    1270             :     * which will be loaded as a \c std::vector, containing one \f$ 3\times 1 \f$ matrix and one \f$ 3\times 2 \f$ matrix.
+    1271             :     *
+    1272             :     * If the dimensions of the loaded matrices do not match the specified number of rows and columns, the loading process is unsuccessful (loaded_successfully() will return false).
+    1273             :     * If the parameter with the specified name is not found on the \c rosparam server (e.g. because it is not specified in the launchfile or yaml config file),
+    1274             :     * the loading process is unsuccessful.
+    1275             :     * Using this method, the parameter can only be loaded once using the same ParamLoader instance without error.
+    1276             :     *
+    1277             :     * \param name  Name of the parameter in the rosparam server.
+    1278             :     * \param mat   Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1279             :     *
+    1280             :     */
+    1281             :   template <typename T>
+    1282           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat)
+    1283             :   {
+    1284           1 :     mat = loadMatrixArray2<double>(name);
+    1285           1 :   }
+    1286             : 
+    1287             :   /*!
+    1288             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1289             :     *
+    1290             :     * This overload of the loadMatrixArray() method takes a default value for the parameter, which is used in case a \c rosparam with the specified name is not
+    1291             :     * found in the \c rosparam server, instead of causing an unsuccessful load. This makes specifying the parameter value in the \c rosparam server optional.
+    1292             :     *
+    1293             :     * \param name           Name of the parameter in the rosparam server.
+    1294             :     * \param mat            Reference to the variable to which the parameter value will be stored (such as a class member variable).
+    1295             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1296             :     *
+    1297             :     */
+    1298             :   template <typename T>
+    1299           1 :   void loadMatrixArray(const std::string& name, std::vector<MatrixX<T>>& mat, const std::vector<MatrixX<T>>& default_value)
+    1300             :   {
+    1301           1 :     mat = loadMatrixArray2(name, default_value);
+    1302           1 :   }
+    1303             : 
+    1304             :   /*!
+    1305             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1306             :     *
+    1307             :     * This method works in the same way as the loadMatrixArray() method for compulsory parameters, except that the loaded
+    1308             :     * parameter is returned and not stored in the reference parameter.
+    1309             :     *
+    1310             :     * \param name           Name of the parameter in the rosparam server.
+    1311             :     * \returns              The loaded parameter or a default constructed object of the respective type.
+    1312             :     *
+    1313             :     */
+    1314             :   template <typename T = double>
+    1315           3 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name)
+    1316             :   {
+    1317           3 :     return loadMatrixArray_internal(name, std::vector<MatrixX<T>>(), COMPULSORY, UNIQUE);
+    1318             :   }
+    1319             : 
+    1320             :   /*!
+    1321             :     * \brief Specialized method for loading compulsory parameters, interpreted as an array of dynamic Eigen matrices.
+    1322             :     *
+    1323             :     * This method works in the same way as the loadMatrixArray() method for optional parameters, except that the loaded
+    1324             :     * parameter is returned and not stored in the reference parameter.
+    1325             :     *
+    1326             :     * \param name           Name of the parameter in the rosparam server.
+    1327             :     * \param default_value  The default value to be used in case the parameter is not found on the \c rosparam server.
+    1328             :     * \returns              The loaded parameter or the default value.
+    1329             :     *
+    1330             :     */
+    1331             :   template <typename T>
+    1332           2 :   std::vector<MatrixX<T>> loadMatrixArray2(const std::string& name, const std::vector<MatrixX<T>>& default_value)
+    1333             :   {
+    1334           2 :     return loadMatrixArray_internal(name, default_value, OPTIONAL, UNIQUE);
+    1335             :   }
+    1336             :   //}
+    1337             : 
+    1338             :   //}
+    1339             : 
+    1340             : };
+    1341             : //}
+    1342             : 
+    1343             :   /*!
+    1344             :     * \brief An overload for loading ros::Duration.
+    1345             :     *
+    1346             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1347             :     *
+    1348             :     * \param name          Name of the parameter in the rosparam server.
+    1349             :     * \param default_value This value will be used if the parameter name is not found in the rosparam server.
+    1350             :     * \return              The loaded parameter value.
+    1351             :     */
+    1352             :   template <>
+    1353             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name, const ros::Duration& default_value);
+    1354             : 
+    1355             :   /*!
+    1356             :     * \brief An overload for loading ros::Duration.
+    1357             :     *
+    1358             :     * The duration will be loaded as a \p double, representing a number of seconds, and then converted to ros::Duration.
+    1359             :     *
+    1360             :     * \param name          Name of the parameter in the rosparam server.
+    1361             :     * \return              The loaded parameter value.
+    1362             :     */
+    1363             :   template <>
+    1364             :   ros::Duration ParamLoader::loadParam2<ros::Duration>(const std::string& name);
+    1365             : 
+    1366             : }  // namespace mrs_lib
+    1367             : 
+    1368             : #endif  // PARAM_LOADER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/param_loader.h.gcov.overview.html b/mrs_lib/include/mrs_lib/param_loader.h.gcov.overview.html new file mode 100644 index 0000000000..06a945b67d --- /dev/null +++ b/mrs_lib/include/mrs_lib/param_loader.h.gcov.overview.html @@ -0,0 +1,362 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/param_loader.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/param_loader.h.gcov.png b/mrs_lib/include/mrs_lib/param_loader.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a4d4e2202f27269e5f25a66abde48f1cb954de81 GIT binary patch literal 4406 zcmV-65y|d}P)?dmV;-Eh=eLQB(e%tMAqI2=3>TAChE z6XB?B!BO9Imv2F+82;!2@QoQAj zkZ*hw+~lD>kBvuS_ys)H7n4V__?8Tj14BX9V)A&?$??GD*tSgA3lD6N#b*AEqjsTa z*s(Q>FI^&ZLG;^$kUUBuzJO5&9u0r8XjMUvArLy4CJh32(&l-_<3&-IavBKMTUI zudn~;`u>T(e*XLZ?|Xgy^F^0oFn2MS8O2m1JXbs&?)${EiUp+f6JLMr6OWG4itvP2 zH$=IPqtfivR3ZMqrv*=R(mm$#qP)jOKAATu>%Uhv`2;r54`wgIVP>gTZTeHG(3soVzSj z(~53d24hz)@q63Kk;;|&bgptiEYOSqI9#Jxg%Un5B4Asl4<3TrBg-2i4Kbe z?N3BPugQ?8L=gksHlZy$!y3n0`gE=Mm9q0N>MFAwHLdHWJ{7l2VaV$m^}guiUJ)@v zp@ND+PE=&i$?YHaTr*jh(>#}Sk_W;8t06yBE< zcFoH|GF@tfx+o>GBy|`PF4*Kuan(JBR`-HXDi|RsP41pPcIQM8YUQ|{nFh>kGc)(Y zM=^!tU|83-eG1E&k?OsQf#+J)^b@C0VN0!3IL>`e7>qgukVdNCwAM7MuU4oa?irhw z=49C#i;U3hhP%q}c&Q2AQ#tOG4C&~&Fn8=i=L=0YI`+bl)(O>kJbcty27o1JCv#7i z(wB`-V4Uw4k3u;1%1746nL{R0qeT+-+zdrhLw#8Ls8X8AV9lWE!Ql1cF{Fj3zzmW* zTw?ZI0QNay2t>{+&9uS}#D*+RKz0$Y0lr|V_nBtKPz?CCgfNFxEoyQUD-g{|2c3bM zal-aOFrT>rRIY6>Q}h9B_;<9}Y|Otl*R;J=ztSASlw^!E`^%u%+gUGmgAgF z?_w9L0mT3jkfiM6y^|I8g46ewA&A3c$Q;Sm2O#)NLlqru0_)mZyXF_ zODFE3T-Q4s<4o)mbhK5{Q+Sv9$o6b*8J84%phx&&drzq*+ybxgmE1|Z+4Qby(92R7 zi_Ja&DV%{JRZn5sF6(k3IhayRzX&}eP+HNWh>(g=-@)d}QdopYPS{DNEPXs-$%n)n zSLE92s;;HjBB^AHmNwswz?TN)Hpy-9JS`<1&9u#PiM?)UCmJ(Di(freyi6^nlEPxb zi@7W6oo{Bb`ApAuO8yGfH0Q1}@RO!5<0^_*eG7CQfurZkDhwgnvj>X>JOS_r^Xi_e z20*i$c7;(;Un7Ljtg|CWuZ7CoYiYt{8Uld}8Ks9pG+}do*wvxu*bE zE60g;C&2?VFtSp%g$P1C7+ep;v!lX3-2Zs%6+Ct|{XD(?WzWUA(k=tg z@mpt=xrbX#cnYycBf`1XR+VE);flqi8G}VLq3)V)rNrB*eLfoV2JS6EjVIdIK|XFO_^KVv!LF-Vl`3*bGNyO36to1nkmZG2Nu4IDNzDpp=sF~PZc19oLo3_Kd38UP zR2@~b(n$yK+4TGamXuLHJw9(dmoUQ%ycD3NQe6mrr=TvmJ?A-*~6XEvq397sQl<(Jt>FvLe12^?`Btv|W{gx^)SPY~8gl z$ItTB0oU=XQj@e5XmZ8LH&}qkmalreZOd14nhmr7Vpi7jp?`nLkN$P3Zh$Cwiz6pcpegr^H=7jn5j zxs;6&;mB3&oWZdHw9Z8Mslb)DSl|oamwzf}<|RP!7w0-V4uDmHDl}s8&I`)kz>G%` z?2xQJesrod^mM7Iad{P@4FD%i1nZ!uTGHdMk=ciJYrJrvNF^R#GhU8Wv>ds!DEe>ZI45D z#Zd)930T=fE+0gN2rC&_<(&vUQ?W&z&(-y5{1th&Gvo(j*gZ)O~Yk(q1Q>DWi-&e&(BH`AAx8D7Xm1GG_` zeg2wVrDNyqKzB?h+UMNJaf@#knD9hu`jNsx`s7@`UalgtyV11GnouKETa@%XNX^$&Gz% zc%QHgn_2qem91`urXx^2-pdBCsuqAiGaAPdYF{T5_fZuH16(e^cg9nb-%}MXYr|=+ zsRTG;++IL3A>1AMg+FJnD^TaRIlxZ$(bAVlsOMKx9>2Nf>kcI2v~Xa=UrDBMJ2!J@!6=%+cCQ2=LsI+p$~m zZHg{D&!`6>?@1bfbq|t?FxkVRnj_x=VfWkB%chT1F7@?6_^(GPJ>bf*Xb1f;aJMbJ z6>!xY>+U1$_aF}|*H*u5%7qZ+uR|x`dz{;k`^dFWbjIpF0`eNRt^4Y2?=wYoqLcnA zggVOuEOkce`X=Q))zzehMq%;f$YH z)IW%*y&eFrFvywV_yBhZ+~38c6+LY{E(PJG@c1#L$AvRB?CJ5yfZ5`bZa$31!a6=1 zk7|z9;De0-0PU1MRswccoo(wP3F6!%XLu6?A%b6wm4tvVrr+AEM0th7xAswABb-4O z>aPsn=r&r115^e`wyjXtyQP*El*IiCC6ChkC zXrY(^FEA|~$&O-yCb{QU|6H*Eg)L%DwuYzmk(+TsWogF2{7%*w7yn^wiuQmu8%#p4 z#R(gz)`a$b27uaW2<{vM;2~spseSC*kdV|rYt3qV`gVs2dtrhPbkdg}d4E$MZAQuy zT3Y5R-&&L%%qcU}dGFSu@;k>lv53b9Yfjt~NySl*U+S+%4S>*EMA1tbfagR29@^|0 zfd=8$2%HssOo^~*1g5=FO0U%PJC*{+D_Z+lih&$Ip~5FrsD=uDlzEt%enhWpUs@@@ zOJ~lDciD;ldk!~1md)?-%^T};Y_Z7*ucz0a2;hAqfFP9Y(elGH9sAe-m``fhV*u!k z*E->`2H?cd6e&f)28aW=~ui0l$4_OL_ z@MepV^!o4m>xa^2=rP&wEuj=Cu$(TFHn;QUY+CyCC5N1)i4zd*Vb28}+fjT&;Eue{xI0g(VDY}cao(8y5 zPiT8Q4Av1aU9v$yITSU6u9sQ6)(vdyzZPf>P1+eLkoEVx^ithO7eJ5fM@F5Ij zH1@W^pkd*VjABfb3*Zq5C5aQ-k%=cvA~?mMPq;X3AD;wVTWppAw>$^ny@5+fiLXG| zQ@|c*0a4^V*ahNf8;laT$X?_T9OaPv&^CQeYM*5Z1v2gEDUy$ZGyd_yiTGRNQD+|; zz$HPM`*?yO9RT-;gQsd=4))xY+@m?F*L{y4%b!1I7}Kt-)P#w{bXEmPGoV1usd8n} wp7#2~bA9D0G;I6uRMI)h6s*m+r07*qoM6N<$f)oynZvX%Q literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html new file mode 100644 index 0000000000..a2290a4b77 --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func-sort-c.html @@ -0,0 +1,556 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()0
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler()1
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler_impl()1
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()25
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()25
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()50
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<std_msgs::String_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()82
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()84
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()163
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()166
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()166
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()166
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()228
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()243
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()245
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()250
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()312
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()312
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()324
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()324
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()332
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()394
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()457
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()457
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()465
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()486
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()486
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()486
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()495
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()542
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()600
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()600
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()624
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()648
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()770
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()846
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()972
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1200
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1311
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()130119
+
+
+ + + +
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..22b9f51aef --- /dev/null +++ b/mrs_lib/include/mrs_lib/publisher_handler.h.func.html @@ -0,0 +1,556 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/publisher_handler.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_lib/include/mrs_lib - publisher_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::PublisherHandler()324
mrs_lib::PublisherHandler<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler()648
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::PublisherHandler()166
mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler()250
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::PublisherHandler()486
mrs_lib::PublisherHandler<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler()972
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::PublisherHandler()846
mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler()1311
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::PublisherHandler()312
mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler()624
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler()4
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::PublisherHandler()1
mrs_lib::PublisherHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::PublisherHandler()600
mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler()1200
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::PublisherHandler()542
mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler()770
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::PublisherHandler()163
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler()245
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::PublisherHandler()457
mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics_<std::allocator<void> > >::~PublisherHandler()457
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler()243
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::PublisherHandler()166
mrs_lib::PublisherHandler<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler()332
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::PublisherHandler()495
mrs_lib::PublisherHandler<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler()130119
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::PublisherHandler()25
mrs_lib::PublisherHandler<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler()50
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<std_msgs::Int64_<std::allocator<void> > >::~PublisherHandler()2
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::PublisherHandler()81
mrs_lib::PublisherHandler<std_msgs::String_<std::allocator<void> > >::~PublisherHandler()162
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::PublisherHandler()243
mrs_lib::PublisherHandler<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler()486
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseArray_<std::allocator<void> > >::~PublisherHandler_impl()324
mrs_lib::PublisherHandler_impl<geometry_msgs::PoseStamped_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~PublisherHandler_impl()84
mrs_lib::PublisherHandler_impl<visualization_msgs::MarkerArray_<std::allocator<void> > >::~PublisherHandler_impl()486
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlError_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~PublisherHandler_impl()465
mrs_lib::PublisherHandler_impl<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~PublisherHandler_impl()312
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~PublisherHandler_impl()2
mrs_lib::PublisherHandler_impl<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~PublisherHandler_impl()1
mrs_lib::PublisherHandler_impl<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >::~PublisherHandler_impl()600
mrs_lib::PublisherHandler_impl<mrs_msgs::Float64ArrayStamped_<std::allocator<void> > >::~PublisherHandler_impl()228
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()82
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()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::Path_<std::allocator<void> > >::~PublisherHandler_impl()81
mrs_lib::PublisherHandler_impl<mrs_msgs::UavState_<std::allocator<void> > >::~PublisherHandler_impl()166
mrs_lib::PublisherHandler_impl<nav_msgs::Odometry_<std::allocator<void> > >::~PublisherHandler_impl()394
mrs_lib::PublisherHandler_impl<std_msgs::Bool_<std::allocator<void> > >::~PublisherHandler_impl()25
mrs_lib::PublisherHandler_impl<std_msgs::Empty_<std::allocator<void> > >::~PublisherHandler_impl()81
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()81
mrs_lib::PublisherHandler_impl<std_msgs::Float64_<std::allocator<void> > >::~PublisherHandler_impl()243
+
+
+ + + +
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..e1788306be --- /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:2024-02-24 08:13:25Functions:11811999.2 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines PublisherHandler and related convenience classes for upgrading the ROS publisher
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef PUBLISHER_HANDLER_H
+       6             : #define PUBLISHER_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <atomic>
+      12             : #include <string>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class PublisherHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the publisher handler
+      22             :  */
+      23             : template <class TopicType>
+      24             : class PublisherHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   PublisherHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        5358 :   ~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        7420 :   PublisherHandler(void){};
+     102             : 
+     103             :   /**
+     104             :    * @brief generic destructor
+     105             :    */
+     106      142008 :   ~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         192 :   PublisherHandler(ros::NodeHandle& nh, const std::string& address, const unsigned int& buffer_size = 1, const bool& latch = false, const double& rate = 0);
+     133             : 
+     134             :   /**
+     135             :    * @brief publish message
+     136             :    *
+     137             :    * @param msg
+     138             :    */
+     139             :   void publish(const TopicType& msg);
+     140             : 
+     141             :   /**
+     142             :    * @brief publish message, boost ptr overload
+     143             :    *
+     144             :    * @param msg
+     145             :    */
+     146             :   void publish(const boost::shared_ptr<TopicType>& msg);
+     147             : 
+     148             :   /**
+     149             :    * @brief publish message, boost const ptr overload
+     150             :    *
+     151             :    * @param msg
+     152             :    */
+     153             :   void publish(const boost::shared_ptr<TopicType const>& msg);
+     154             : 
+     155             :   /**
+     156             :    * @brief get number of subscribers
+     157             :    *
+     158             :    * @return the number of subscribers
+     159             :    */
+     160             :   unsigned int getNumSubscribers(void);
+     161             : 
+     162             : private:
+     163             :   std::shared_ptr<PublisherHandler_impl<TopicType>> impl_;
+     164             : };
+     165             : 
+     166             : //}
+     167             : 
+     168             : }  // namespace mrs_lib
+     169             : 
+     170             : #include <mrs_lib/impl/publisher_handler.hpp>
+     171             : 
+     172             : #endif  // PUBLISHER_HANDLER_H
+
+
+
+ + + + +
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+ + + 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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+ + diff --git a/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.png b/mrs_lib/include/mrs_lib/publisher_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..2e1368f216e722628217c675653cec3b3eb2b964 GIT binary patch literal 572 zcmV-C0>k}@P)jIAVzQI3tdiO%^l}?ut?wSfv!tU=`04H9tJcLlr+lB{7K683_n#T%WJ{My@|tq@(patK5dhlgse{rQX(#CEF!X)&kewkVJscYV zsh+Cni4?QkaVndNnwyi^g`d6UpdOhmj*hlizMtk!up88{?APwdz~*6pUFgIHJZqfZ zU)Sxm5A+Edm8FN=p}Q_YRe)Ev*KpzvO@DoRy&~=C#U1HI?e%Az87@#Bn!pBh=L`hY zcFlZv#r_#+YBZDz*{KT%Hw+b2U!Xf`XuQWgagWA9{Q1~!{_f>3ybtfLE_+j_H~@GL zXCm+(&P3onoJohx4-IE;avXzxVN7A_|NCx}Mn<1h?rE)5c5(kNrF{`P`xrm~0000< KMNUMnLSTX}3jTlq literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/quadratic_throttle_model.h.func-sort-c.html b/mrs_lib/include/mrs_lib/quadratic_throttle_model.h.func-sort-c.html new file mode 100644 index 0000000000..71dd5ab298 --- /dev/null +++ b/mrs_lib/include/mrs_lib/quadratic_throttle_model.h.func-sort-c.html @@ -0,0 +1,88 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/quadratic_throttle_model.h - functions + + + + + + + + + + + + + + +
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)69272
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)105214
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mrs_lib::quadratic_throttle_model::forceToThrottle(mrs_lib::quadratic_throttle_model::MotorParams_t, double)69272
mrs_lib::quadratic_throttle_model::throttleToForce(mrs_lib::quadratic_throttle_model::MotorParams_t, double)105214
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Date:2024-02-24 08:13:25Functions:22100.0 %
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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      105214 : double inline throttleToForce(const MotorParams_t motor_params, const double throttle) {
+      20             : 
+      21      105214 :   return motor_params.n_motors * pow((throttle - motor_params.B) / motor_params.A, 2);
+      22             : }
+      23             : 
+      24       69272 : double inline forceToThrottle(const MotorParams_t motor_params, const double force) {
+      25             : 
+      26       69272 :   return sqrt(force / motor_params.n_motors) * motor_params.A + motor_params.B;
+      27             : }
+      28             : 
+      29             : }  // namespace quadratic_throttle_model
+      30             : 
+      31             : }  // namespace mrs_lib
+      32             : 
+      33             : #endif  // QUADRATIC_THRUST_MODEL_H
+
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)1
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::info_t::info_t(ros::Time const&)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChange<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)94
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, double const&)100
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, int const&)100
std::enable_if<!(false), mrs_lib::KalmanFilter<2, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictTo<false>(ros::Time const&)102
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)200
std::enable_if<true, void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::addInputChangeWithNoise<true>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&)216
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&)289
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&)289
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&)578
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&)578
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)608
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&)2055
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&)8414
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&)17187
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.func.html b/mrs_lib/include/mrs_lib/repredictor.h.func.html new file mode 100644 index 0000000000..68845bdf81 --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.func.html @@ -0,0 +1,256 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions:204445.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&)5150
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<2, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)17187
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&)8414
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, false>::info_t::info_t(ros::Time const&)608
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&)2055
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&)289
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&)578
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&)94
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&)289
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&)216
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&)578
mrs_lib::Repredictor<mrs_lib::varstepLKF<2, 1, 1>, true>::Repredictor(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<2, 1, 1> > const&, unsigned int)2
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::correctFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictFrom(mrs_lib::KalmanFilter<3, 1, 1>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addMeasurement<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<3, 1, 1>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<3, 1, 1>, false>::Repredictor(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<3, 1, 1> > const&, unsigned int)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::correctFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictFrom(mrs_lib::KalmanFilter<6, 2, 2>::statecov_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, ros::Time const&, ros::Time const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addMeasurement<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, double const&)0
std::enable_if<!(false), void>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInputChangeWithNoise<false>(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::updateUsing(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 2, 0, 2, 2> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, int const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t::info_t(ros::Time const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::addInfo(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, boost::cb_details::iterator<boost::circular_buffer<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t, std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> >, boost::cb_details::nonconst_traits<boost::cb_details::allocator_traits<std::allocator<mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t> > > > const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::earlier(mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&, mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::info_t const&)0
std::enable_if<!(false), mrs_lib::KalmanFilter<6, 2, 2>::statecov_t>::type mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::predictTo<false>(ros::Time const&)0
mrs_lib::Repredictor<mrs_lib::varstepLKF<6, 2, 2>, false>::Repredictor(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 6, 6, 0, 6, 6> const&, ros::Time const&, std::shared_ptr<mrs_lib::varstepLKF<6, 2, 2> > const&, unsigned int)0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html b/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html new file mode 100644 index 0000000000..d18e49adfb --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/include/mrs_lib/repredictor.h.gcov.html b/mrs_lib/include/mrs_lib/repredictor.h.gcov.html new file mode 100644 index 0000000000..5b2f8b29fa --- /dev/null +++ b/mrs_lib/include/mrs_lib/repredictor.h.gcov.html @@ -0,0 +1,637 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/repredictor.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/include/mrs_lib - repredictor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10011190.1 %
Date:2024-02-24 08:13:25Functions:204445.5 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
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+       1             : #ifndef REPREDICTOR_H
+       2             : #define REPREDICTOR_H
+       3             : 
+       4             : #include <Eigen/Dense>
+       5             : #include <boost/circular_buffer.hpp>
+       6             : #include <std_msgs/Time.h>
+       7             : #include <functional>
+       8             : #include <ros/ros.h>
+       9             : #include <mrs_lib/utils.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             :   /**
+      14             :    * \brief Implementation of the Repredictor for fusing measurements with variable delays.
+      15             :    *
+      16             :    * A standard state-space system model is assumed for the repredictor with system inputs and measurements,
+      17             :    * generated from the system state vector. The inputs and measurements may be delayed with varying durations (an older measurement may become available after
+      18             :    * a newer one). A typical use-case scenario is when you have one "fast" but imprecise sensor and one "slow" but precise sensor and you want to use them both
+      19             :    * to get a good prediction (eg. height from the Garmin LiDAR, which comes at 100Hz, and position from a SLAM, which comes at 10Hz with a long delay). If the
+      20             :    * slow sensor is significantly slower than the fast one, fusing its measurement at the time it arrives without taking into account the sensor's delay may
+      21             :    * significantly bias your latest estimate.
+      22             :    *
+      23             :    * To accomodate this, the Repredictor keeps a buffer of N last inputs and measurements (N is specified
+      24             :    * in the constructor). This buffer is then used to re-predict the desired state to a specific time, as
+      25             :    * requested by the user. Note that the re-prediction is evaluated in a lazy manner only when the user requests it,
+      26             :    * so it goes through the whole history buffer every time a prediction is requested.
+      27             :    *
+      28             :    * The Repredictor utilizes a fusion Model (specified as the template parameter), which should implement
+      29             :    * the predict() and correct() methods. This Model is used for fusing the system inputs and measurements
+      30             :    * as well as for predictions. Typically, this Model will be some kind of a Kalman Filter (LKF, UKF etc.).
+      31             :    * \note The Model should be able to accomodate predictions with varying time steps in order for
+      32             :    * the Repredictor to work correctly (see eg. the varstepLKF class).
+      33             :    *
+      34             :    * \tparam Model                  the prediction and correction model (eg. a Kalman Filter).
+      35             :    * \tparam disable_reprediction   if true, reprediction is disabled and the class will act like a dumb LKF (for evaluation purposes).
+      36             :    *
+      37             :    */
+      38             :   template <class Model, bool disable_reprediction=false>
+      39             :   class Repredictor
+      40             :   {
+      41             :   public:
+      42             :     /* states, inputs etc. definitions (typedefs, constants etc) //{ */
+      43             : 
+      44             :     using x_t = typename Model::x_t;                  /*!< \brief State vector type \f$n \times 1\f$ */
+      45             :     using u_t = typename Model::u_t;                  /*!< \brief Input vector type \f$m \times 1\f$ */
+      46             :     using z_t = typename Model::z_t;                  /*!< \brief Measurement vector type \f$p \times 1\f$ */
+      47             :     using P_t = typename Model::P_t;                  /*!< \brief State uncertainty covariance matrix type \f$n \times n\f$ */
+      48             :     using R_t = typename Model::R_t;                  /*!< \brief Measurement noise covariance matrix type \f$p \times p\f$ */
+      49             :     using Q_t = typename Model::Q_t;                  /*!< \brief Process noise covariance matrix type \f$n \times n\f$ */
+      50             :     using statecov_t = typename Model::statecov_t;    /*!< \brief Helper struct for passing around the state and its covariance in one variable */
+      51             :     using ModelPtr = typename std::shared_ptr<Model>; /*!< \brief Shorthand type for a shared pointer-to-Model */
+      52             : 
+      53             :     //}
+      54             : 
+      55             :     /* predictTo() method //{ */
+      56             :     /*!
+      57             :      * \brief Estimates the system state and covariance matrix at the specified time.
+      58             :      *
+      59             :      * The measurement and system input histories are used to estimate the state vector and
+      60             :      * covariance matrix values at the specified time, which are returned.
+      61             :      *
+      62             :      * \param to_stamp   The desired time at which the state vector and covariance matrix should be estimated.
+      63             :      * \return           Returns the estimated state vector and covariance matrix in a single struct.
+      64             :      *
+      65             :      */
+      66             :     template<bool check=disable_reprediction>
+      67         102 :     std::enable_if_t<!check, statecov_t> predictTo(const ros::Time& to_stamp)
+      68             :     {
+      69         102 :       assert(!m_history.empty());
+      70         102 :       auto hist_it = std::begin(m_history);
+      71         102 :       if (hist_it->is_measurement)
+      72             :       {
+      73             :         // if the first history point is measurement, don't use it for correction (to prevent it from being used twice)
+      74           0 :         hist_it->is_measurement = false;
+      75             :       }
+      76             :       // cur_stamp corresponds to the time point of cur_sc estimation
+      77         102 :       auto cur_stamp = hist_it->stamp;
+      78             :       // cur_sc is the current state and covariance estimate
+      79         102 :       auto cur_sc = m_sc;
+      80       17085 :       do
+      81             :       {
+      82       17187 :         cur_sc.stamp = hist_it->stamp;
+      83             :         // do the correction if current history point is a measurement
+      84       17187 :         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       17187 :         ros::Time next_stamp = to_stamp;
+      90       17187 :         if ((hist_it + 1) != std::end(m_history) && (hist_it + 1)->stamp <= to_stamp)
+      91       17085 :           next_stamp = (hist_it + 1)->stamp;
+      92             : 
+      93             :         // do the prediction
+      94       17187 :         cur_sc = predictFrom(cur_sc, *hist_it, cur_stamp, next_stamp);
+      95       17187 :         cur_stamp = next_stamp;
+      96             : 
+      97             :         // increment the history pointer
+      98       17187 :         hist_it++;
+      99       17187 :       } 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         578 :     std::enable_if_t<check, statecov_t> predictTo(const ros::Time& to_stamp)
+     118             :     {
+     119         578 :       assert(!m_history.empty());
+     120         578 :       const auto& info = m_history.front();
+     121         578 :       auto sc = predictFrom(m_sc, info, info.stamp, to_stamp);
+     122         578 :       sc.stamp = to_stamp;
+     123         578 :       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        8514 :         for (auto it = added + 1; it != std::end(m_history) && it->is_measurement; it++)
+     151        8314 :           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         216 :     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         216 :       if (m_history.empty())
+     170           2 :         m_history.push_back({stamp});
+     171         216 :       m_history.front().u = u;
+     172         216 :       m_history.front().Q = Q;
+     173         216 :       m_history.front().stamp = stamp;
+     174         216 :       m_history.front().predict_model = model;
+     175         216 :     }
+     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          94 :     std::enable_if_t<check> addInputChange(const u_t& u, [[maybe_unused]] const ros::Time& stamp, const ModelPtr& model = nullptr)
+     221             :     {
+     222          94 :       if (m_history.empty())
+     223           0 :         m_history.push_back({stamp});
+     224          94 :       m_history.front().u = u;
+     225          94 :       m_history.front().stamp = stamp;
+     226          94 :       m_history.front().predict_model = model;
+     227          94 :     }
+     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         289 :     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         289 :       if (m_history.empty())
+     325           0 :         m_history.push_back({stamp});
+     326         289 :       auto& info = m_history.front();
+     327         289 :       const ros::Time to_stamp = stamp > info.stamp ? stamp : info.stamp;
+     328         289 :       const auto sc = predictTo(to_stamp);
+     329         289 :       info.z = z;
+     330         289 :       info.R = R;
+     331         289 :       info.stamp = to_stamp;
+     332         289 :       info.is_measurement = true;
+     333         289 :       info.meas_id = meas_id;
+     334         289 :       info.correct_model = model;
+     335         289 :       m_sc = correctFrom(sc, info);
+     336         289 :     }
+     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         610 :       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        8414 :       void updateUsing(const info_t& info)
+     431             :       {
+     432        8414 :         u = info.u;
+     433        8414 :         Q = info.Q;
+     434        8414 :         predict_model = info.predict_model;
+     435        8414 :       };
+     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        2055 :     static bool earlier(const info_t& ob1, const info_t& ob2)
+     526             :     {
+     527        2055 :       return ob1.stamp < ob2.stamp;
+     528             :     }
+     529             :     //}
+     530             : 
+     531             :     /* predictFrom() method //{ */
+     532       17765 :     statecov_t predictFrom(const statecov_t& sc, const info_t& inpt, const ros::Time& from_stamp, const ros::Time& to_stamp)
+     533             :     {
+     534       35530 :       const auto model = inpt.predict_model == nullptr ? m_default_model : inpt.predict_model;
+     535       17765 :       const auto dt = (to_stamp - from_stamp).toSec();
+     536       35530 :       return model->predict(sc, inpt.u, inpt.Q, dt);
+     537             :     }
+     538             :     //}
+     539             : 
+     540             :     /* correctFrom() method //{ */
+     541        5439 :     statecov_t correctFrom(const statecov_t& sc, const info_t& meas)
+     542             :     {
+     543        5439 :       assert(meas.is_measurement);
+     544       10878 :       const auto model = meas.correct_model == nullptr ? m_default_model : meas.correct_model;
+     545        5439 :       auto sc_tmp = sc;
+     546       10878 :       return model->correct(sc_tmp, meas.z, meas.R);
+     547             :     }
+     548             :     //}
+     549             :   };
+     550             : }  // namespace mrs_lib
+     551             : 
+     552             : 
+     553             : #endif  // REPREDICTOR_H
+
+
+
+ + + + +
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mrs_lib::Polygon::ExtraVertices::what() const0
mrs_lib::Polygon::WrongNumberOfColumns::what() const0
mrs_lib::Polygon::WrongNumberOfVertices::what() const0
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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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Date:2024-02-24 08:13:25Functions:030.0 %
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_POLYGON_H
+       3             : #define MRS_LIB_POLYGON_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : #include <eigen3/Eigen/Eigen>
+       7             : #include <vector>
+       8             : #include <geometry_msgs/Point.h>
+       9             : #include <mrs_lib/safety_zone/line_operations.h>
+      10             : 
+      11             : namespace mrs_lib
+      12             : {
+      13             : class Polygon {
+      14             : public:
+      15             :   Polygon(const Eigen::MatrixXd vertices);
+      16             : 
+      17             :   bool isPointInside(const double px, const double py);
+      18             :   bool doesSectionIntersect(const double startX, const double startY, const double endX, const double endY);
+      19             :   bool isClockwise();
+      20             :   void inflateSelf(double amount);
+      21             : 
+      22             :   std::vector<geometry_msgs::Point> getPointMessageVector(const double z);
+      23             : 
+      24             : private:
+      25             :   Eigen::MatrixXd vertices;
+      26             : 
+      27             : public:
+      28             :   // exceptions
+      29             :   struct WrongNumberOfVertices : public std::exception
+      30             :   {
+      31           0 :     const char* what() const throw() {
+      32           0 :       return "Polygon: wrong number of vertices was supplied!";
+      33             :     }
+      34             :   };
+      35             : 
+      36             :   struct WrongNumberOfColumns : public std::exception
+      37             :   {
+      38           0 :     const char* what() const throw() {
+      39           0 :       return "Polygon: wrong number of colums, it should be =2!";
+      40             :     }
+      41             :   };
+      42             : 
+      43             :   struct ExtraVertices : public std::exception
+      44             :   {
+      45           0 :     const char* what() const throw() {
+      46           0 :       return "Polygon: useless vertices detected, polygon methods may break!";
+      47             :     }
+      48             :   };
+      49             : };
+      50             : }  // namespace mrs_lib
+      51             : 
+      52             : #endif  // MRS_LIB_POLYGON_H
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html new file mode 100644 index 0000000000..3a568cf9a5 --- /dev/null +++ b/mrs_lib/include/mrs_lib/safety_zone/polygon.h.gcov.overview.html @@ -0,0 +1,33 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/safety_zone/polygon.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + 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..d0849918a2 --- /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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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SafetyZone::BorderError::what() const0
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mrs_lib::SafetyZone::BorderError::what() const0
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+
          Line data    Source code
+
+       1             : // clang: TomasFormat
+       2             : #ifndef MRS_LIB_SAFETYZONE_H
+       3             : #define MRS_LIB_SAFETYZONE_H
+       4             : 
+       5             : #include <mrs_lib/safety_zone/polygon.h>
+       6             : #include <visualization_msgs/Marker.h>
+       7             : #include <eigen3/Eigen/Eigen>
+       8             : #include <vector>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             : class SafetyZone {
+      13             : public:
+      14             :   SafetyZone(Polygon outerBorder);
+      15             :   ~SafetyZone();
+      16             : 
+      17             :   SafetyZone(const Eigen::MatrixXd& outerBorderMatrix);
+      18             : 
+      19             :   bool isPointValid(const double px, const double py);
+      20             :   bool isPathValid(const double p1x, const double p1y, const double p2x, const double p2y);
+      21             : 
+      22             :   Polygon getBorder();
+      23             : 
+      24             : private:
+      25             :   Polygon* outerBorder;
+      26             : 
+      27             : public:
+      28             :   struct BorderError : public std::exception
+      29             :   {
+      30           0 :     const char* what() const throw() {
+      31           0 :       return "SafeZone: Wrong configuration for the border";
+      32             :     }
+      33             :   };
+      34             : };
+      35             : }  // namespace mrs_lib
+      36             : 
+      37             : #endif  // MRS_LIB_SAFETYZONE_H
+
+
+
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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&)4724160
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mrs_lib::ScopeTimer::time_point::time_point(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)4724160
mrs_lib::ScopeTimerLogger::loggingEnabled()0
mrs_lib::ScopeTimerLogger::shouldLog()0
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          Line data    Source code
+
+       1             : /**  \file
+       2             :  *   \brief Simple timer which times a duration of its scope, with additional optional checkpoints.
+       3             :  *   \author Daniel Hert - hertdani@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SCOPE_TIMER_H
+       6             : #define SCOPE_TIMER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <chrono>
+      10             : #include <iostream>
+      11             : #include <fstream>
+      12             : #include <iomanip>
+      13             : #include <mutex>
+      14             : /* #include <ctime> */
+      15             : 
+      16             : namespace mrs_lib
+      17             : {
+      18             : 
+      19             : /*//{ ScopeTimerLogger class */
+      20             : 
+      21             : /**
+      22             :  * @brief Simple file logger of scope timer and its checkpoints
+      23             :  */
+      24             : class ScopeTimerLogger {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief The basic constructor with a user-defined path to the logger file, enable flag and float-logging precision
+      29             :    */
+      30             :   ScopeTimerLogger(const std::string& logfile, const bool enable_logging = true, const int log_precision = 10);
+      31             : 
+      32             :   /**
+      33             :    * @brief The basic destructor which closes the logging file
+      34             :    */
+      35             :   ~ScopeTimerLogger();
+      36             : 
+      37             :   /**
+      38             :    * @brief Returns true if a non-empty path to a logger file was given by the user
+      39             :    */
+      40           0 :   bool shouldLog() {
+      41           0 :     return _should_log_;
+      42             :   }
+      43             : 
+      44             :   /**
+      45             :    * @brief Returns true if the enable flag was set to true, a non-empty path to a logger file was given by the user and the logger file stream was successfully
+      46             :    * opened.
+      47             :    */
+      48           0 :   bool loggingEnabled() {
+      49           0 :     return _logging_enabled_;
+      50             :   }
+      51             : 
+      52             :   /**
+      53             :    * @brief Returns the path to the log.
+      54             :    */
+      55             :   std::string getLogFilepath() {
+      56             :     return _log_filepath_;
+      57             :   }
+      58             : 
+      59             :   using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      60             : 
+      61             :   /**
+      62             :    * @brief Writes the time data of the given scope and empty checkpoints into the logger stream.
+      63             :    */
+      64             :   void log(const std::string& scope, const chrono_tp& time_start, const chrono_tp& time_end);
+      65             : 
+      66             :   /**
+      67             :    * @brief Writes the time data of the given scope and checkpoint labels into the logger stream.
+      68             :    */
+      69             :   void log(const std::string& scope, const std::string& label_from, const std::string& label_to, const chrono_tp& time_start, const chrono_tp& time_end);
+      70             : 
+      71             : private:
+      72             :   bool          _logging_enabled_ = false;
+      73             :   bool          _should_log_      = false;
+      74             :   std::string   _log_filepath_;
+      75             :   std::ofstream _logstream_;
+      76             :   std::mutex    _mutex_logstream_;
+      77             : };
+      78             : 
+      79             : /*//}*/
+      80             : 
+      81             : /**
+      82             :  * @brief Simple timer which will time a duration of a scope and checkpoints inside the scope in ros time and std::chrono time.
+      83             :  */
+      84             : class ScopeTimer {
+      85             : public:
+      86             :   /* time_point() helper struct //{ */
+      87             :   struct time_point
+      88             :   {
+      89             :     using chrono_tp = std::chrono::time_point<std::chrono::steady_clock>;
+      90             : 
+      91             :   public:
+      92     4724160 :     time_point(const std::string& label) : ros_time(ros::Time::now()), chrono_time(std::chrono::steady_clock::now()), label(label) {
+      93     4723913 :     }
+      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:2024-02-24 08:13:25Functions:1818100.0 %
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()81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()81
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::ServiceClientHandler()82
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()82
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()162
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()162
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()162
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()162
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()164
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()324
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()486
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()486
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()972
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()983
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()983
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1885
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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..20ad266be4 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.func.html @@ -0,0 +1,152 @@ + + + + + + + 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:2024-02-24 08:13:25Functions:1818100.0 %
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()82
mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler()164
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::ServiceClientHandler()81
mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler()162
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::ServiceClientHandler()81
mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>::~ServiceClientHandler()162
mrs_lib::ServiceClientHandler<mrs_msgs::String>::ServiceClientHandler()162
mrs_lib::ServiceClientHandler<mrs_msgs::String>::~ServiceClientHandler()324
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::ServiceClientHandler()486
mrs_lib::ServiceClientHandler<std_srvs::SetBool>::~ServiceClientHandler()972
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::ServiceClientHandler()983
mrs_lib::ServiceClientHandler<std_srvs::Trigger>::~ServiceClientHandler()1885
mrs_lib::ServiceClientHandler_impl<mrs_msgs::ReferenceStampedSrv>::~ServiceClientHandler_impl()82
mrs_lib::ServiceClientHandler_impl<mrs_msgs::DynamicsConstraintsSrv>::~ServiceClientHandler_impl()81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::Vec1>::~ServiceClientHandler_impl()81
mrs_lib::ServiceClientHandler_impl<mrs_msgs::String>::~ServiceClientHandler_impl()162
mrs_lib::ServiceClientHandler_impl<std_srvs::SetBool>::~ServiceClientHandler_impl()486
mrs_lib::ServiceClientHandler_impl<std_srvs::Trigger>::~ServiceClientHandler_impl()983
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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..421bb30a2f --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.html @@ -0,0 +1,327 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/include/mrs_lib - service_client_handler.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:33100.0 %
Date:2024-02-24 08:13:25Functions:1818100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /**  \file
+       2             :      \brief Defines ServiceClientHandler and related convenience classes for upgrading the ROS service client
+       3             :      \author Tomas Baca - tomas.baca@fel.cvut.cz
+       4             :  */
+       5             : #ifndef SERVICE_CLIENT_HANDLER_H
+       6             : #define SERVICE_CLIENT_HANDLER_H
+       7             : 
+       8             : #include <ros/ros.h>
+       9             : #include <ros/package.h>
+      10             : 
+      11             : #include <string>
+      12             : #include <future>
+      13             : #include <mutex>
+      14             : 
+      15             : namespace mrs_lib
+      16             : {
+      17             : 
+      18             : /* class ServiceClientHandler_impl //{ */
+      19             : 
+      20             : /**
+      21             :  * @brief implementation of the service client handler
+      22             :  */
+      23             : template <class ServiceType>
+      24             : class ServiceClientHandler_impl {
+      25             : 
+      26             : public:
+      27             :   /**
+      28             :    * @brief default constructor
+      29             :    */
+      30             :   ServiceClientHandler_impl(void);
+      31             : 
+      32             :   /**
+      33             :    * @brief default destructor
+      34             :    */
+      35        1875 :   ~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        1875 :   ServiceClientHandler(void){};
+     135             : 
+     136             :   /**
+     137             :    * @brief generic destructor
+     138             :    */
+     139        3669 :   ~ServiceClientHandler(void){};
+     140             : 
+     141             :   /**
+     142             :    * @brief operator=
+     143             :    *
+     144             :    * @param other
+     145             :    *
+     146             :    * @return
+     147             :    */
+     148             :   ServiceClientHandler& operator=(const ServiceClientHandler& other);
+     149             : 
+     150             :   /**
+     151             :    * @brief copy constructor
+     152             :    *
+     153             :    * @param other
+     154             :    */
+     155             :   ServiceClientHandler(const ServiceClientHandler& other);
+     156             : 
+     157             :   /**
+     158             :    * @brief constructor
+     159             :    *
+     160             :    * @param nh ROS node handler
+     161             :    * @param address service address
+     162             :    */
+     163             :   ServiceClientHandler(ros::NodeHandle& nh, const std::string& address);
+     164             : 
+     165             :   /**
+     166             :    * @brief initializer
+     167             :    *
+     168             :    * @param nh ROS node handler
+     169             :    * @param address service address
+     170             :    */
+     171             :   void initialize(ros::NodeHandle& nh, const std::string& address);
+     172             : 
+     173             :   /**
+     174             :    * @brief "standard" synchronous call
+     175             :    *
+     176             :    * @param srv data
+     177             :    *
+     178             :    * @return true when success
+     179             :    */
+     180             :   bool call(ServiceType& srv);
+     181             : 
+     182             :   /**
+     183             :    * @brief "standard" synchronous call with repeats after failure
+     184             :    *
+     185             :    * @param srv data
+     186             :    * @param attempts how many attempts for the call
+     187             :    *
+     188             :    * @return true when success
+     189             :    */
+     190             :   bool call(ServiceType& srv, const int& attempts);
+     191             : 
+     192             :   /**
+     193             :    * @brief "standard" synchronous call with repeats after failure
+     194             :    *
+     195             :    * @param srv data
+     196             :    * @param attempts how many attempts for the call
+     197             :    * @param repeat_delay how long to wait before repeating the call
+     198             :    *
+     199             :    * @return true when success
+     200             :    */
+     201             :   bool call(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     202             : 
+     203             :   /**
+     204             :    * @brief asynchronous call
+     205             :    *
+     206             :    * @param srv data
+     207             :    *
+     208             :    * @return future result
+     209             :    */
+     210             :   std::future<ServiceType> callAsync(ServiceType& srv);
+     211             : 
+     212             :   /**
+     213             :    * @brief asynchronous call with repeats after failure
+     214             :    *
+     215             :    * @param srv data
+     216             :    * @param attempts how many attemps for the call
+     217             :    *
+     218             :    * @return future result
+     219             :    */
+     220             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts);
+     221             : 
+     222             :   /**
+     223             :    * @brief asynchronous call with repeats after failure
+     224             :    *
+     225             :    * @param srv data
+     226             :    * @param attempts how many attemps for the call
+     227             :    * @param repeat_delay how long to wait before repeating the call
+     228             :    *
+     229             :    * @return future result
+     230             :    */
+     231             :   std::future<ServiceType> callAsync(ServiceType& srv, const int& attempts, const double& repeat_delay);
+     232             : 
+     233             : private:
+     234             :   std::shared_ptr<ServiceClientHandler_impl<ServiceType>> impl_;
+     235             : };
+     236             : 
+     237             : //}
+     238             : 
+     239             : }  // namespace mrs_lib
+     240             : 
+     241             : #include <mrs_lib/impl/service_client_handler.hpp>
+     242             : 
+     243             : #endif  // SERVICE_CLIENT_HANDLER_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.overview.html b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.overview.html new file mode 100644 index 0000000000..49a39afd93 --- /dev/null +++ b/mrs_lib/include/mrs_lib/service_client_handler.h.gcov.overview.html @@ -0,0 +1,81 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/service_client_handler.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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..9cd1ad0bd2 --- /dev/null +++ b/mrs_lib/include/mrs_lib/subscribe_handler.h.func-sort-c.html @@ -0,0 +1,3020 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/subscribe_handler.h - functions + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:444989.8 %
Date:2024-02-24 08:13:25Functions:38773552.7 %
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> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::ProcTfToWorld<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::ProcTfToWorld<1>::*)(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>), mrs_uav_state_estimators::ProcTfToWorld<1>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>)> const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::PoseStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >&&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::start()0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::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> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::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> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::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::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::TfMappingOrigin>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_managers::control_manager::ControlManager>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<2>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::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> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::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> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<std_msgs::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<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::TfMappingOrigin::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::TfMappingOrigin*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<Tester>(mrs_lib::SubscribeHandlerOptions const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::function<void (std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)> const&, void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler<void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (*)(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&), void (*)(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>))::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (Tester::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), Tester*)::{lambda()#1}::operator()() const1
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<mrs_uav_state_estimators::Correction<1>>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)2
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const2
mrs_lib::SubscribeHandler<mrs_msgs::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<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const4
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::stop()5
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::lastMsgTime() const5
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::hasMsg() const6
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::start()9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)> const&)9
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >&&)9
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::start()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const15
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()22
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)25
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)25
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*)25
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*)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()25
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*)25
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*)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const25
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const25
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()() const25
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()() const25
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()() const25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()50
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()50
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()50
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const77
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const77
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*)78
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*)78
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()() const78
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>*)80
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>*)80
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>*)80
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>*)80
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()() const80
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()() const80
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*)81
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*)81
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*)81
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*)81
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&)81
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*)81
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*)81
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&)81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)81
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*)81
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*)81
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&)81
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*)81
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*)81
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*)81
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*)81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::start()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::hasMsg() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
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()() const81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const81
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()() const81
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()() const81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const81
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()() const81
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&)82
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::topicName[abi:cxx11]() const82
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()() const82
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&)84
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>*)84
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*)84
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>*)84
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*)84
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*)84
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*)84
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*)84
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*)84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::start()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)84
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()() const84
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()() const84
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()() const84
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()() const84
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()() const84
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()() const84
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()() const84
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::start()85
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*)85
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*)85
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()() const85
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const92
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::getMsg()97
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const97
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::topicName[abi:cxx11]() const106
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>*)126
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>*)126
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()() const126
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::start()151
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&)151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)151
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::lastMsgTime() const160
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::start()162
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&)162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::start()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::start()162
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()162
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)162
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()() const162
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()() const162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::start()165
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&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()166
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()168
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::start()187
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&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)187
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&)231
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()() const231
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()233
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::start()243
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)243
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()() const243
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::start()249
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&)249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)249
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::start()256
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&)256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)256
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::start()268
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&)268
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&)268
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()() const268
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::lastMsgTime() const299
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::SubscribeHandler()300
mrs_lib::SubscribeHandler<geometry_msgs::PoseStamped_<std::allocator<void> > >::~SubscribeHandler()300
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::SubscribeHandler()300
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()300
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()301
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::start()309
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()309
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)309
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()() const309
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::start()320
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&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()323
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::start()324
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)324
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()324
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()324
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()325
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()331
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::start()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::start()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)349
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()() const349
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()() const349
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()374
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::SubscribeHandler()381
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()382
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::~SubscribeHandler()390
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()419
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()455
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()468
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::~SubscribeHandler()476
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::start()480
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&)480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)480
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()486
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()549
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const549
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::getMsg()610
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()618
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()630
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()643
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()648
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()698
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()698
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()724
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::~SubscribeHandler()879
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1081
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()1561
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2071
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2333
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()3228
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()3666
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()13419
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::hasMsg() const16278
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const16902
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::hasMsg() const16967
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const17143
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::hasMsg() const17180
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()19343
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const31787
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()37628
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const45756
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::hasMsg() const58844
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()61540
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::hasMsg() const63142
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::hasMsg() const133156
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()148054
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::hasMsg() const148054
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()163292
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::lastMsgTime() const176002
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()189810
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const205723
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()335505
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::hasMsg() const337175
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::lastMsgTime() const354984
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::hasMsg() const457801
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::newMsg() const458535
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()631763
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()731927
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::hasMsg() const809296
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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:444989.8 %
Date:2024-02-24 08:13:25Functions:38773552.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::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()320
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&)320
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::SubscribeHandler()323
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*)81
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*)81
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*)78
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>*)80
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*)81
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*)81
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*)78
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>*)80
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::~SubscribeHandler()643
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >&&)320
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::start()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::getMsg()9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<sensor_msgs::Imu_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler()25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)25
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::~SubscribeHandler()50
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >&&)25
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()162
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&)162
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::SubscribeHandler()162
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&)81
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*)81
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*)81
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::~SubscribeHandler()324
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >&&)162
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()151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::getMsg()13419
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&)151
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler()325
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)25
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>*)126
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>*)126
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()476
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >&&)151
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()300
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()300
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()85
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::getMsg()3666
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&)81
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::SubscribeHandler()301
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>*)80
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>*)80
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::~SubscribeHandler()382
mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::PointStamped_<std::allocator<void> > >&&)81
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()256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::getMsg()163292
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&)256
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::SubscribeHandler()468
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&)84
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>*)84
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*)84
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>*)84
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*)84
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::~SubscribeHandler()724
mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped_<std::allocator<void> > >&&)256
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()480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::getMsg()631763
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&)480
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::SubscribeHandler()1081
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&)231
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*)81
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*)84
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*)84
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*)81
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*)84
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*)84
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::~SubscribeHandler()1561
mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped_<std::allocator<void> > >&&)480
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()300
mrs_lib::SubscribeHandler<geometry_msgs::PoseWithCovarianceStamped_<std::allocator<void> > >::~SubscribeHandler()300
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()187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::getMsg()233
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&)187
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::SubscribeHandler()187
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&)81
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*)81
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*)25
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*)81
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*)25
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::~SubscribeHandler()374
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >&&)187
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()165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::getMsg()148054
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&)165
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::SubscribeHandler()166
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&)84
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::~SubscribeHandler()331
mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude_<std::allocator<void> > >&&)165
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()309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::getMsg()335505
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::SubscribeHandler()309
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&)309
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::~SubscribeHandler()618
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput_<std::allocator<void> > >&&)309
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()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::getMsg()37628
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&)324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)243
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::~SubscribeHandler()648
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >&&)324
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()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::SubscribeHandler()162
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&)162
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::~SubscribeHandler()324
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >&&)162
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()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::SubscribeHandler()84
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&)84
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::~SubscribeHandler()168
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >&&)84
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()81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::getMsg()549
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >&&)81
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()81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::getMsg()419
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >&&)81
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()10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::start()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >&&)81
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()268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::getMsg()19343
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&)268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::SubscribeHandler()187
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&)268
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::~SubscribeHandler()455
mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities_<std::allocator<void> > >&&)187
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()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::getMsg()22
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::DynamicsConstraints_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler()81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >&&)81
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >&&)81
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference_<std::allocator<void> > >&&)81
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics_<std::allocator<void> > >&&)81
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()349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::getMsg()61540
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::SubscribeHandler()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::~SubscribeHandler()698
mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics_<std::allocator<void> > >&&)349
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()10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >&&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)> const&)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trackers::mpc_tracker::MpcTracker>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)10
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()20
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::start()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()25
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&)25
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()50
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >&&)25
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >&&)81
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()25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)> const&)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::SubscribeHandler()25
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*)25
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*)25
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()50
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >&&)25
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::SubscribeHandler()81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >&&)81
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()349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::getMsg()731927
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()349
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&)349
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()698
mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics_<std::allocator<void> > >&&)349
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()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler()81
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&)81
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >&&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::waitForNew(ros::WallDuration const&)0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::stop()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::start()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::getMsg()0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler(mrs_lib::SubscribeHandlerOptions const&, std::function<void (boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)> const&)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler()81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::~SubscribeHandler()162
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >&&)81
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()97
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()381
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()390
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()243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::getMsg()3228
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&)243
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler()243
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
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*)81
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*)81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<mrs_uav_trajectory_generation::MrsTrajectoryGeneration>(mrs_lib::SubscribeHandlerOptions const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::~SubscribeHandler()486
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >&&)243
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()249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::getMsg()189810
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&)249
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler()630
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&)82
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*)81
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*)85
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*)81
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*)85
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()879
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >&&)249
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()162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::getMsg()31787
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler()162
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&)162
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::~SubscribeHandler()324
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::operator=(mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >&&)162
mrs_lib::SubscribeHandlerOptions::SubscribeHandlerOptions()2071
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::hasMsg() const9550
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<sensor_msgs::Joy_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::hasMsg() const16902
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() const16278
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() const337175
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() const809296
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]() const106
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() const160
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus_<std::allocator<void> > >::hasMsg() const17143
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() const148054
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() const354984
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() const458535
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() const58844
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::hasMsg() const15
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels_<std::allocator<void> > >::hasMsg() const549
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() const299
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors_<std::allocator<void> > >::hasMsg() const2333
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() const17180
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]() const82
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() const6
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > >::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() const81
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() const63142
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() const16967
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() const77
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > >::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() const133156
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]() const92
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::lastMsgTime() const77
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::hasMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::topicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::lastMsgTime() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::RtkGps_<std::allocator<void> > >::hasMsg() const97
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() const176002
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::hasMsg() const205723
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() const457801
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::newMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::peekMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::usedMsg() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::topicName[abi:cxx11]() const1
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::lastMsgTime() const31787
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::subscribedTopicName[abi:cxx11]() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::hasMsg() const45756
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()() const81
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()() const81
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()() const78
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()() const80
mrs_lib::SubscribeHandler<sensor_msgs::Imu_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const25
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()() const81
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()() const81
mrs_lib::SubscribeHandler<sensor_msgs::Range_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const25
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()() const126
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()() const80
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()() const84
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()() const84
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()() const84
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()() const231
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()() const81
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()() const84
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()() const84
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()() const81
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()() const81
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()() const25
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()() const84
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()() const81
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()() const309
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()() const243
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()() const81
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()() const162
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()() const84
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()() const81
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()() const81
mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_managers::control_manager::ControlManager::*)(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>), mrs_uav_managers::control_manager::ControlManager*)::{lambda()#1}::operator()() const81
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()() const268
mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const81
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()() const81
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()() const81
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()() const81
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()() const349
mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trackers::mpc_tracker::MpcTracker::*)(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>), mrs_uav_trackers::mpc_tracker::MpcTracker*)::{lambda()#1}::operator()() const10
mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const25
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()() const81
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()() const25
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()() const81
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()() const349
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()() const81
mrs_lib::SubscribeHandler<mrs_msgs::Path_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const81
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()() const81
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()() const81
mrs_lib::SubscribeHandler<mrs_msgs::UavState_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_trajectory_generation::MrsTrajectoryGeneration::*)(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>), mrs_uav_trajectory_generation::MrsTrajectoryGeneration*)::{lambda()#1}::operator()() const81
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()() const82
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()() const81
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()() const85
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<1>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<1>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<nav_msgs::Odometry_<std::allocator<void> > >::SubscribeHandler<void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, void (mrs_uav_state_estimators::Correction<2>::*)(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>), mrs_uav_state_estimators::Correction<2>*)::{lambda()#1}::operator()() const0
mrs_lib::SubscribeHandler<std_msgs::Float64_<std::allocator<void> > >::SubscribeHandler<>(mrs_lib::SubscribeHandlerOptions const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)::{lambda()#1}::operator()() const162
+
+
+ + + +
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..5f95c9c6bd --- /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:444989.8 %
Date:2024-02-24 08:13:25Functions:38773552.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          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        2071 :     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     2382446 :       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     2356048 :       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      458535 :       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      563391 :       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         281 :       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        5300 :       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        7759 :       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        5296 :       SubscribeHandler(
+     199             :             const SubscribeHandlerOptions& options,
+     200             :             const std::string& topic_name,
+     201             :             Types ... args
+     202             :           )
+     203             :       :
+     204             :         SubscribeHandler(
+     205        5296 :             [options, topic_name]()
+     206             :             {
+     207       10592 :               SubscribeHandlerOptions opts = options;
+     208        5296 :               opts.topic_name = topic_name;
+     209       10592 :               return opts;
+     210             :             }(),
+     211             :             args...
+     212        5296 :             )
+     213             :       {
+     214        5296 :       }
+     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        5296 :       SubscribeHandler(
+     224             :             const SubscribeHandlerOptions& options,
+     225             :             const message_callback_t& message_callback = {}
+     226             :           )
+     227        5296 :       {
+     228        5296 :         if (options.threadsafe)
+     229             :         {
+     230        5296 :           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        5296 :         if (options.autostart)
+     245        5295 :           start();
+     246        5296 :       };
+     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        2246 :       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        4492 :             message_callback == nullptr ? message_callback_t() : std::bind(message_callback, obj2, std::placeholders::_1),
+     324             :             args...
+     325        2246 :             )
+     326             :       {
+     327        2246 :       }
+     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       13075 :       ~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          20 :       SubscribeHandler(SubscribeHandler&& other)
+     419          20 :       {
+     420          20 :         this->m_pimpl = std::move(other.m_pimpl);
+     421          20 :         other.m_pimpl = nullptr;
+     422          20 :       }
+     423        5195 :       SubscribeHandler& operator=(SubscribeHandler&& other)
+     424             :       {
+     425        5195 :         this->m_pimpl = std::move(other.m_pimpl);
+     426        5195 :         other.m_pimpl = nullptr;
+     427        5195 :         return *this;
+     428             :       }
+     429             : 
+     430             :     private:
+     431             :       class Impl;
+     432             :       class ImplThreadsafe;
+     433             :       std::unique_ptr<Impl> m_pimpl;
+     434             :   };
+     435             :   //}
+     436             : 
+     437             : /*!
+     438             :   * \brief Helper alias for convenient extraction of handled message type from a SubscribeHandlerPtr.
+     439             :   */
+     440             :   template<typename SubscribeHandler>
+     441             :   using message_type = typename SubscribeHandler::message_type;
+     442             : 
+     443             : /*!
+     444             :   * \brief Helper function for object construstion e.g. in case of member objects.
+     445             :   * This function is useful to avoid specifying object template parameters twice - once in definition of the variable and second time during object construction.
+     446             :   * This function can deduce the template parameters from the type of the already defined object, because it returns the newly constructed object as a reference
+     447             :   * argument and not as a return type.
+     448             :   *
+     449             :   * \param object The object to be constructed.
+     450             :   * \param args   These arguments are passed to the object constructor.
+     451             :   */
+     452             :   template<typename Class, class ... Types>
+     453             :   void construct_object(
+     454             :         Class& object,
+     455             :         Types ... args
+     456             :       )
+     457             :   {
+     458             :     object = Class(args...);
+     459             :   }
+     460             : }
+     461             : 
+     462             : #include <mrs_lib/impl/subscribe_handler.hpp>
+     463             : 
+     464             : #endif // SUBRSCRIBE_HANDLER_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png b/mrs_lib/include/mrs_lib/subscribe_handler.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..b6e9ccb1d3175600727e604938e2df9a1db1b393 GIT binary patch literal 1783 zcmVGAf72gj3K5r zbz2ND5}}4FQEmJ&0qHg3YyO-C@r%I16(bOAcI{2~uIrUq&|?~*Fbke#KB6~6I8Vnr z*#`C}y~&UtGp8aqYx()_!9H3$vYLf#J|t)Of*?k(LiRez2b~a-7VDb>@sJ(OR zSPm&vvJ`~KR`Ok-ZVqcFgM8B6WXF=d6m!tz668ytM&>Z-6K5u6q!$AOc%jcH>3fS({;hPmwMn+C2MvDs~C)tCPOw1-3bupJYJgBin5(kdU98OtK zN-*pu2VTAz1vBYHiE0uiLlN>kL#(mB6FXs73unw;3sz_yc$`3{Fzh2wZJ5Y%O{q?O z6g)UZIm3|l&g)}FbTz%1oSPcWrg26f^ROQycTEwZjt5oF07LA8$5R1_ppf;LRN)NXH-nI=1IRZ;*ZXa1Jm$BBU5$hac6W< z>vHD0c*JRm88FCYuB0SXfeBrz8I(kg#WX;~w>RzSqhg>oXf`nCRNAM4{w5XvjlTQ9 zi<_&mKLc=%xTNe^@O*xL-tYJCpTGOpo!b|_@K;}}ps7tqC`HZ1s>Z;0N`fAZxipr! zT+JxJq3Mhs445)zWWji4^t|CQ!b8ANjVo;ChlhY6?T6suCbcma-FuA(#UuKr*Q4ycwyjT-@Af7jjOV# z1}X6BnolZtX|LeqUB29-p!+za)O=u=YT11ec{{UJ2gnCyJ$DS0)QGKqEA> zyv^&elvmKyrlVVS{8|Sfw;woTVV40RMpHY^Ip6CV;4}VE?-si#x8M(3=8X zL5s=>ou>R#tqPAJ6&N4mRxM#Slrw2_gpYNmF=oCUVf0`e;s!TL)>@Lh6M z1b;Q9l#Bu*NR%Sm|N54f;T}SbW~y~$N6c$RxX$#k;(w-iXq@Ae&+a*xjc`l|iCimSGlp%iNo zmj%`H0CA`Bg?F!~%P6IkY8v=0l;Y7Tx!)1|3+Xzm-Sze((0I;u;~&MXuQxstxT(KY zX(e(pqT9~%KW^TUqLm<}a6q|Gi{807Q{a<@olDO1>&?kSZ5w1K*wbh>t$iprRF+ck ziO$Ts4mAXAeRMQ)PEX@CnHIEgiUfFjEjoFq{_I)!@FN41v;5;w+=cL$!u>PPEJ%xJ zh?{xIOs}QF171_jPJ9*c4`*F09O$uQMu)yez?5JhmHe;jSDyG-brQgzcQ(Vv?+oq; zK?^@BX1I#M8`Opk0%sintuOW+}mrx)Rs|8>y8oYETAgY|8< Z{{wkhUB=a#p|$`3002ovPDHLkV1nx6SeyU= literal 0 HcmV?d00001 diff --git a/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html b/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html new file mode 100644 index 0000000000..dcd0184498 --- /dev/null +++ b/mrs_lib/include/mrs_lib/timeout_manager.h.func-sort-c.html @@ -0,0 +1,80 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/timeout_manager.h - functions + + + + + + + + + + + + + + +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file
+       3             :      \brief TODO
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : 
+       7             : #ifndef TIMEOUT_MANAGER_H
+       8             : #define TIMEOUT_MANAGER_H
+       9             : 
+      10             : #include <ros/ros.h>
+      11             : 
+      12             : namespace mrs_lib
+      13             : {
+      14             :   /* TimeoutManager class //{ */
+      15             :   /**
+      16             :   * \brief TODO
+      17             :   *
+      18             :   */
+      19             :   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          67 :       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      136520 :       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          71 :       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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mrs_lib::ROSTimer::~ROSTimer().28
mrs_lib::MRSTimer::MRSTimer()16
mrs_lib::MRSTimer::~MRSTimer().216
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mrs_lib::ROSTimer::~ROSTimer()8
mrs_lib::ROSTimer::~ROSTimer().28
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+
          Line data    Source code
+
+       1             : #ifndef MRS_TIMER_H
+       2             : #define MRS_TIMER_H
+       3             : 
+       4             : #include <ros/ros.h>
+       5             : #include <thread>
+       6             : #include <mutex>
+       7             : #include <condition_variable>
+       8             : #include <atomic>
+       9             : 
+      10             : namespace mrs_lib
+      11             : {
+      12             :   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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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:2024-02-24 08:13:25Functions:141877.8 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const> const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > > mrs_lib::Transformer::transform<mrs_msgs::ReferenceStamped_<std::allocator<void> > >(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > > const&, geometry_msgs::TransformStamped_<std::allocator<void> > const&)0
std::optional<boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::Quaternion_<std::allocator<void> > >(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::shared_ptr<geometry_msgs::Quaternion_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::optional<boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > > mrs_lib::Transformer::transformSingle<geometry_msgs::PointStamped_<std::allocator<void> > >(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
mrs_lib::Transformer::inverse(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)255
mrs_lib::Transformer::retryLookupNewest(bool)406
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1032
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)406572
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1745905
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&)1745988
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1748168
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)1749196
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> > const&)1749205
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/include/mrs_lib/transformer.h.func.html b/mrs_lib/include/mrs_lib/transformer.h.func.html new file mode 100644 index 0000000000..bc777fbe11 --- /dev/null +++ b/mrs_lib/include/mrs_lib/transformer.h.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/transformer.h - functions + + + + + + + + + + + + + + +
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:2024-02-24 08:13:25Functions: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&)1749196
mrs_lib::Transformer::frame_from[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1745905
mrs_lib::Transformer::resolveFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1032
mrs_lib::Transformer::setDefaultFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)406572
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&)1745988
mrs_lib::Transformer::setDefaultPrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)255
mrs_lib::Transformer::setLookupTimeout(ros::Duration)2
mrs_lib::Transformer::retryLookupNewest(bool)406
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&)1749205
mrs_lib::Transformer::frame_to[abi:cxx11](geometry_msgs::TransformStamped_<std::allocator<void> >&)1748168
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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+ + + 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..ceeceea079 --- /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:2024-02-24 08:13:25Functions:141877.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : /**  \file Implements the Transformer class - wrapper for ROS's TF2 lookups and transformations.
+       4             :  *   \brief A wrapper for easier work with tf2 transformations.
+       5             :  *   \author Tomas Baca - tomas.baca@fel.cvut.cz
+       6             :  *   \author Matouš Vrba - matous.vrba@fel.cvut.cz
+       7             :  */
+       8             : #ifndef TRANSFORMER_H
+       9             : #define TRANSFORMER_H
+      10             : 
+      11             : /* #define EIGEN_DONT_VECTORIZE */
+      12             : /* #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT */
+      13             : 
+      14             : /* includes //{ */
+      15             : 
+      16             : #include <ros/ros.h>
+      17             : 
+      18             : #include <tf2_ros/transform_listener.h>
+      19             : #include <tf2_ros/buffer.h>
+      20             : #include <tf2_eigen/tf2_eigen.h>
+      21             : #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+      22             : #include <tf/transform_datatypes.h>
+      23             : #include <tf_conversions/tf_eigen.h>
+      24             : 
+      25             : #include <mrs_msgs/ReferenceStamped.h>
+      26             : 
+      27             : #include <geometry_msgs/PoseStamped.h>
+      28             : #include <geometry_msgs/Vector3Stamped.h>
+      29             : #include <std_msgs/Header.h>
+      30             : 
+      31             : #include <mrs_lib/geometry/misc.h>
+      32             : 
+      33             : #include <pcl_ros/point_cloud.h>
+      34             : #include <pcl_ros/transforms.h>
+      35             : #include <pcl_conversions/pcl_conversions.h>
+      36             : 
+      37             : #include <mutex>
+      38             : #include <experimental/type_traits>
+      39             : 
+      40             : //}
+      41             : 
+      42             : namespace tf2
+      43             : {
+      44             : 
+      45             :   template <typename pt_t>
+      46             :   void doTransform(const pcl::PointCloud<pt_t>& cloud_in, pcl::PointCloud<pt_t>& cloud_out, const geometry_msgs::TransformStamped& transform)
+      47             :   {
+      48             :     pcl_ros::transformPointCloud(cloud_in, cloud_out, transform.transform);
+      49             :     pcl_conversions::toPCL(transform.header.stamp, cloud_out.header.stamp);
+      50             :     cloud_out.header.frame_id = transform.header.frame_id;
+      51             :   }
+      52             : 
+      53             : }  // namespace tf2
+      54             : 
+      55             : namespace mrs_lib
+      56             : {
+      57             : 
+      58             :   static const std::string UTM_ORIGIN = "utm_origin";
+      59             :   static const std::string LATLON_ORIGIN = "latlon_origin";
+      60             : 
+      61             :   /**
+      62             :    * \brief A convenience wrapper class for ROS's native TF2 API to simplify transforming of various messages.
+      63             :    *
+      64             :    * Implements optional automatic frame prefix deduction, seamless transformation lattitude/longitude coordinates and UTM coordinates, simple transformation of MRS messages etc.
+      65             :    */
+      66             :   /* class Transformer //{ */
+      67             : 
+      68             :   class Transformer
+      69             :   {
+      70             : 
+      71             :   public:
+      72             :     /* Constructor, assignment operator and overloads //{ */
+      73             : 
+      74             :     /**
+      75             :      * \brief A convenience constructor that doesn't initialize anything.
+      76             :      *
+      77             :      * This constructor is just to enable usign the Transformer as a member variable of nodelets etc.
+      78             :      * To actually initialize the class, use the alternative constructor.
+      79             :      *
+      80             :      * \note This constructor doesn't initialize the TF2 transform listener and all calls to the transformation-related methods of an object constructed using this method will fail.
+      81             :      */
+      82             :     Transformer();
+      83             : 
+      84             :     /**
+      85             :      * \brief The main constructor that actually initializes stuff.
+      86             :      *
+      87             :      * This constructor initializes the class and the TF2 transform listener.
+      88             :      *
+      89             :      * \param node_name   the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string.
+      90             :      * \param cache_time  duration of the transformation buffer's cache into the past that will be kept.
+      91             :      */
+      92             :     Transformer(const std::string& node_name, const ros::Duration& cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));
+      93             : 
+      94             :     /**
+      95             :      * \brief The main constructor that actually initializes stuff.
+      96             :      *
+      97             :      * This constructor initializes the class and the TF2 transform listener.
+      98             :      *
+      99             :      * \param nh          the node handle to be used for subscribing to the transformations.
+     100             :      * \param node_name   the name of the node running the transformer, is used in ROS prints. If you don't care, just set it to an empty string.
+     101             :      * \param cache_time  duration of the transformation buffer's cache into the past that will be kept.
+     102             :      */
+     103             :     Transformer(const ros::NodeHandle& nh, const std::string& node_name = std::string(), const ros::Duration& cache_time = ros::Duration(tf2_ros::Buffer::DEFAULT_CACHE_TIME));
+     104             : 
+     105             :     /**
+     106             :      * \brief A convenience move assignment operator.
+     107             :      *
+     108             :      * This operator moves all data from the object that is being assigned from, invalidating it.
+     109             :      *
+     110             :      * \param  other  the object to assign from. It will be invalid after this method returns.
+     111             :      * \return        a reference to the object being assigned to.
+     112             :      */
+     113             :     Transformer& operator=(Transformer&& other);
+     114             : 
+     115             :     //}
+     116             : 
+     117             :     // | ------------------ Configuration methods ----------------- |
+     118             : 
+     119             :     /* setDefaultFrame() //{ */
+     120             : 
+     121             :     /**
+     122             :      * \brief Sets the default frame ID to be used instead of any empty frame ID.
+     123             :      *
+     124             :      * If you call e.g. the transform() method with a message that has an empty header.frame_id field, this value will be used instead.
+     125             :      *
+     126             :      * \param frame_id the default frame ID. Use an empty string to disable default frame ID deduction.
+     127             :      *
+     128             :      * \note Disabled by default.
+     129             :      */
+     130      406572 :     void setDefaultFrame(const std::string& frame_id)
+     131             :     {
+     132      812733 :       std::scoped_lock lck(mutex_);
+     133      406469 :       default_frame_id_ = frame_id;
+     134      406410 :     }
+     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         255 :     void setDefaultPrefix(const std::string& prefix)
+     154             :     {
+     155         510 :       std::scoped_lock lck(mutex_);
+     156         255 :       if (prefix.empty())
+     157           1 :         prefix_ = "";
+     158             :       else
+     159         254 :         prefix_ = prefix + "/";
+     160         255 :     }
+     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         406 :     void retryLookupNewest(const bool retry = true)
+     212             :     {
+     213         406 :       std::scoped_lock lck(mutex_);
+     214         406 :       retry_lookup_newest_ = retry;
+     215         406 :     }
+     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        1032 :     std::string resolveFrame(const std::string& frame_id)
+     249             :     {
+     250        2064 :       std::scoped_lock lck(mutex_);
+     251        2064 :       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     1749196 :     static constexpr const std::string& frame_from(const geometry_msgs::TransformStamped& msg)
+     551             :     {
+     552     1749196 :       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     1745905 :     static constexpr std::string& frame_from(geometry_msgs::TransformStamped& msg)
+     564             :     {
+     565     1745905 :       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     1749205 :     static constexpr const std::string& frame_to(const geometry_msgs::TransformStamped& msg)
+     575             :     {
+     576     1749205 :       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     1748168 :     static constexpr std::string& frame_to(geometry_msgs::TransformStamped& msg)
+     588             :     {
+     589     1748168 :       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     1745988 :     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     1745988 :       geometry_msgs::TransformStamped ret;
+     621     1745815 :       frame_from(ret) = from_frame;
+     622     1745972 :       frame_to(ret) = to_frame;
+     623     1745902 :       ret.header.stamp = time_stamp;
+     624     1745902 :       ret.transform = tf;
+     625     1745902 :       return ret;
+     626             :     }
+     627             :     //}
+     628             : 
+     629             :     /* copyChangeFrame() and related methods //{ */
+     630             : 
+     631             :     // helper type and member for detecting whether a message has a header using SFINAE
+     632             :     template<typename T>
+     633             :     using has_header_member_chk = decltype( std::declval<T&>().header );
+     634             :     template<typename T>
+     635             :     static constexpr bool has_header_member_v = std::experimental::is_detected<has_header_member_chk, T>::value;
+     636             :     
+     637             :     template <typename msg_t>
+     638             :     std_msgs::Header getHeader(const msg_t& msg);
+     639             :     template <typename pt_t>
+     640             :     std_msgs::Header getHeader(const pcl::PointCloud<pt_t>& cloud);
+     641             :     
+     642             :     template <typename msg_t>
+     643             :     void setHeader(msg_t& msg, const std_msgs::Header& header);
+     644             :     template <typename pt_t>
+     645             :     void setHeader(pcl::PointCloud<pt_t>& cloud, const std_msgs::Header& header);
+     646             :     
+     647             :     template <typename T>
+     648             :     T copyChangeFrame(const T& what, const std::string& frame_id);
+     649             :     
+     650             :     //}
+     651             : 
+     652             :     /* methods for converting between lattitude/longitude and UTM coordinates //{ */
+     653             :     geometry_msgs::Point LLtoUTM(const geometry_msgs::Point& what, const std::string& prefix);
+     654             :     geometry_msgs::PointStamped LLtoUTM(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     655             :     geometry_msgs::Pose LLtoUTM(const geometry_msgs::Pose& what, const std::string& prefix);
+     656             :     geometry_msgs::PoseStamped LLtoUTM(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     657             :     
+     658             :     std::optional<geometry_msgs::Point> UTMtoLL(const geometry_msgs::Point& what, const std::string& prefix);
+     659             :     std::optional<geometry_msgs::PointStamped> UTMtoLL(const geometry_msgs::PointStamped& what, const std::string& prefix);
+     660             :     std::optional<geometry_msgs::Pose> UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix);
+     661             :     std::optional<geometry_msgs::PoseStamped> UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix);
+     662             :     
+     663             :     // helper types and member for detecting whether the UTMtoLL and LLtoUTM methods are defined for a certain message
+     664             :     template<class Class, typename Message>
+     665             :     using UTMLL_method_chk = decltype(std::declval<Class>().UTMtoLL(std::declval<const Message&>(), ""));
+     666             :     template<class Class, typename Message>
+     667             :     using LLUTM_method_chk = decltype(std::declval<Class>().LLtoUTM(std::declval<const Message&>(), ""));
+     668             :     template<class Class, typename Message>
+     669             :     static constexpr bool UTMLL_exists_v = std::experimental::is_detected<UTMLL_method_chk, Class, Message>::value && std::experimental::is_detected<LLUTM_method_chk, Class, Message>::value;
+     670             :     //}
+     671             : 
+     672             :   };
+     673             : 
+     674             :   //}
+     675             : 
+     676             : }  // namespace mrs_lib
+     677             : 
+     678             : #include <mrs_lib/impl/transformer.hpp>
+     679             : 
+     680             : #endif  // TRANSFORMER_H
+
+
+
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          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #ifndef UKF_H
+       3             : #define UKF_H
+       4             : 
+       5             : /**  \file
+       6             :      \brief Defines UKF - a class implementing the Unscented Kalman Filter \cite UKF.
+       7             :      \author Tomáš Báča - bacatoma@fel.cvut.cz (original implementation)
+       8             :      \author Matouš Vrba - vrbamato@fel.cvut.cz (rewrite, documentation)
+       9             :  */
+      10             : 
+      11             : #include <mrs_lib/kalman_filter.h>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /**
+      17             :   * \brief Implementation of the Unscented Kalman filter \cite UKF.
+      18             :   *
+      19             :   * The Unscented Kalman filter (abbreviated UKF, \cite UKF) is a variant of the Kalman filter, which may be used
+      20             :   * for state filtration or estimation of non-linear systems as opposed to the Linear Kalman Filter
+      21             :   * (which is implemented in \ref LKF). The UKF tends to be more accurate than the simpler Extended Kalman Filter,
+      22             :   * espetially for highly non-linear systems. However, it is generally less stable than the LKF because of the extra
+      23             :   * matrix square root in the sigma points calculation, so it is recommended to use LKF for linear systems.
+      24             :   *
+      25             :   * The UKF C++ class itself is templated. This has its advantages and disadvantages. Main disadvantage is that it
+      26             :   * may be harder to use if you're not familiar with C++ templates, which, admittedly, can get somewhat messy,
+      27             :   * espetially during compilation. Another disadvantage is that if used unwisely, the compilation times can get
+      28             :   * much higher when using templates. The main advantage is compile-time checking (if it compiles, then it has
+      29             :   * a lower chance of crashing at runtime) and enabling more effective optimalizations during compilation. Also in case
+      30             :   * of Eigen, the code is arguably more readable when you use aliases to the specific Matrix instances instead of
+      31             :   * having Eigen::MatrixXd and Eigen::VectorXd everywhere.
+      32             :   *
+      33             :   * \tparam n_states         number of states of the system (length of the \f$ \mathbf{x} \f$ vector).
+      34             :   * \tparam n_inputs         number of inputs of the system (length of the \f$ \mathbf{u} \f$ vector).
+      35             :   * \tparam n_measurements   number of measurements of the system (length of the \f$ \mathbf{z} \f$ vector).
+      36             :   *
+      37             :   */
+      38             :   template <int n_states, int n_inputs, int n_measurements>
+      39             :   class UKF : KalmanFilter<n_states, n_inputs, n_measurements>
+      40             :   {
+      41             :   protected:
+      42             :     /* protected UKF definitions (typedefs, constants etc) //{ */
+      43             :     static constexpr int n = n_states;            /*!< \brief Length of the state vector of the system. */
+      44             :     static constexpr int m = n_inputs;            /*!< \brief Length of the input vector of the system. */
+      45             :     static constexpr int p = n_measurements;      /*!< \brief Length of the measurement vector of the system. */
+      46             :     static constexpr int w = 2 * n + 1;           /*!< \brief Number of sigma points/weights. */
+      47             : 
+      48             :     using Base_class = KalmanFilter<n, m, p>; /*!< \brief Base class of this class. */
+      49             : 
+      50             :     using X_t = typename Eigen::Matrix<double, n, w>;    /*!< \brief State sigma points matrix. */
+      51             :     using Z_t = typename Eigen::Matrix<double, p, w>;    /*!< \brief Measurement sigma points matrix. */
+      52             :     using Pzz_t = typename Eigen::Matrix<double, p, p>;  /*!< \brief Pzz helper matrix. */
+      53             :     using K_t = typename Eigen::Matrix<double, n, p>;    /*!< \brief Kalman gain matrix. */
+      54             :     //}
+      55             : 
+      56             :   public:
+      57             :     /* public UKF definitions (typedefs, constants etc) //{ */
+      58             :     //! state vector n*1 typedef
+      59             :     using x_t = typename Base_class::x_t;
+      60             :     //! input vector m*1 typedef
+      61             :     using u_t = typename Base_class::u_t;
+      62             :     //! measurement vector p*1 typedef
+      63             :     using z_t = typename Base_class::z_t;
+      64             :     //! state covariance n*n typedef
+      65             :     using P_t = typename Base_class::P_t;
+      66             :     //! measurement covariance p*p typedef
+      67             :     using R_t = typename Base_class::R_t;
+      68             :     //! process covariance n*n typedef
+      69             :     using Q_t = typename Base_class::Q_t;
+      70             :     //! weights vector (2n+1)*1 typedef
+      71             :     using W_t = typename Eigen::Matrix<double, w, 1>;
+      72             :     //! typedef of a helper struct for state and covariance
+      73             :     using statecov_t = typename Base_class::statecov_t;
+      74             :     //! function of the state transition model typedef
+      75             :     using transition_model_t = typename std::function<x_t(const x_t&, const u_t&, double)>;
+      76             :     //! function of the observation model typedef
+      77             :     using observation_model_t = typename std::function<z_t(const x_t&)>;
+      78             : 
+      79             :     //! is thrown when taking the square root of a matrix fails during sigma generation
+      80             :     struct square_root_exception : public std::exception
+      81             :     {
+      82           0 :       const char* what() const throw()
+      83             :       {
+      84           0 :         return "UKF: taking the square root of covariance update produced NANs!!!";
+      85             :       }
+      86             :     };
+      87             : 
+      88             :     //! is thrown when taking the inverse of a matrix fails during kalman gain calculation
+      89             :     struct inverse_exception : public std::exception
+      90             :     {
+      91           0 :       const char* what() const throw()
+      92             :       {
+      93           0 :         return "UKF: inverting of Pzz in correction update produced NANs!!!";
+      94             :       }
+      95             :     };
+      96             :     //}
+      97             : 
+      98             :   public:
+      99             :     /* UKF constructor //{ */
+     100             :   /*!
+     101             :     * \brief Convenience default constructor.
+     102             :     *
+     103             :     * This constructor should not be used if applicable. If used, the main constructor has to be called afterwards,
+     104             :     * otherwise the UKF object is invalid (not initialized).
+     105             :     */
+     106             :     UKF();
+     107             : 
+     108             :   /*!
+     109             :     * \brief The main constructor.
+     110             :     *
+     111             :     * \param alpha             Scaling parameter of the sigma generation (a small positive value, e.g. 1e-3).
+     112             :     * \param kappa             Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     113             :     * \param beta              Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     114             :     * \param transition_model  State transition model function.
+     115             :     * \param observation_model Observation model function.
+     116             :     */
+     117             :     UKF(const transition_model_t& transition_model, const observation_model_t& observation_model, const double alpha = 1e-3, const double kappa = 1, const double beta = 2);
+     118             :     //}
+     119             : 
+     120             :     /* correct() method //{ */
+     121             :   /*!
+     122             :     * \brief Implements the state correction step (measurement update).
+     123             :     *
+     124             :     * \param sc     Previous estimate of the state and covariance.
+     125             :     * \param z      Measurement vector.
+     126             :     * \param R      Measurement covariance matrix.
+     127             :     * \returns      The state and covariance after applying the correction step.
+     128             :     */
+     129             :     virtual statecov_t correct(const statecov_t& sc, const z_t& z, const R_t& R) const override;
+     130             :     //}
+     131             : 
+     132             :     /* predict() method //{ */
+     133             :   /*!
+     134             :     * \brief Implements the state prediction step (time update).
+     135             :     *
+     136             :     * \param sc     Previous estimate of the state and covariance.
+     137             :     * \param u      Input vector.
+     138             :     * \param Q      Process noise covariance matrix.
+     139             :     * \param dt     Duration since the previous estimate.
+     140             :     * \returns      The state and covariance after applying the correction step.
+     141             :     */
+     142             :     virtual statecov_t predict(const statecov_t& sc, const u_t& u, const Q_t& Q, double dt) const override;
+     143             :     //}
+     144             : 
+     145             :     /* setConstants() method //{ */
+     146             :   /*!
+     147             :     * \brief Changes the Unscented Transform parameters.
+     148             :     *
+     149             :     * \param alpha  Scaling parameter of the sigma generation (a small positive value - e.g. 1e-3).
+     150             :     * \param kappa  Secondary scaling parameter of the sigma generation (usually set to 0 or 1).
+     151             :     * \param beta   Incorporates prior knowledge about the distribution (for Gaussian distribution, 2 is optimal).
+     152             :     */
+     153             :     void setConstants(const double alpha, const double kappa, const double beta);
+     154             :     //}
+     155             : 
+     156             :     /* setTransitionModel() method //{ */
+     157             :   /*!
+     158             :     * \brief Changes the transition model function.
+     159             :     *
+     160             :     * \param transition_model   the new transition model
+     161             :     */
+     162             :     void setTransitionModel(const transition_model_t& transition_model);
+     163             :     //}
+     164             : 
+     165             :     /* setObservationModel() method //{ */
+     166             :   /*!
+     167             :     * \brief Changes the observation model function.
+     168             :     *
+     169             :     * \param observation_model   the new observation model
+     170             :     */
+     171             :     void setObservationModel(const observation_model_t& observation_model);
+     172             :     //}
+     173             : 
+     174             :   protected:
+     175             :     /* protected methods and member variables //{ */
+     176             : 
+     177             :     void computeWeights();
+     178             : 
+     179             :     X_t computeSigmas(const x_t& x, const P_t& P) const;
+     180             : 
+     181             :     P_t computePaSqrt(const P_t& P) const;
+     182             : 
+     183             :     Pzz_t computeInverse(const Pzz_t& Pzz) const;
+     184             : 
+     185             :     virtual K_t computeKalmanGain([[maybe_unused]] const x_t& x, [[maybe_unused]] const z_t& inn, const K_t& Pxz, const Pzz_t& Pzz) const;
+     186             : 
+     187             :     double m_alpha, m_kappa, m_beta, m_lambda;
+     188             :     W_t m_Wm;
+     189             :     W_t m_Wc;
+     190             : 
+     191             :     transition_model_t m_transition_model;
+     192             :     observation_model_t m_observation_model;
+     193             : 
+     194             :     //}
+     195             :   };
+     196             : 
+     197             : }  // namespace mrs_lib
+     198             : 
+     199             : #include <mrs_lib/impl/ukf.hpp>
+     200             : 
+     201             : #endif
+
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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)40629
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std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<boost::array<int, 3ul> >(boost::array<int, 3ul> const&, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, char const*)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > > >(__gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, __gnu_cxx::__normal_iterator<int*, std::vector<int, std::allocator<int> > >, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > mrs_lib::containerToString<int const*>(int const*, int const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1
int mrs_lib::signum<double>(double)40629
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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       40629 :   int signum(T val)
+     139             :   {
+     140       40629 :     return (T(0) < val) - (val < T(0));
+     141             :   }
+     142             : 
+     143             : }  // namespace mrs_lib
+     144             : 
+     145             : #endif
+
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Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, pcl::PointXYZ>(pcl::PointXYZ const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
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Current view:top level - mrs_lib/include/mrs_lib - vector_converter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:3636100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, pcl::PointXYZ>(pcl::PointXYZ const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
geometry_msgs::Vector3_<std::allocator<void> > mrs_lib::convert<geometry_msgs::Vector3_<std::allocator<void> >, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
cv::Vec<double, 3> mrs_lib::convert<cv::Vec<double, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, pcl::PointXYZ>(pcl::PointXYZ const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
cv::Vec<float, 3> mrs_lib::convert<cv::Vec<float, 3>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
pcl::PointXYZ mrs_lib::convert<pcl::PointXYZ, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<double, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, geometry_msgs::Vector3_<std::allocator<void> > >(geometry_msgs::Vector3_<std::allocator<void> > const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<double, 3> >(cv::Vec<double, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, cv::Vec<float, 3> >(cv::Vec<float, 3> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, pcl::PointXYZ>(pcl::PointXYZ const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1> >(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)1
Eigen::Matrix<float, 3, 1, 0, 3, 1> mrs_lib::convert<Eigen::Matrix<float, 3, 1, 0, 3, 1>, Eigen::Matrix<float, 3, 1, 0, 3, 1> >(Eigen::Matrix<float, 3, 1, 0, 3, 1> const&)1
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : /**  \file vector_converter.h
+       3             :      \brief Defines the convert() function for conversion between different vector representations (Eigen, OpenCV, tf2 etc.).
+       4             :      \author Matouš Vrba - vrbamato@fel.cvut.cz
+       5             :  */
+       6             : #ifndef VECTOR_CONVERTER_H
+       7             : #define VECTOR_CONVERTER_H
+       8             : 
+       9             : #include <tuple>
+      10             : 
+      11             : #include <mrs_lib/impl/vector_converter.hpp>
+      12             : 
+      13             : namespace mrs_lib
+      14             : {
+      15             : 
+      16             :   /*!
+      17             :    * \brief Converts between different vector representations.
+      18             :    *
+      19             :    * Usage (for full example, see the file vector_converter/example.cpp):
+      20             :    *
+      21             :    * `auto out = mrs_lib::convert<to_type>(in);`
+      22             :    *
+      23             :    * Supported types by default are: `Eigen::Vector3d`, `cv::Vec3d`, `geometry_msgs::Vector3`.
+      24             :    * If you want to use this with a new type, it should work automagically if it provides a reasonable API.
+      25             :    * If it doesn't work by default, you just need to implement the respective convertTo() and convertFrom() functions for that type (see the file impl/vector_converter.hpp and the example file vector_converter/example.cpp).
+      26             :    *
+      27             :    * \param in  The input vector to be converted to the \p ret_t type.
+      28             :    *
+      29             :    * \tparam ret_t Type of the return vector. You need to specify this when calling the function.
+      30             :    * \tparam in_t  Type of the input vector. This parameter is deduced by the compiler and doesn't need to be specified in usual cases.
+      31             :    *
+      32             :    */
+      33             :   template <typename ret_t, typename in_t>
+      34          36 :   ret_t convert(const in_t& in)
+      35             :   {
+      36          36 :     const auto [x, y, z] = impl::convertFrom(in);
+      37          36 :     ret_t ret;
+      38          36 :     impl::convertTo(ret, x, y, z);
+      39          66 :     return ret;
+      40             :   }
+      41             : 
+      42             : }
+      43             : 
+      44             : #endif // VECTOR_CONVERTER_H
+
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const242
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mrs_lib::VisualObject::operator<(mrs_lib::VisualObject const&) const242
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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         242 :   bool operator<(const VisualObject& other) const {
+      69         242 :     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
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html new file mode 100644 index 0000000000..a2ea444b1d --- /dev/null +++ b/mrs_lib/include/mrs_lib/visual_object.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/include/mrs_lib/visual_object.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/include/mrs_lib/visual_object.h.gcov.png b/mrs_lib/include/mrs_lib/visual_object.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e5a217429afe8a62a7258891b3370af79723c76a GIT binary patch literal 484 zcmV_%GNWv0>g zGt_r9t5M~ynG$$UJ_W8188j)if_*u)woji{4E;^-{UY~_0nSSu_-j7Nl$zcH=Mcti z)LgHKKcR-lN5XuYPz`FHO2WO58WLXINgWlGxZkP6ZEO*qtF;Z}`~XH;uSyM>+#9J& z_6GG-tp`#ZSfnJqHx)P_c9HB8iB{~xc}6NHdtoC-LT$~lM;Ie{9)mn+hs+wZj;yw~ z2H4EHsB!qhXOsUFX`cCk=0ilxm(p|t`4kb#faQ^kN(r;d_&|oJg?}!bGq6F1RhxzO aNB#jj9b7t&#$cTQ0000 + + + + + + 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:2024-02-24 08:13:25Functions:394195.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::AttitudeConverter::setYaw(double const&)0
mrs_lib::Vector3Converter::operator tf2::Vector3() const0
mrs_lib::EulerAttitude::EulerAttitude(double const&, double const&, double const&)1
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getRoll()1
mrs_lib::AttitudeConverter::getPitch()1
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(mrs_lib::EulerAttitude const&)1
mrs_lib::EulerAttitude::yaw() const1
mrs_lib::EulerAttitude::roll() const1
mrs_lib::EulerAttitude::pitch() const1
mrs_lib::Vector3Converter::operator geometry_msgs::Vector3_<std::allocator<void> >() const1
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator mrs_lib::EulerAttitude() const1
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)20769
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)88634
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()122017
mrs_lib::AttitudeConverter::getYaw()151216
mrs_lib::AttitudeConverter::calculateRPY()151221
mrs_lib::Vector3Converter::Vector3Converter(geometry_msgs::Vector3_<std::allocator<void> > const&)239472
mrs_lib::AttitudeConverter::setHeading(double const&)245447
mrs_lib::AttitudeConverter::getVectorZ()247447
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)260233
mrs_lib::AttitudeConverter::operator tf2::Transform() const327062
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const331277
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)372427
mrs_lib::Vector3Converter::operator Eigen::Matrix<double, 3, 1, 0, 3, 1>() const507681
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const760288
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)825010
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1031561
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1309945
mrs_lib::AttitudeConverter::getHeading()1402306
mrs_lib::AttitudeConverter::AttitudeConverter(geometry_msgs::Quaternion_<std::allocator<void> >)3092273
mrs_lib::AttitudeConverter::AttitudeConverter(double const&, double const&, double const&, mrs_lib::RPY_convention_t const&)6085965
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const7128258
mrs_lib::AttitudeConverter::validateOrientation()11405874
+
+
+ + + +
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..5bf8c9cceb --- /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:2024-02-24 08:13:25Functions: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&)239472
mrs_lib::Vector3Converter::Vector3Converter(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)20769
mrs_lib::Vector3Converter::Vector3Converter(double const&, double const&, double const&)1
mrs_lib::AttitudeConverter::getHeading()1402306
mrs_lib::AttitudeConverter::getVectorX()3
mrs_lib::AttitudeConverter::getVectorY()3
mrs_lib::AttitudeConverter::getVectorZ()247447
mrs_lib::AttitudeConverter::setHeading(double const&)245447
mrs_lib::AttitudeConverter::calculateRPY()151221
mrs_lib::AttitudeConverter::getHeadingRate(mrs_lib::Vector3Converter const&)260233
mrs_lib::AttitudeConverter::getExtrinsicRPY()1
mrs_lib::AttitudeConverter::getIntrinsicRPY()1
mrs_lib::AttitudeConverter::getYawRateIntrinsic(double const&)88634
mrs_lib::AttitudeConverter::validateOrientation()11405874
mrs_lib::AttitudeConverter::getYaw()151216
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> >)3092273
mrs_lib::AttitudeConverter::AttitudeConverter(tf::Quaternion)1
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Quaternion)825010
mrs_lib::AttitudeConverter::AttitudeConverter(tf2::Matrix3x3)1
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Quaternion<double, 0>)372427
mrs_lib::AttitudeConverter::AttitudeConverter(Eigen::Matrix<double, 3, 3, 0, 3, 3>)1031561
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&)6085965
mrs_lib::AttitudeConverter::operator std::tuple<double&, double&, double&>()122017
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>() const507681
mrs_lib::AttitudeConverter::operator geometry_msgs::Quaternion_<std::allocator<void> >() const7128258
mrs_lib::AttitudeConverter::operator tf::Quaternion() const1
mrs_lib::AttitudeConverter::operator tf2::Quaternion() const760288
mrs_lib::AttitudeConverter::operator tf2::Matrix3x3() const331277
mrs_lib::AttitudeConverter::operator tf2::Transform() const327062
mrs_lib::AttitudeConverter::operator Eigen::Matrix<double, 3, 3, 0, 3, 3>() const1309945
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..62028f9222 --- /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:2024-02-24 08:13:25Functions: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       20769 : Vector3Converter::Vector3Converter(const Eigen::Vector3d& vector3) {
+      33             : 
+      34       20769 :   vector3_[0] = vector3[0];
+      35       20769 :   vector3_[1] = vector3[1];
+      36       20769 :   vector3_[2] = vector3[2];
+      37       20769 : }
+      38             : 
+      39      239472 : Vector3Converter::Vector3Converter(const geometry_msgs::Vector3& vector3) {
+      40             : 
+      41      239443 :   vector3_[0] = vector3.x;
+      42      239457 :   vector3_[1] = vector3.y;
+      43      239414 :   vector3_[2] = vector3.z;
+      44      239427 : }
+      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      507681 : Vector3Converter::operator Eigen::Vector3d() const {
+      59             : 
+      60      507681 :   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     6085965 : AttitudeConverter::AttitudeConverter(const double& roll, const double& pitch, const double& yaw, const RPY_convention_t& format) {
+      79             : 
+      80     6083383 :   switch (format) {
+      81             : 
+      82     6083536 :     case RPY_EXTRINSIC: {
+      83     6083536 :       tf2_quaternion_.setRPY(roll, pitch, yaw);
+      84     6085012 :       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     6084859 :   validateOrientation();
+     104     6084659 : }
+     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     3092273 : AttitudeConverter::AttitudeConverter(const geometry_msgs::Quaternion quaternion) {
+     117     3091883 :   tf2_quaternion_.setX(quaternion.x);
+     118     3091231 :   tf2_quaternion_.setY(quaternion.y);
+     119     3092041 :   tf2_quaternion_.setZ(quaternion.z);
+     120     3092249 :   tf2_quaternion_.setW(quaternion.w);
+     121             : 
+     122     3092369 :   validateOrientation();
+     123     3091563 : }
+     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      372427 : AttitudeConverter::AttitudeConverter(const Eigen::Quaterniond quaternion) {
+     132      372427 :   tf2_quaternion_.setX(quaternion.x());
+     133      372426 :   tf2_quaternion_.setY(quaternion.y());
+     134      372425 :   tf2_quaternion_.setZ(quaternion.z());
+     135      372426 :   tf2_quaternion_.setW(quaternion.w());
+     136             : 
+     137      372427 :   validateOrientation();
+     138      372426 : }
+     139             : 
+     140     1031561 : AttitudeConverter::AttitudeConverter(const Eigen::Matrix3d matrix) {
+     141     1030253 :   Eigen::Quaterniond quaternion = Eigen::Quaterniond(matrix);
+     142             : 
+     143     1030544 :   tf2_quaternion_.setX(quaternion.x());
+     144     1029292 :   tf2_quaternion_.setY(quaternion.y());
+     145     1030378 :   tf2_quaternion_.setZ(quaternion.z());
+     146     1030310 :   tf2_quaternion_.setW(quaternion.w());
+     147             : 
+     148     1030442 :   validateOrientation();
+     149     1028271 : }
+     150             : 
+     151      825010 : AttitudeConverter::AttitudeConverter(const tf2::Quaternion quaternion) {
+     152             : 
+     153      823203 :   tf2_quaternion_ = quaternion;
+     154             : 
+     155      823203 :   validateOrientation();
+     156      823171 : }
+     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      760288 : AttitudeConverter::operator tf2::Quaternion() const {
+     170      760288 :   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     7128258 : AttitudeConverter::operator geometry_msgs::Quaternion() const {
+     186             : 
+     187     7128258 :   geometry_msgs::Quaternion geom_quaternion;
+     188             : 
+     189     7126565 :   geom_quaternion.x = tf2_quaternion_.x();
+     190     7120880 :   geom_quaternion.y = tf2_quaternion_.y();
+     191     7120870 :   geom_quaternion.z = tf2_quaternion_.z();
+     192     7122786 :   geom_quaternion.w = tf2_quaternion_.w();
+     193             : 
+     194     7121783 :   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     1309945 : AttitudeConverter::operator Eigen::Matrix3d() const {
+     206             : 
+     207     1309945 :   Eigen::Quaterniond quaternion(tf2_quaternion_.w(), tf2_quaternion_.x(), tf2_quaternion_.y(), tf2_quaternion_.z());
+     208             : 
+     209     2619357 :   return quaternion.toRotationMatrix();
+     210             : }
+     211             : 
+     212      122017 : AttitudeConverter::operator std::tuple<double&, double&, double&>() {
+     213             : 
+     214      122017 :   tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     215             : 
+     216      122017 :   return std::tuple<double&, double&, double&>{roll_, pitch_, yaw_};
+     217             : }
+     218             : 
+     219      331277 : AttitudeConverter::operator tf2::Matrix3x3() const {
+     220             : 
+     221      331277 :   return tf2::Matrix3x3(tf2_quaternion_);
+     222             : }
+     223             : 
+     224      327062 : AttitudeConverter::operator tf2::Transform() const {
+     225             : 
+     226      327062 :   return tf2::Transform(tf2_quaternion_);
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* getters //{ */
+     232             : 
+     233      151216 : double AttitudeConverter::getYaw(void) {
+     234             : 
+     235      151216 :   calculateRPY();
+     236             : 
+     237      151216 :   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     1402306 : double AttitudeConverter::getHeading(void) {
+     255             : 
+     256     1402306 :   tf2::Vector3 b1 = tf2::Vector3(1, 0, 0);
+     257             : 
+     258     1401732 :   tf2::Vector3 x_new = tf2::Transform(tf2_quaternion_) * b1;
+     259             : 
+     260     1401411 :   if (fabs(x_new[0]) <= 1e-3 && fabs(x_new[1]) <= 1e-3) {
+     261           2 :     throw GetHeadingException();
+     262             :   }
+     263             : 
+     264     2800500 :   return atan2(x_new[1], x_new[0]);
+     265             : }
+     266             : 
+     267       88634 : 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       88634 :   if (fabs(heading_rate) < 1e-3) {
+     272       62263 :     return 0;
+     273             :   }
+     274             : 
+     275             :   // prep
+     276       26371 :   Eigen::Matrix3d R = *this;
+     277             : 
+     278             :   // construct the heading orbital velocity vector
+     279       26371 :   Eigen::Vector3d heading_vector   = Eigen::Vector3d(R(0, 0), R(1, 0), 0);
+     280       26371 :   Eigen::Vector3d orbital_velocity = Eigen::Vector3d(0, 0, heading_rate).cross(heading_vector);
+     281             : 
+     282             :   // projector to the heading orbital velocity vector subspace
+     283       26371 :   Eigen::Vector3d b_orb = Eigen::Vector3d(0, 0, 1).cross(heading_vector);
+     284       26371 :   b_orb.normalize();
+     285       26371 :   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       26371 :   Eigen::Vector3d projected = P * R.col(1);
+     289             : 
+     290             : 
+     291       26371 :   double orbital_velocity_norm = orbital_velocity.norm();
+     292       26371 :   double projected_norm        = projected.norm();
+     293             : 
+     294       26371 :   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       26371 :   double direction = mrs_lib::signum(orbital_velocity.dot(projected));
+     300             : 
+     301       26371 :   double output_yaw_rate = direction * (orbital_velocity_norm / projected_norm);
+     302             : 
+     303       26371 :   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       26371 :   return output_yaw_rate;
+     310             : }
+     311             : 
+     312      260233 : double AttitudeConverter::getHeadingRate(const Vector3Converter& attitude_rate) {
+     313             : 
+     314             :   // prep
+     315      260233 :   Eigen::Matrix3d R = *this;
+     316      260209 :   Eigen::Vector3d w = attitude_rate;
+     317             : 
+     318             :   // create the angular velocity tensor
+     319      260165 :   Eigen::Matrix3d W;
+     320      260158 :   W << 0, -w[2], w[1], w[2], 0, -w[0], -w[1], w[0], 0;
+     321             : 
+     322             :   // R derivative
+     323      260151 :   Eigen::Matrix3d R_d = R * W;
+     324             : 
+     325             :   // atan2 derivative
+     326      260200 :   double rx = R(0, 0);  // x-component of body X
+     327      260096 :   double ry = R(1, 0);  // y-component of body Y
+     328             : 
+     329      260143 :   double denom = rx * rx + ry * ry;
+     330             : 
+     331      260143 :   if (fabs(denom) <= 1e-5) {
+     332           0 :     ROS_ERROR("[AttitudeConverter]: getHeadingRate(): denominator near zero!!!");
+     333           0 :     throw MathErrorException();
+     334             :   }
+     335             : 
+     336      260143 :   double atan2_d_x = -ry / denom;
+     337      260143 :   double atan2_d_y = rx / denom;
+     338             : 
+     339             :   // atan2 total differential
+     340      260143 :   double heading_rate = atan2_d_x * R_d(0, 0) + atan2_d_y * R_d(1, 0);
+     341             : 
+     342      260157 :   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      247447 : Vector3Converter AttitudeConverter::getVectorZ(void) {
+     364             : 
+     365      247447 :   tf2::Vector3 b3 = tf2::Vector3(0, 0, 1);
+     366             : 
+     367      247446 :   tf2::Vector3 new_b3 = tf2::Transform(tf2_quaternion_) * b3;
+     368             : 
+     369      494890 :   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      245447 : AttitudeConverter AttitudeConverter::setHeading(const double& heading) {
+     404             : 
+     405             :   // get the Z unit vector after the original rotation
+     406      245447 :   Eigen::Vector3d b3 = getVectorZ();
+     407             : 
+     408             :   // check for singularity: z component of the thrust vector is 0
+     409      245440 :   if (fabs(b3[2]) < 1e-3) {
+     410           6 :     throw SetHeadingException();
+     411             :   }
+     412             : 
+     413             :   // get the desired heading as a vector in 3D
+     414      245436 :   Eigen::Vector3d h(cos(heading), sin(heading), 0);
+     415             : 
+     416      245442 :   Eigen::Matrix3d new_R;
+     417             : 
+     418      245435 :   new_R.col(2) = b3;
+     419             : 
+     420             :   // construct the oblique projection
+     421      245433 :   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      489879 :   Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+     425      245217 :   A.col(0)          = projector_body_z_compl.col(0);
+     426      245185 :   A.col(1)          = projector_body_z_compl.col(1);
+     427             : 
+     428             :   // create the basis of the projection null-space complement
+     429      489500 :   Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+     430      245234 :   B.col(0)          = Eigen::Vector3d(1, 0, 0);
+     431      245127 :   B.col(1)          = Eigen::Vector3d(0, 1, 0);
+     432             : 
+     433             :   // oblique projector to <range_basis>
+     434      489103 :   Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     435      489598 :   Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     436      244722 :   Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     437             : 
+     438      244748 :   new_R.col(0) = oblique_projector * h;
+     439      244049 :   new_R.col(0).normalize();
+     440             : 
+     441             :   // | ------------------------- body y ------------------------- |
+     442             : 
+     443      244434 :   new_R.col(1) = new_R.col(2).cross(new_R.col(0));
+     444      243040 :   new_R.col(1).normalize();
+     445             : 
+     446      488673 :   return AttitudeConverter(new_R);
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : // | ------------------------ internal ------------------------ |
+     452             : 
+     453             : /* calculateRPY() //{ */
+     454             : 
+     455      151221 : void AttitudeConverter::calculateRPY(void) {
+     456             : 
+     457      151221 :   if (!got_rpy_) {
+     458             : 
+     459      151221 :     tf2::Matrix3x3(tf2_quaternion_).getRPY(roll_, pitch_, yaw_);
+     460             :   }
+     461      151221 : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : /* validateOrientation() //{ */
+     466             : 
+     467    11405874 : void AttitudeConverter::validateOrientation(void) {
+     468             : 
+     469    22804141 :   if (!std::isfinite(tf2_quaternion_.x()) || !std::isfinite(tf2_quaternion_.y()) || !std::isfinite(tf2_quaternion_.z()) ||
+     470    11393815 :       !std::isfinite(tf2_quaternion_.w())) {
+     471           2 :     throw InvalidAttitudeException();
+     472             :   }
+     473    11397038 : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : }  // namespace mrs_lib
+
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Date:2024-02-24 08:13:25Functions:394195.1 %
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attitude_converter.cpp +
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Current view:top level - mrs_lib/src/attitude_converterHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
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Current view:top level - mrs_lib/src/attitude_converterHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21222494.6 %
Date:2024-02-24 08:13:25Functions:394195.1 %
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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:2024-02-24 08:13:25Functions: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::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addTrajectory(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setLinesScale(double)0
mrs_lib::BatchVisualizer::addRay(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCone(mrs_lib::geometry::Cone const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addCuboid(mrs_lib::geometry::Cuboid const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setParentFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)22
mrs_lib::BatchVisualizer::setPointsScale(double)22
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)79
mrs_lib::BatchVisualizer::initialize()162
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> >)162
mrs_lib::BatchVisualizer::BatchVisualizer()162
mrs_lib::BatchVisualizer::clearBuffers()184
mrs_lib::BatchVisualizer::clearVisuals()184
mrs_lib::BatchVisualizer::~BatchVisualizer()324
mrs_lib::BatchVisualizer::addNullPoint()346
mrs_lib::BatchVisualizer::addNullLine()358
mrs_lib::BatchVisualizer::addNullTriangle()358
mrs_lib::BatchVisualizer::publish()358
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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:2024-02-24 08:13:25Functions: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()162
mrs_lib::BatchVisualizer::addCylinder(mrs_lib::geometry::Cylinder const&, double, double, double, double, bool, bool, int, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullLine()358
mrs_lib::BatchVisualizer::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::addNullPoint()346
mrs_lib::BatchVisualizer::addRectangle(mrs_lib::geometry::Rectangle const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::clearBuffers()184
mrs_lib::BatchVisualizer::clearVisuals()184
mrs_lib::BatchVisualizer::addTrajectory(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, bool, ros::Duration const&)0
mrs_lib::BatchVisualizer::setLinesScale(double)0
mrs_lib::BatchVisualizer::setParentFrame(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)22
mrs_lib::BatchVisualizer::setPointsScale(double)22
mrs_lib::BatchVisualizer::addNullTriangle()358
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()358
mrs_lib::BatchVisualizer::addPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&)79
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> >)162
mrs_lib::BatchVisualizer::BatchVisualizer()162
mrs_lib::BatchVisualizer::~BatchVisualizer()324
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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:2024-02-24 08:13:25Functions: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         162 : BatchVisualizer::BatchVisualizer() {
+      10         162 : }
+      11             : 
+      12         324 : BatchVisualizer::~BatchVisualizer() {
+      13         324 : }
+      14             : 
+      15         162 : BatchVisualizer::BatchVisualizer(ros::NodeHandle &nh, const std::string marker_topic_name, const std::string parent_frame) {
+      16         162 :   this->parent_frame      = parent_frame;
+      17         162 :   this->marker_topic_name = marker_topic_name;
+      18         162 :   initialize();
+      19             : 
+      20         162 :   this->visual_pub = nh.advertise<visualization_msgs::MarkerArray>(marker_topic_name.c_str(), 1);
+      21         162 :   publish();
+      22         162 : }
+      23             : //}
+      24             : 
+      25             : /* setParentFrame //{ */
+      26             : 
+      27          22 : void BatchVisualizer::setParentFrame(const std::string parent_frame) {
+      28          22 :   this->parent_frame               = parent_frame;
+      29          22 :   points_marker.header.frame_id    = parent_frame;
+      30          22 :   triangles_marker.header.frame_id = parent_frame;
+      31          22 :   lines_marker.header.frame_id     = parent_frame;
+      32          22 : }
+      33             : 
+      34             : //}
+      35             : 
+      36             : /* initialize //{ */
+      37         162 : void BatchVisualizer::initialize() {
+      38         162 :   if (initialized) {
+      39           0 :     return;
+      40             :   }
+      41             : 
+      42             :   // setup points marker
+      43         162 :   std::stringstream ss;
+      44         162 :   ss << marker_topic_name << "_points";
+      45         162 :   points_marker.header.frame_id    = parent_frame;
+      46         162 :   points_marker.header.stamp       = ros::Time::now();
+      47         162 :   points_marker.ns                 = ss.str().c_str();
+      48         162 :   points_marker.action             = visualization_msgs::Marker::ADD;
+      49         162 :   points_marker.pose.orientation.w = 1.0;
+      50         162 :   points_marker.id                 = 8;
+      51         162 :   points_marker.type               = visualization_msgs::Marker::POINTS;
+      52             : 
+      53         162 :   points_marker.scale.x = points_scale;
+      54         162 :   points_marker.scale.y = points_scale;
+      55         162 :   points_marker.color.a = 1.0;
+      56             : 
+      57             :   // setup lines marker
+      58         162 :   ss.str(std::string());
+      59         162 :   ss << marker_topic_name << "_lines";
+      60         162 :   lines_marker.header.frame_id    = parent_frame;
+      61         162 :   lines_marker.header.stamp       = ros::Time::now();
+      62         162 :   lines_marker.ns                 = ss.str().c_str();
+      63         162 :   lines_marker.action             = visualization_msgs::Marker::ADD;
+      64         162 :   lines_marker.pose.orientation.w = 1.0;
+      65         162 :   lines_marker.id                 = 5;
+      66         162 :   lines_marker.type               = visualization_msgs::Marker::LINE_LIST;
+      67             : 
+      68         162 :   lines_marker.scale.x = lines_scale;
+      69         162 :   lines_marker.color.a = 1.0;
+      70             : 
+      71             :   // setup triangles marker
+      72         162 :   ss.str(std::string());
+      73         162 :   ss << marker_topic_name << "_triangles";
+      74         162 :   triangles_marker.header.frame_id    = parent_frame;
+      75         162 :   triangles_marker.header.stamp       = ros::Time::now();
+      76         162 :   triangles_marker.ns                 = ss.str().c_str();
+      77         162 :   triangles_marker.action             = visualization_msgs::Marker::ADD;
+      78         162 :   triangles_marker.pose.orientation.w = 1.0;
+      79         162 :   triangles_marker.id                 = 11;
+      80         162 :   triangles_marker.type               = visualization_msgs::Marker::TRIANGLE_LIST;
+      81             : 
+      82         162 :   triangles_marker.scale.x = 1;
+      83         162 :   triangles_marker.scale.y = 1;
+      84         162 :   triangles_marker.scale.z = 1;
+      85         162 :   triangles_marker.color.a = 1.0;
+      86             : 
+      87         162 :   ROS_INFO("[%s]: Batch visualizer loaded with default values", ros::this_node::getName().c_str());
+      88         162 :   initialized = true;
+      89             : }
+      90             : //}
+      91             : 
+      92             : /* addPoint //{ */
+      93          79 : 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         158 :   VisualObject obj = VisualObject(p, r, g, b, a, timeout, uuid++);
+      96          79 :   visual_objects.insert(obj);
+      97          79 : }
+      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         346 : void BatchVisualizer::addNullPoint() {
+     170         346 :   geometry_msgs::Point p;
+     171         346 :   p.x = 10000.0;
+     172         346 :   p.y = 0.0;
+     173         346 :   p.z = 0.0;
+     174             : 
+     175         346 :   std_msgs::ColorRGBA c;
+     176         346 :   c.r = 1.0;
+     177         346 :   c.g = 1.0;
+     178         346 :   c.b = 1.0;
+     179         346 :   c.a = 1.0;
+     180             : 
+     181         346 :   points_marker.points.push_back(p);
+     182         346 :   points_marker.colors.push_back(c);
+     183         346 : }
+     184             : //}
+     185             : 
+     186             : /* addNullLine //{ */
+     187         358 : void BatchVisualizer::addNullLine() {
+     188         358 :   geometry_msgs::Point p1, p2;
+     189         358 :   p1.x = 10000.0;
+     190         358 :   p1.y = 0.0;
+     191         358 :   p1.z = 0.0;
+     192             : 
+     193         358 :   p2.x = 10001.0;
+     194         358 :   p2.y = 0.0;
+     195         358 :   p2.z = 0.0;
+     196             : 
+     197         358 :   std_msgs::ColorRGBA c;
+     198         358 :   c.r = 1.0;
+     199         358 :   c.g = 1.0;
+     200         358 :   c.b = 1.0;
+     201             : 
+     202         358 :   lines_marker.colors.push_back(c);
+     203         358 :   lines_marker.colors.push_back(c);
+     204             : 
+     205         358 :   lines_marker.points.push_back(p1);
+     206         358 :   lines_marker.points.push_back(p2);
+     207         358 : }
+     208             : //}
+     209             : 
+     210             : /* addNullTriangle //{ */
+     211         358 : void BatchVisualizer::addNullTriangle() {
+     212         358 :   geometry_msgs::Point p1, p2, p3;
+     213         358 :   p1.x = 10000.0;
+     214         358 :   p1.y = 0.0;
+     215         358 :   p1.z = 0.0;
+     216             : 
+     217         358 :   p2.x = 10001.0;
+     218         358 :   p2.y = 0.0;
+     219         358 :   p2.z = 0.0;
+     220             : 
+     221         358 :   std_msgs::ColorRGBA c;
+     222         358 :   c.r = 1.0;
+     223         358 :   c.g = 1.0;
+     224         358 :   c.b = 1.0;
+     225             : 
+     226         358 :   p3.x = 10001.0;
+     227         358 :   p3.y = 0.01;
+     228         358 :   p3.z = 0.0;
+     229         358 :   triangles_marker.colors.push_back(c);
+     230         358 :   triangles_marker.colors.push_back(c);
+     231         358 :   triangles_marker.colors.push_back(c);
+     232             : 
+     233         358 :   triangles_marker.points.push_back(p1);
+     234         358 :   triangles_marker.points.push_back(p2);
+     235         358 :   triangles_marker.points.push_back(p3);
+     236         358 : }
+     237             : //}
+     238             : 
+     239             : /* setPointsScale //{ */
+     240          22 : void BatchVisualizer::setPointsScale(const double scale) {
+     241          22 :   points_scale = scale;
+     242          22 : }
+     243             : //}
+     244             : 
+     245             : /* setLinesScale //{ */
+     246           0 : void BatchVisualizer::setLinesScale(const double scale) {
+     247           0 :   lines_scale = scale;
+     248           0 : }
+     249             : //}
+     250             : 
+     251             : /* clearBuffers //{ */
+     252         184 : void BatchVisualizer::clearBuffers() {
+     253         184 :   visual_objects.clear();
+     254         184 : }
+     255             : //}
+     256             : 
+     257             : /* clearVisuals //{ */
+     258         184 : void BatchVisualizer::clearVisuals() {
+     259         368 :   std::set<VisualObject> visual_objects_tmp;
+     260         184 :   visual_objects_tmp.insert(visual_objects.begin(), visual_objects.end());
+     261             : 
+     262         184 :   visual_objects.clear();
+     263         184 :   publish();
+     264             : 
+     265         184 :   visual_objects.insert(visual_objects_tmp.begin(), visual_objects_tmp.end());
+     266         184 : }
+     267             : //}
+     268             : 
+     269             : /* publish //{ */
+     270         358 : void BatchVisualizer::publish() {
+     271             : 
+     272         358 :   msg.markers.clear();
+     273         358 :   points_marker.points.clear();
+     274         358 :   points_marker.colors.clear();
+     275             : 
+     276         358 :   lines_marker.points.clear();
+     277         358 :   lines_marker.colors.clear();
+     278             : 
+     279         358 :   triangles_marker.points.clear();
+     280         358 :   triangles_marker.colors.clear();
+     281             : 
+     282             :   // fill marker messages and remove objects that have timed out
+     283         414 :   for (auto it = visual_objects.begin(); it != visual_objects.end();) {
+     284          56 :     if (it->isTimedOut()) {
+     285           0 :       it = visual_objects.erase(it);
+     286             :     } else {
+     287         112 :       auto points = it->getPoints();
+     288         112 :       auto colors = it->getColors();
+     289          56 :       switch (it->getType()) {
+     290          56 :         case MarkerType::POINT: {
+     291          56 :           points_marker.points.insert(points_marker.points.end(), points.begin(), points.end());
+     292          56 :           points_marker.colors.insert(points_marker.colors.end(), colors.begin(), colors.end());
+     293          56 :           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          56 :       it++;
+     307             :     }
+     308             :   }
+     309             : 
+     310         358 :   auto now = ros::Time::now();
+     311             : 
+     312         358 :   if (!points_marker.points.empty()) {
+     313          12 :     points_marker.scale.x = points_scale;
+     314          12 :     points_marker.scale.y = points_scale;
+     315             :   } else {
+     316         346 :     addNullPoint();
+     317             :   }
+     318         358 :   points_marker.header.stamp = now;
+     319         358 :   msg.markers.push_back(points_marker);
+     320             : 
+     321         358 :   if (!lines_marker.points.empty()) {
+     322           0 :     lines_marker.scale.x = lines_scale;
+     323             :   } else {
+     324         358 :     addNullLine();
+     325             :   }
+     326         358 :   lines_marker.header.stamp = now;
+     327         358 :   msg.markers.push_back(lines_marker);
+     328             : 
+     329         358 :   if (!triangles_marker.points.empty()) {
+     330           0 :     triangles_marker.header.stamp = now;
+     331             :   } else {
+     332         358 :     addNullTriangle();
+     333             :   }
+     334         358 :   triangles_marker.header.stamp = now;
+     335         358 :   msg.markers.push_back(triangles_marker);
+     336             : 
+     337         358 :   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         358 :   visual_pub.publish(msg);
+     345         358 : }
+     346             : //}
+     347             : 
+     348             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.overview.html b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.overview.html new file mode 100644 index 0000000000..3e4e83238a --- /dev/null +++ b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.overview.html @@ -0,0 +1,107 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/batch_visualizer.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.png b/mrs_lib/src/batch_visualizer/batch_visualizer.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..83593fe269cd764b2c7f8a49c73950ce03af9ca5 GIT binary patch literal 1246 zcmV<41R?v0P)4FDM+LWy#*X4g@_z#U54m6z$Bm9mkbWCO(C2m zybIVcEp20v*^5gna>5y}fy^ji#Vz4_2{cF7{0jn%yE$Mykgl+Wi$G=+>zHZA>oo#l zQG+t`k|pw<5=aM&e)X{W`9wYF88844`hn4mkOdS44{YlPwvo^eZW`&JA^_BF%*&8^ zj4Vi1+z%ub+3!rux)=Llai89iDi1Wh(awP63DQk@k0ft}8R-(Yi|4>>yLnvF6yO|{ z%bG~639rQa0gv}g0r-jQS&m~rijsZR;dShKlI40PEe!SSv8r9$m#gwPN?Cp$yBcj~r@F)lrkVjp8cB%x|!ji>3W*;bz2#foJc$83yUE(zS zis-ST(vv6U@ljVUK_o@y3e72i%l%tEBM>cZb z6&>02xF$#TQ^w2_+W4o&br0dZ?XI2?#fm$C!h+S+F`25wWRI`)5ps#Q8I-SA*i;~~jRHH$PnY&WarUs6f zCY?D={(4_a7O$$lCMHsY^oW7YUhDu4w6WRF4&b0^vd#{m)U;8>93Fy>pX@&Sj7JoO za(CB@r=ylNSBlfgX*%sBrDK3+crF%&sf)u2)af2oE7+g4y36j`=BE>w?yJ+zs8A*2 zxa*m^8*?T5Z9kBvIx{VaDt0k7ySS6oyH!_^1AvuU-4A5@+Pq1UfZ7?-9j=YBo&CV; zoSCFg`CCZ{I(w2y!bFP8pL9{hqbAn`QfZbVeD<;fxU$a`S2Z%cPr{C=uL|^}^Okv` zaMd**Fh1y`f}e!3eoH*EZ5-mUvA}@wNC1Te5iYUHRREOvd4i(qZK#&xV!Z literal 0 HcmV?d00001 diff --git a/mrs_lib/src/batch_visualizer/index-detail-sort-f.html b/mrs_lib/src/batch_visualizer/index-detail-sort-f.html new file mode 100644 index 0000000000..244bf9ffd6 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:19240847.1 %
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
visual_object.cpp +
15.4%15.4%
+ 		15.4 %30 / 19533.3 %7 / 21
<unnamed>15.4 %30 / 19533.3 %7 / 21
batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
<unnamed>76.1 %162 / 21359.1 %13 / 22
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+
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<unnamed>15.4 %30 / 19533.3 %7 / 21
batch_visualizer.cpp +
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+ 		76.1 %162 / 21359.1 %13 / 22
<unnamed>76.1 %162 / 21359.1 %13 / 22
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visual_object.cpp +
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visual_object.cpp +
15.4%15.4%
+ 		15.4 %30 / 19533.3 %7 / 21
batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
+
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visual_object.cpp +
15.4%15.4%
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batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
+
+
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Generated by: LCOV version 1.14
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Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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batch_visualizer.cpp +
76.1%76.1%
+ 		76.1 %162 / 21359.1 %13 / 22
visual_object.cpp +
15.4%15.4%
+ 		15.4 %30 / 19533.3 %7 / 21
+
+
+ + + + +
Generated by: LCOV version 1.14
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2024-02-24 08:13:25Functions:72133.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::msgToEigen(geometry_msgs::Point_<std::allocator<void> > const&)0
mrs_lib::VisualObject::addEllipse(mrs_lib::geometry::Ellipse const&, double, double, double, double, bool, int)0
mrs_lib::VisualObject::addTriangle(mrs_lib::geometry::Triangle const&, double, double, double, double, bool)0
mrs_lib::VisualObject::addRay(mrs_lib::geometry::Ray const&, double, double, double, double)0
mrs_lib::VisualObject::VisualObject(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ray const&, double, double, double, double, ros::Duration const&, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cone const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cuboid const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Ellipse const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Cylinder const&, double, double, double, double, ros::Duration const&, bool, bool, unsigned long const&, int)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Triangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::VisualObject::VisualObject(mrs_lib::geometry::Rectangle const&, double, double, double, double, ros::Duration const&, bool, unsigned long const&)0
mrs_lib::buildEllipse(mrs_lib::geometry::Ellipse const&, int)0
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::isTimedOut() const56
mrs_lib::VisualObject::getType() const56
mrs_lib::VisualObject::getColors() const56
mrs_lib::VisualObject::getPoints() const56
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)79
mrs_lib::VisualObject::VisualObject(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double, double, double, double, ros::Duration const&, unsigned long const&)79
mrs_lib::generateColor(double, double, double, double)79
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html new file mode 100644 index 0000000000..3f742ab5be --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.func.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/batch_visualizer - visual_object.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3019515.4 %
Date:2024-02-24 08:13:25Functions:72133.3 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_lib::eigenToMsg(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)79
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&)79
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)79
mrs_lib::VisualObject::isTimedOut() const56
mrs_lib::VisualObject::getID() const0
mrs_lib::VisualObject::getType() const56
mrs_lib::VisualObject::getColors() const56
mrs_lib::VisualObject::getPoints() const56
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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.frameset.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.frameset.html new file mode 100644 index 0000000000..fbafc2c961 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.html new file mode 100644 index 0000000000..8586c51915 --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.html @@ -0,0 +1,401 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/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:2024-02-24 08:13:25Functions:72133.3 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/visual_object.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* utils //{ */
+       7             : 
+       8             : /* conversions //{ */
+       9          79 : geometry_msgs::Point eigenToMsg(const Eigen::Vector3d& v) {
+      10          79 :   geometry_msgs::Point p;
+      11          79 :   p.x = v.x();
+      12          79 :   p.y = v.y();
+      13          79 :   p.z = v.z();
+      14          79 :   return p;
+      15             : }
+      16             : 
+      17          79 : std_msgs::ColorRGBA generateColor(const double r, const double g, const double b, const double a) {
+      18          79 :   std_msgs::ColorRGBA c;
+      19          79 :   c.r = r;
+      20          79 :   c.g = g;
+      21          79 :   c.b = b;
+      22          79 :   c.a = a;
+      23          79 :   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          79 : VisualObject::VisualObject(const Eigen::Vector3d& point, const double r, const double g, const double b, const double a, const ros::Duration& timeout,
+     116          79 :                            const unsigned long& id)
+     117          79 :     : id_(id) {
+     118          79 :   type_ = MarkerType::POINT;
+     119          79 :   points_.push_back(eigenToMsg(point));
+     120          79 :   colors_.push_back(generateColor(r, g, b, a));
+     121          79 :   if (timeout.toSec() <= 0) {
+     122          79 :     timeout_time_ = ros::Time(0);
+     123             :   } else {
+     124           0 :     timeout_time_ = ros::Time::now() + timeout;
+     125             :   }
+     126          79 : }
+     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          56 : int VisualObject::getType() const {
+     295          56 :   return type_;
+     296             : }
+     297             : //}
+     298             : 
+     299             : /* isTimedOut //{ */
+     300          56 : bool VisualObject::isTimedOut() const {
+     301          56 :   return !timeout_time_.isZero() && (timeout_time_ - ros::Time::now()).toSec() <= 0;
+     302             : }
+     303             : //}
+     304             : 
+     305             : /* getPoints //{ */
+     306          56 : const std::vector<geometry_msgs::Point> VisualObject::getPoints() const {
+     307          56 :   return points_;
+     308             : }
+     309             : //}
+     310             : 
+     311             : /* getColors //{ */
+     312          56 : const std::vector<std_msgs::ColorRGBA> VisualObject::getColors() const {
+     313          56 :   return colors_;
+     314             : }
+     315             : //}
+     316             : 
+     317             : }  // namespace mrs_lib
+
+
+
+ + + + +
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+ + + diff --git a/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html new file mode 100644 index 0000000000..b910f327db --- /dev/null +++ b/mrs_lib/src/batch_visualizer/visual_object.cpp.gcov.overview.html @@ -0,0 +1,100 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/batch_visualizer/visual_object.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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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:2024-02-24 08:13:25Functions:71070.0 %
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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&)101253
mrs_lib::geometry::fromEigen(Eigen::Quaternion<double, 0> const&)101253
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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:2024-02-24 08:13:25Functions:71070.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::fromEigenVec(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)22
mrs_lib::geometry::toEigenMatrix(boost::array<double, 36ul> const&)0
mrs_lib::geometry::toCV(geometry_msgs::Point_<std::allocator<void> > const&)1
mrs_lib::geometry::toCV(geometry_msgs::Vector3_<std::allocator<void> > const&)0
mrs_lib::geometry::fromCV(cv::Point3_<double> const&)1
mrs_lib::geometry::toEigen(geometry_msgs::Quaternion_<std::allocator<void> > const&)101253
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&)101253
mrs_lib::geometry::fromEigen(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
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Current view:top level - mrs_lib/src/geometry - conversions.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:324669.6 %
Date:2024-02-24 08:13:25Functions:71070.0 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/geometry/conversions.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             :   namespace geometry
+       6             :   {
+       7             : 
+       8             :     /* conversions from/to Eigen //{ */
+       9             :     
+      10           0 :     geometry_msgs::Point fromEigen(const Eigen::Vector3d& what)
+      11             :     {
+      12           0 :       geometry_msgs::Point pt;
+      13           0 :       pt.x = what.x();
+      14           0 :       pt.y = what.y();
+      15           0 :       pt.z = what.z();
+      16           0 :       return pt;
+      17             :     }
+      18             :     
+      19          22 :     geometry_msgs::Vector3 fromEigenVec(const Eigen::Vector3d& what)
+      20             :     {
+      21          22 :       geometry_msgs::Vector3 pt;
+      22          22 :       pt.x = what.x();
+      23          22 :       pt.y = what.y();
+      24          22 :       pt.z = what.z();
+      25          22 :       return pt;
+      26             :     }
+      27             :     
+      28          28 :     Eigen::Vector3d toEigen(const geometry_msgs::Point& what)
+      29             :     {
+      30          28 :       return {what.x, what.y, what.z};
+      31             :     }
+      32             :     
+      33          19 :     Eigen::Vector3d toEigen(const geometry_msgs::Vector3& what)
+      34             :     {
+      35          19 :       return {what.x, what.y, what.z};
+      36             :     }
+      37             :     
+      38           0 :     Eigen::Matrix<double, 6, 6> toEigenMatrix(const boost::array<double, 36>& what)
+      39             :     {
+      40           0 :       Eigen::Matrix<double, 6, 6> ret;
+      41           0 :       for (int r = 0; r < 6; r++)
+      42           0 :         for (int c = 0; c < 6; c++)
+      43           0 :           ret(r, c) = what.at(6 * r + c);
+      44           0 :       return ret;
+      45             :     }
+      46             :     
+      47      101253 :     geometry_msgs::Quaternion fromEigen(const Eigen::Quaterniond& what)
+      48             :     {
+      49      101253 :       geometry_msgs::Quaternion q;
+      50      101253 :       q.x = what.x();
+      51      101253 :       q.y = what.y();
+      52      101253 :       q.z = what.z();
+      53      101253 :       q.w = what.w();
+      54      101253 :       return q;
+      55             :     }
+      56             :     
+      57      101253 :     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      101253 :       Eigen::Quaterniond q;
+      61      101253 :       q.x() = what.x;
+      62      101253 :       q.y() = what.y;
+      63      101253 :       q.z() = what.z;
+      64      101253 :       q.w() = what.w;
+      65      101253 :       return q;
+      66             :     }
+      67             :     
+      68             :     //}
+      69             : 
+      70             :     /* conversions from/to OpenCV //{ */
+      71             :     
+      72           1 :     geometry_msgs::Point fromCV(const cv::Point3d& what)
+      73             :     {
+      74           1 :       geometry_msgs::Point pt;
+      75           1 :       pt.x = what.x;
+      76           1 :       pt.y = what.y;
+      77           1 :       pt.z = what.z;
+      78           1 :       return pt;
+      79             :     }
+      80             :     
+      81           1 :     cv::Point3d toCV(const geometry_msgs::Point& what)
+      82             :     {
+      83           1 :       return {what.x, what.y, what.z};
+      84             :     }
+      85             :     
+      86           0 :     cv::Point3d toCV(const geometry_msgs::Vector3& what)
+      87             :     {
+      88           0 :       return {what.x, what.y, what.z};
+      89             :     }
+      90             :     
+      91             :     //}
+      92             : 
+      93             :   }
+      94             : }
+
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69.6%69.6%
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<unnamed>54.7 %35 / 6450.0 %8 / 16
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54.7%54.7%
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69.6%69.6%
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misc.cpp +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::solidAngle(double, double, double)0
mrs_lib::geometry::invHaversin(double)0
mrs_lib::geometry::triangleArea(double, double, double)0
mrs_lib::geometry::quaternionBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)0
mrs_lib::geometry::quaternionFromEuler(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_lib::geometry::quaternionFromEuler(double, double, double)0
mrs_lib::geometry::sphericalTriangleArea(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::haversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::rotationBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::angleaxisBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, double)3
mrs_lib::geometry::cross(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1>)3
mrs_lib::geometry::quaternionFromHeading(double)101259
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)127475
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)176202
mrs_lib::geometry::dist(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)300320
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-02-24 08:13:25Functions:81650.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::solidAngle(double, double, double)0
mrs_lib::geometry::invHaversin(double)0
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)3
mrs_lib::geometry::angleBetween(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)127475
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)101259
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&)300320
mrs_lib::geometry::dist(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)176202
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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+
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+ + + diff --git a/mrs_lib/src/geometry/misc.cpp.gcov.frameset.html b/mrs_lib/src/geometry/misc.cpp.gcov.frameset.html new file mode 100644 index 0000000000..35b80de4af --- /dev/null +++ b/mrs_lib/src/geometry/misc.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/misc.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_lib/src/geometry/misc.cpp.gcov.html b/mrs_lib/src/geometry/misc.cpp.gcov.html new file mode 100644 index 0000000000..1ad11276cd --- /dev/null +++ b/mrs_lib/src/geometry/misc.cpp.gcov.html @@ -0,0 +1,269 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/geometry/misc.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - misc.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:356454.7 %
Date:2024-02-24 08:13:25Functions:81650.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : #include <mrs_lib/geometry/misc.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             :   namespace geometry
+       7             :   {
+       8             : 
+       9             :     // instantiation of common template values
+      10             :     vec_t<3 + 1> toHomogenous(const vec_t<3>& vec);
+      11             :     vec_t<2 + 1> toHomogenous(const vec_t<2>& vec);
+      12             : 
+      13             :     // | ----------------- Angle-related functions ---------------- |
+      14             : 
+      15             :     /* angle-related functions //{ */
+      16             : 
+      17             :     /* cross() //{ */
+      18             : 
+      19           3 :     double cross(const vec2_t& vec1, const vec2_t vec2)
+      20             :     {
+      21           3 :       return vec1.x() * vec2.y() - vec1.y() * vec2.x();
+      22             :     }
+      23             : 
+      24             :     //}
+      25             : 
+      26             :     /* angleBetween() //{ */
+      27             : 
+      28      127475 :     double angleBetween(const vec3_t& vec1, const vec3_t& vec2)
+      29             :     {
+      30      127475 :       const double sin_12 = vec1.cross(vec2).norm();
+      31      127469 :       const double cos_12 = vec1.dot(vec2);
+      32      127473 :       const double angle = std::atan2(sin_12, cos_12);
+      33      127473 :       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      101259 :     quat_t quaternionFromHeading(const double heading)
+      93             :     {
+      94      202518 :       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      300320 :     double dist(const vec2_t& a, const vec2_t& b)
+     171             :     {
+     172             : 
+     173      300320 :       return (a - b).norm();
+     174             :     }
+     175             : 
+     176      176202 :     double dist(const vec3_t& a, const vec3_t& b)
+     177             :     {
+     178             : 
+     179      176202 :       return (a - b).norm();
+     180             :     }
+     181             : 
+     182             :     //}
+     183             : 
+     184             :   }  // namespace geometry
+     185             : }  // namespace mrs_lib
+
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-02-24 08:13:25Functions:0680.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/geometry - shapes.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03350.0 %
Date:2024-02-24 08:13:25Functions:0680.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::geometry::Ray::twopointCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::directionCast(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Ray::Ray()0
mrs_lib::geometry::Ray::~Ray()0
mrs_lib::geometry::Cone::Cone(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cone::Cone()0
mrs_lib::geometry::Cone::~Cone()0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cuboid::Cuboid(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Cuboid::Cuboid(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Cuboid::Cuboid()0
mrs_lib::geometry::Cuboid::~Cuboid()0
mrs_lib::geometry::Ellipse::Ellipse(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Quaternion<double, 0>, double, double)0
mrs_lib::geometry::Ellipse::Ellipse()0
mrs_lib::geometry::Ellipse::~Ellipse()0
mrs_lib::geometry::Cylinder::Cylinder(Eigen::Matrix<double, 3, 1, 0, 3, 1>, double, double, Eigen::Quaternion<double, 0>)0
mrs_lib::geometry::Cylinder::Cylinder()0
mrs_lib::geometry::Cylinder::~Cylinder()0
mrs_lib::geometry::Triangle::Triangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Triangle::Triangle()0
mrs_lib::geometry::Triangle::~Triangle()0
mrs_lib::geometry::Rectangle::Rectangle(Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>, Eigen::Matrix<double, 3, 1, 0, 3, 1>)0
mrs_lib::geometry::Rectangle::Rectangle(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >)0
mrs_lib::geometry::Rectangle::Rectangle()0
mrs_lib::geometry::Rectangle::~Rectangle()0
mrs_lib::geometry::Ray::p1() const0
mrs_lib::geometry::Ray::p2() const0
mrs_lib::geometry::Ray::direction() const0
mrs_lib::geometry::Cone::projectPoint(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const0
mrs_lib::geometry::Cone::h() const0
mrs_lib::geometry::Cone::theta() const0
mrs_lib::geometry::Cone::center() const0
mrs_lib::geometry::Cone::getCap() const0
mrs_lib::geometry::Cone::origin() const0
mrs_lib::geometry::Cone::direction() const0
mrs_lib::geometry::Cuboid::getRectangle(int) const0
mrs_lib::geometry::Cuboid::lookupPoints(int) const0
mrs_lib::geometry::Cuboid::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Cuboid::center() const0
mrs_lib::geometry::Cuboid::vertices() const0
mrs_lib::geometry::Ellipse::orientation() const0
mrs_lib::geometry::Ellipse::a() const0
mrs_lib::geometry::Ellipse::b() const0
mrs_lib::geometry::Ellipse::center() const0
mrs_lib::geometry::Cylinder::orientation() const0
mrs_lib::geometry::Cylinder::h() const0
mrs_lib::geometry::Cylinder::r() const0
mrs_lib::geometry::Cylinder::center() const0
mrs_lib::geometry::Cylinder::getCap(int) const0
mrs_lib::geometry::Triangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Triangle::a() const0
mrs_lib::geometry::Triangle::b() const0
mrs_lib::geometry::Triangle::c() const0
mrs_lib::geometry::Triangle::center() const0
mrs_lib::geometry::Triangle::normal() const0
mrs_lib::geometry::Triangle::vertices() const0
mrs_lib::geometry::Rectangle::intersectionRay(mrs_lib::geometry::Ray, double) const0
mrs_lib::geometry::Rectangle::a() const0
mrs_lib::geometry::Rectangle::b() const0
mrs_lib::geometry::Rectangle::c() const0
mrs_lib::geometry::Rectangle::d() const0
mrs_lib::geometry::Rectangle::solidAngleRelativeTo(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::center() const0
mrs_lib::geometry::Rectangle::normal() const0
mrs_lib::geometry::Rectangle::isFacing(Eigen::Matrix<double, 3, 1, 0, 3, 1>) const0
mrs_lib::geometry::Rectangle::vertices() const0
mrs_lib::geometry::Rectangle::triangles() const0
+
+
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Generated by: LCOV version 1.14
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+ + + 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..ee91cffae2 --- /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:2024-02-24 08:13:25Functions: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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Date:2024-02-24 08:13:25Functions:11100.0 %
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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&&)67
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)68
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)70
mrs_lib::MedianFilter::check(double)120957
mrs_lib::MedianFilter::median() const120964
mrs_lib::MedianFilter::full() const127469
mrs_lib::MedianFilter::add(double)127499
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::MedianFilter::setMaxValue(double)2
mrs_lib::MedianFilter::setMinValue(double)2
mrs_lib::MedianFilter::setBufferLength(unsigned long)2
mrs_lib::MedianFilter::setMaxDifference(double)2
mrs_lib::MedianFilter::add(double)127499
mrs_lib::MedianFilter::check(double)120957
mrs_lib::MedianFilter::clear()2
mrs_lib::MedianFilter::addCheck(double)26
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter&&)67
mrs_lib::MedianFilter::MedianFilter(mrs_lib::MedianFilter const&)1
mrs_lib::MedianFilter::MedianFilter(unsigned long, double, double, double)70
mrs_lib::MedianFilter::MedianFilter()1
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter&&)0
mrs_lib::MedianFilter::operator=(mrs_lib::MedianFilter const&)68
mrs_lib::MedianFilter::initialized() const1
mrs_lib::MedianFilter::full() const127469
mrs_lib::MedianFilter::median() const120964
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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          70 :   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          70 :       m_max_diff(max_diff)
+      12             :   {
+      13          70 :     m_buffer.set_capacity(buffer_length);
+      14          70 :     m_buffer_sorted.reserve(buffer_length);
+      15          70 :   }
+      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          67 :   MedianFilter::MedianFilter(MedianFilter&& other)
+      32             :   {
+      33          67 :     *this = other;
+      34          67 :   }
+      35             : 
+      36             :   //}
+      37             : 
+      38             :   /* operator=() method and overloads //{ */
+      39          68 :   MedianFilter& MedianFilter::operator=(const MedianFilter& other)
+      40             :   {
+      41          68 :     std::scoped_lock lck(other.m_mtx, m_mtx);
+      42             :   
+      43          68 :     m_buffer = other.m_buffer;
+      44          68 :     m_buffer_sorted = other.m_buffer_sorted;
+      45          68 :     m_median = other.m_median;
+      46             :   
+      47             :     // parameters specified by the user
+      48          68 :     m_min_valid = other.m_min_valid;
+      49          68 :     m_max_valid = other.m_max_valid;
+      50          68 :     m_max_diff = other.m_max_diff;
+      51             :   
+      52         136 :     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      127499 :   void MedianFilter::add(const double value)
+      74             :   {
+      75      254935 :     std::scoped_lock lck(m_mtx);
+      76             :     // add the value to the buffer
+      77      127471 :     m_buffer.push_back(value);
+      78             :     // reset the cached median value
+      79      127484 :     m_median = std::nullopt;
+      80      127470 :   }
+      81             :   //}
+      82             : 
+      83             :   /* check() method //{ */
+      84      120957 :   bool MedianFilter::check(const double value)
+      85             :   {
+      86      120957 :     std::scoped_lock lck(m_mtx);
+      87             :     // check if all constraints are met
+      88      120951 :     const double diff = m_buffer.empty() ? 0.0 : std::abs(median() - value);
+      89      241870 :     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      127469 :   bool MedianFilter::full() const
+     113             :   {
+     114      254941 :     std::scoped_lock lck(m_mtx);
+     115      254943 :     return m_buffer.full();
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* median() method //{ */
+     120      120964 :   double MedianFilter::median() const
+     121             :   {
+     122      241910 :     std::scoped_lock lck(m_mtx);
+     123             :     // if the value was already calculated, just return it
+     124      120948 :     if (m_median.has_value())
+     125          18 :       return m_median.value();
+     126             :   
+     127             :     // check if there are even any numbers to calculate the median from
+     128      120947 :     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      120929 :     m_buffer_sorted.clear();
+     136             :     // copy all elements from the input buffer to buffer_sorted
+     137      120935 :     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      120950 :     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      120922 :     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      120908 :     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      120958 :     if (even_set)
+     148      120942 :       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      120941 :     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)3519
mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)11537
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const77190
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mrs_lib::ParamProvider::addYamlFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)11537
mrs_lib::ParamProvider::ParamProvider(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)3519
mrs_lib::ParamProvider::findYamlNode(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const77190
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        3519 :   ParamProvider::ParamProvider(const ros::NodeHandle& nh, std::string node_name, const bool use_rosparam)
+      14        3519 :   : m_nh(nh), m_node_name(std::move(node_name)), m_use_rosparam(use_rosparam)
+      15             :   {
+      16        3519 :   }
+      17             : 
+      18       11537 :   bool ParamProvider::addYamlFile(const std::string& filepath)
+      19             :   {
+      20             :     try
+      21             :     {
+      22       23074 :       const auto loaded_yaml = YAML::LoadFile(filepath);
+      23       11537 :       YAML::Node root;
+      24       11535 :       root["root"] = loaded_yaml;
+      25       11537 :       m_yamls.emplace_back(root);
+      26       11536 :       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       77190 :   std::optional<YAML::Node> ParamProvider::findYamlNode(const std::string& param_name) const
+      65             :   {
+      66      399405 :     for (const auto& yaml : m_yamls)
+      67             :     {
+      68             :       // Try to load the parameter sequentially as a map.
+      69      385648 :       auto cur_node_it = std::cbegin(yaml);
+      70             :       // The root should always be a pam
+      71      385646 :       if (!cur_node_it->second.IsMap())
+      72       11999 :         continue;
+      73             : 
+      74      373650 :       bool loaded = true;
+      75             :       {
+      76      373650 :         constexpr char delimiter = '/';
+      77      373650 :         auto substr_start = std::cbegin(param_name);
+      78      373649 :         auto substr_end = substr_start;
+      79      510024 :         do
+      80             :         {
+      81      883673 :           substr_end = std::find(substr_start, std::cend(param_name), delimiter);
+      82             :           // why can't substr or string_view take iterators? :'(
+      83      883672 :           const auto start_pos = std::distance(std::cbegin(param_name), substr_start);
+      84      883665 :           const auto count = std::distance(substr_start, substr_end);
+      85      883666 :           const std::string param_substr = param_name.substr(start_pos, count);
+      86      883665 :           substr_start = substr_end+1;
+      87             : 
+      88      883665 :           bool found = false;
+      89     3617551 :           for (auto node_it = std::cbegin(cur_node_it->second); node_it != std::cend(cur_node_it->second); ++node_it)
+      90             :           {
+      91     1850213 :             if (node_it->first.as<std::string>() == param_substr)
+      92             :             {
+      93      573459 :               cur_node_it = node_it;
+      94      573457 :               found = true;
+      95      573457 :               break;
+      96             :             }
+      97             :           }
+      98             : 
+      99      883671 :           if (!found)
+     100             :           {
+     101      310215 :             loaded = false;
+     102      310215 :             break;
+     103             :           }
+     104             :         }
+     105      573454 :         while (substr_end != std::end(param_name) && cur_node_it->second.IsMap());
+     106             :       }
+     107             : 
+     108      373651 :       if (loaded)
+     109             :       {
+     110      126868 :         return cur_node_it->second;
+     111             :       }
+     112             :     }
+     113             : 
+     114       13754 :     return std::nullopt;
+     115             :   }
+     116             : }
+
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Current view:top level - mrs_lib/src/profiler - profiler.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:3810137.6 %
Date:2024-02-24 08:13:25Functions:91090.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Profiler::Profiler(mrs_lib::Profiler const&)0
mrs_lib::Profiler::Profiler(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool)1135
mrs_lib::Profiler::Profiler()1135
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1135
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)593262
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)593370
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)1719692
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)1719736
mrs_lib::Routine::end()2312981
mrs_lib::Routine::~Routine()2313189
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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:2024-02-24 08:13:25Functions:91090.0 %
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mrs_lib::Routine::end()2312981
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)1719692
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)593370
mrs_lib::Routine::~Routine()2313189
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)1719736
mrs_lib::Profiler::createRoutine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, double, double, ros::TimerEvent)593262
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)1135
mrs_lib::Profiler::Profiler()1135
mrs_lib::Profiler::operator=(mrs_lib::Profiler const&)1135
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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:2024-02-24 08:13:25Functions:91090.0 %
Legend: Lines: + hit + not hit +
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+
          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        1135 : Profiler::Profiler() {
+      11        1135 : }
+      12             : 
+      13        1135 : Profiler::Profiler(ros::NodeHandle& nh, std::string _node_name_, bool profiler_enabled) {
+      14             : 
+      15        1135 :   this->nh_                = std::make_shared<ros::NodeHandle>(nh);
+      16        1135 :   this->_node_name_        = _node_name_;
+      17        1135 :   this->_profiler_enabled_ = profiler_enabled;
+      18             : 
+      19        1135 :   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        1135 :   ROS_INFO("[%s]: profiler initialized", _node_name_.c_str());
+      25             : 
+      26        1135 :   this->is_initialized_ = true;
+      27        1135 : }
+      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        1135 : Profiler& Profiler::operator=(const Profiler& other) {
+      43             : 
+      44        1135 :   if (this == &other) {
+      45           0 :     return *this;
+      46             :   }
+      47             : 
+      48        1135 :   this->is_initialized_    = other.is_initialized_;
+      49        1135 :   this->nh_                = other.nh_;
+      50        1135 :   this->_node_name_        = other._node_name_;
+      51        1135 :   this->_profiler_enabled_ = other._profiler_enabled_;
+      52             : 
+      53        1135 :   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        1135 :   return *this;
+      59             : }
+      60             : 
+      61             : //}
+      62             : 
+      63             : /* Profiler::registerRoutine() for periodic //{ */
+      64             : 
+      65      593262 : Routine Profiler::createRoutine(std::string name, double expected_rate, double threshold, ros::TimerEvent event) {
+      66             : 
+      67      593262 :   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     1719736 : Routine Profiler::createRoutine(std::string name) {
+      75             : 
+      76     1719736 :   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      593370 : Routine::Routine(std::string name, std::string node_name, double expected_rate, double threshold, std::shared_ptr<ros::Publisher> publisher,
+      86      593370 :                  std::shared_ptr<std::mutex> mutex_publisher, bool profiler_enabled, ros::TimerEvent event) {
+      87             : 
+      88      592459 :   if (!profiler_enabled) {
+      89      592526 :     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     1719692 : Routine::Routine(std::string name, std::string node_name, std::shared_ptr<ros::Publisher> publisher, std::shared_ptr<std::mutex> mutex_publisher,
+     141     1719692 :                  bool profiler_enabled) {
+     142             : 
+     143     1718827 :   if (!profiler_enabled) {
+     144     1718845 :     return;
+     145             :   }
+     146             : 
+     147           1 :   this->publisher_       = publisher;
+     148           0 :   this->mutex_publisher_ = mutex_publisher;
+     149             : 
+     150           0 :   this->_routine_name_  = name;
+     151           0 :   msg_out_.routine_name = name;
+     152             : 
+     153           0 :   this->_node_name_  = node_name;
+     154           0 :   msg_out_.node_name = node_name;
+     155             : 
+     156           0 :   this->_profiler_enabled_ = profiler_enabled;
+     157             : 
+     158           0 :   msg_out_.is_periodic   = false;
+     159           0 :   msg_out_.expected_rate = 0;
+     160             : 
+     161           0 :   msg_out_.stamp      = ros::Time::now();
+     162           0 :   msg_out_.duration   = 0;
+     163           0 :   msg_out_.iteration  = this->iteration_++;
+     164           0 :   msg_out_.event      = mrs_msgs::ProfilerUpdate::START;
+     165           0 :   msg_out_.real_start = msg_out_.stamp.toSec();
+     166             : 
+     167           0 :   execution_start_ = ros::Time::now();
+     168             : 
+     169             :   {
+     170           0 :     std::scoped_lock lock(*mutex_publisher_);
+     171             : 
+     172             :     try {
+     173           0 :       publisher_->publish(mrs_msgs::ProfilerUpdateConstPtr(new mrs_msgs::ProfilerUpdate(msg_out_)));
+     174             :     }
+     175           0 :     catch (...) {
+     176           0 :       ROS_ERROR("Exception caught during publishing topic %s.", publisher_->getTopic().c_str());
+     177             :     }
+     178             :   }
+     179             : }
+     180             : 
+     181             : //}
+     182             : 
+     183             : /* end() //{ */
+     184             : 
+     185     2312981 : void Routine::end(void) {
+     186             : 
+     187     2312981 :   if (!_profiler_enabled_) {
+     188     2312714 :     return;
+     189             :   }
+     190             : 
+     191         267 :   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     2312844 : Routine::~Routine() {
+     213             : 
+     214     2313189 :   this->end();
+     215     2311451 : }
+     216             : 
+     217             : }  // namespace mrs_lib
+
+
+
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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line_operations.cpp +
66.7%66.7%
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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line_operations.cpp +
66.7%66.7%
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Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
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Current view:top level - mrs_lib/src/safety_zoneHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:314963.3 %
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safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
line_operations.cpp +
66.7%66.7%
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+
+
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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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Test:MRS UAV System - Test coverage reportLines:314963.3 %
Date:2024-02-24 08:13:25Functions:8988.9 %
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line_operations.cpp +
66.7%66.7%
+ 		66.7 %16 / 24100.0 %3 / 3
safety_zone.cpp +
60.0%60.0%
+ 		60.0 %15 / 2583.3 %5 / 6
+
+
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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:2024-02-24 08:13:25Functions: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>)214
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)244
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>)244
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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:2024-02-24 08:13:25Functions: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>)214
mrs_lib::Intersection::Intersection(bool, bool, Eigen::Matrix<double, 1, 2, 1, 1, 2>)244
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>)244
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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:2024-02-24 08:13:25Functions:33100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/line_operations.h>
+       2             : 
+       3             : /* getScale() //{ */
+       4             : 
+       5         214 : 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         214 :   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         244 : Intersection::Intersection(bool intersect, bool parallel, Eigen::RowVector2d point) : point(std::move(point)), parallel(parallel), intersect(intersect){}
+      16             : 
+      17             : /* sectionIntersect() //{ */
+      18             : 
+      19         244 : Intersection sectionIntersect(Eigen::RowVector2d start1, Eigen::RowVector2d end1, Eigen::RowVector2d start2, Eigen::RowVector2d end2) {
+      20         244 :   Eigen::RowVector2d vector1 = end1 - start1;
+      21         244 :   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         244 :   double cross            = vector1(0) * vector2(1) - vector1(1) * vector2(0);
+      29         244 :   double difference_cross = (start2(0) - start1(0)) * vector2(1) - (start2(1) - start1(1)) * vector2(0);
+      30             : 
+      31         244 :   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         214 :   double             scale1 = difference_cross / cross;
+      48         214 :   Eigen::RowVector2d point  = start1 + scale1 * vector1;
+      49         214 :   double             scale2 = getScale(start2, vector2, point);
+      50             : 
+      51         214 :   if (0 <= scale1 && scale1 <= 1 && 0 <= scale2 && scale2 <= 1) {
+      52           0 :     return Intersection{true, false, point};
+      53             :   }
+      54         214 :   return Intersection{false, false};
+      55             : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : }  // 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/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..8d87e04b90 --- /dev/null +++ b/mrs_lib/src/safety_zone/polygon/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/safety_zone/polygon + + + + + + + + + + + + + + +
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Current view:top level - mrs_lib/src/safety_zone/polygonHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
Date:2024-02-24 08:13:25Functions:4850.0 %
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polygon.cpp +
40.8%40.8%
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Current view:top level - mrs_lib/src/safety_zone/polygon - polygon.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:4210340.8 %
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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::doesSectionIntersect(double, double, double, double)61
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)61
mrs_lib::Polygon::isPointInside(double, double)9774
mrs_lib::Polygon::getPointMessageVector(double)19954
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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:2024-02-24 08:13:25Functions:4850.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::Polygon::inflateSelf(double)0
mrs_lib::Polygon::isClockwise()0
mrs_lib::Polygon::isPointInside(double, double)9774
mrs_lib::Polygon::doesSectionIntersect(double, double, double, double)61
mrs_lib::Polygon::getPointMessageVector(double)19954
mrs_lib::Polygon::Polygon(Eigen::Matrix<double, -1, -1, 0, -1, -1>)61
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:2024-02-24 08:13:25Functions:4850.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/safety_zone/polygon.h>
+       2             : #include <mrs_lib/safety_zone/line_operations.h>
+       3             : 
+       4             : namespace mrs_lib
+       5             : {
+       6             : 
+       7             : /* Polygon() //{ */
+       8             : 
+       9          61 : Polygon::Polygon(const Eigen::MatrixXd vertices) : vertices(vertices) {
+      10             : 
+      11          61 :   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          61 :   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          61 :   Eigen::RowVector2d edge1;
+      21          61 :   Eigen::RowVector2d edge2 = vertices.row(1) - vertices.row(0);
+      22         305 :   for (int i = 0; i < vertices.rows(); ++i) {
+      23         244 :     edge1 = edge2;
+      24         244 :     edge2 = vertices.row((i + 2) % vertices.rows()) - vertices.row((i + 1) % vertices.rows());
+      25             : 
+      26         244 :     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         244 :     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          61 : }
+      36             : 
+      37             : //}
+      38             : 
+      39             : /* isPointInside() //{ */
+      40             : 
+      41        9774 : bool Polygon::isPointInside(const double px, const double py) {
+      42             : 
+      43        9774 :   int count = 0;
+      44             : 
+      45             :   // Cast a horizontal ray and see how many times it intersects all the edges
+      46       48870 :   for (int i = 0; i < vertices.rows(); ++i) {
+      47       39096 :     double v1x = vertices(i, 0);
+      48       39096 :     double v1y = vertices(i, 1);
+      49       39096 :     double v2x = vertices((i + 1) % vertices.rows(), 0);
+      50       39096 :     double v2y = vertices((i + 1) % vertices.rows(), 1);
+      51             : 
+      52       39096 :     if (v1y > py && v2y > py)
+      53        9697 :       continue;
+      54       29399 :     if (v1y <= py && v2y <= py)
+      55       10005 :       continue;
+      56       19394 :     double intersect_x    = (v1y == v2y) ? v1x : (py - v1y) * (v2x - v1x) / (v2y - v1y) + v1x;
+      57       19394 :     bool   does_intersect = intersect_x > px;
+      58       19394 :     if (does_intersect)
+      59        9697 :       ++count;
+      60             :   }
+      61             : 
+      62        9774 :   return count % 2;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* doesSectionIntersect() //{ */
+      68             : 
+      69          61 : bool Polygon::doesSectionIntersect(const double startX, const double startY, const double endX, const double endY) {
+      70             : 
+      71          61 :   Eigen::RowVector2d start{startX, startY};
+      72          61 :   Eigen::RowVector2d end{endX, endY};
+      73             : 
+      74         305 :   for (int i = 0; i < vertices.rows(); ++i) {
+      75             : 
+      76         244 :     Eigen::RowVector2d edgeStart = vertices.row(i);
+      77         244 :     Eigen::RowVector2d edgeEnd   = vertices.row((i + 1) % vertices.rows());
+      78             : 
+      79         244 :     if (sectionIntersect(start, end, edgeStart, edgeEnd).intersect) {
+      80           0 :       return true;
+      81             :     }
+      82             :   }
+      83             : 
+      84          61 :   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       19954 : std::vector<geometry_msgs::Point> Polygon::getPointMessageVector(const double z) {
+     194       19954 :   std::vector<geometry_msgs::Point> points(vertices.rows());
+     195       99770 :   for (int i = 0; i < vertices.rows(); ++i) {
+     196       79816 :     points[i].x = vertices(i, 0);
+     197       79816 :     points[i].y = vertices(i, 1);
+     198       79816 :     points[i].z = z;
+     199             :   }
+     200             : 
+     201       19954 :   return points;
+     202             : }
+     203             : 
+     204             : //}
+     205             : 
+     206             : }  // namespace mrs_lib
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:152560.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
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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::isPathValid(double, double, double, double)61
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)61
mrs_lib::SafetyZone::~SafetyZone()61
mrs_lib::SafetyZone::isPointValid(double, double)9774
mrs_lib::SafetyZone::getBorder()9977
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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 %
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mrs_lib::SafetyZone::isPathValid(double, double, double, double)61
mrs_lib::SafetyZone::isPointValid(double, double)9774
mrs_lib::SafetyZone::getBorder()9977
mrs_lib::SafetyZone::SafetyZone(mrs_lib::Polygon)0
mrs_lib::SafetyZone::SafetyZone(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)61
mrs_lib::SafetyZone::~SafetyZone()61
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Current view:top level - mrs_lib/src/safety_zone - safety_zone.cpp (source / functions)HitTotalCoverage
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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         122 : SafetyZone::~SafetyZone() {
+      17          61 :   delete outerBorder;
+      18          61 : }
+      19             : 
+      20             : //}
+      21             : 
+      22             : /* SafetyZone() //{ */
+      23             : 
+      24          61 : SafetyZone::SafetyZone(const Eigen::MatrixXd& outerBorderMatrix) {
+      25             : 
+      26             :   try {
+      27          61 :     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          61 : }
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* isPointValid() //{ */
+      43             : 
+      44        9774 : bool SafetyZone::isPointValid(const double px, const double py) {
+      45             : 
+      46        9774 :   if (!outerBorder->isPointInside(px, py)) {
+      47          77 :     return false;
+      48             :   }
+      49             : 
+      50        9697 :   return true;
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* isPathValid() //{ */
+      56             : 
+      57          61 : bool SafetyZone::isPathValid(const double p1x, const double p1y, const double p2x, const double p2y) {
+      58             : 
+      59          61 :   if (outerBorder->doesSectionIntersect(p1x, p1y, p2x, p2y)) {
+      60           0 :     return false;
+      61             :   }
+      62             : 
+      63          61 :   return true;
+      64             : }
+      65             : 
+      66             : //}
+      67             : 
+      68             : /* getBorder() //{ */
+      69             : 
+      70        9977 : Polygon SafetyZone::getBorder() {
+      71        9977 :   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)567
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()567
mrs_lib::ScopeTimer::checkpoint(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3627961
mrs_lib::ScopeTimer::ScopeTimer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_lib::ScopeTimerLogger>, bool)4724336
mrs_lib::ScopeTimer::~ScopeTimer()4726313
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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&)3627961
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)4724336
mrs_lib::ScopeTimer::~ScopeTimer()4726313
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)567
mrs_lib::ScopeTimerLogger::~ScopeTimerLogger()567
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/scope_timer - scope_timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:2014214.1 %
Date:2024-02-24 08:13:25Functions:51050.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_lib/scope_timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | --------------------- ScopeTimerLogger --------------------- |
+       7             : 
+       8             : /*//{ ScopeTimerLogger constructor */
+       9         567 : ScopeTimerLogger::ScopeTimerLogger(const std::string& logfile, const bool enable_logging, const int log_precision)
+      10         567 :     : _logging_enabled_(enable_logging), _log_filepath_(logfile) {
+      11             : 
+      12         567 :   if (!_logging_enabled_) {
+      13         567 :     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         567 : ScopeTimerLogger::~ScopeTimerLogger() {
+      47         567 :   if (_logging_enabled_) {
+      48           0 :     ROS_DEBUG("[%s]: ScopeTimerLogger: closing logstream.", ros::this_node::getName().c_str());
+      49           0 :     _logstream_.close();
+      50             :   }
+      51         567 : }
+      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     4724336 : ScopeTimer::ScopeTimer(const std::string& label, const std::shared_ptr<ScopeTimerLogger> scope_timer_logger, const bool enable)
+     104     4724336 :     : _timer_label_(label), _enable_print_or_log(enable), _throttle_period_(ros::Duration(0.0)), _logger_(scope_timer_logger) {
+     105             : 
+     106     4714474 :   checkpoints.push_back(time_point("timer start"));
+     107             : 
+     108     4712381 :   ROS_DEBUG("[%s] Scope timer started with file logger (label: %s).", ros::this_node::getName().c_str(), label.c_str());
+     109     4712381 : }
+     110             : 
+     111             : //}
+     112             : 
+     113             : /* ScopeTimer::checkpoint() //{ */
+     114             : 
+     115     3627961 : void ScopeTimer::checkpoint(const std::string& label) {
+     116             : 
+     117     3627961 :   if (_enable_print_or_log) {
+     118           0 :     checkpoints.push_back(time_point(label));
+     119             :   }
+     120     3627961 : }
+     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    14173033 : ScopeTimer::~ScopeTimer() {
+     136             : 
+     137     4726313 :   if (!_enable_print_or_log) {
+     138     4726350 :     return;
+     139             :   }
+     140             : 
+     141           9 :   const auto chrono_end_time = std::chrono::steady_clock::now();
+     142           0 :   const auto ros_end_time    = ros::Time::now();
+     143             : 
+     144             :   // if throttling is enabled, check time of last print and only print if applicable
+     145           0 :   if (!_throttle_period_.isZero()) {
+     146           0 :     bool       do_print = false;
+     147           0 :     const auto last_it  = last_print_times.find(_timer_label_);
+     148             :     // if this is the first print of this ScopeTimer
+     149           0 :     if (last_it == last_print_times.end()) {
+     150           0 :       do_print = true;
+     151           0 :       last_print_times.emplace(_timer_label_, ros_end_time);
+     152             :     } else {
+     153             :       // if this ScopeTimer was already printed, check how long ago
+     154           0 :       ros::Time& last_print_time = last_it->second;
+     155           0 :       if (ros_end_time - last_print_time > _throttle_period_) {
+     156             :         // if it was long ago enough, print again and update the last print time
+     157           0 :         do_print        = true;
+     158           0 :         last_print_time = ros_end_time;
+     159             :       }
+     160             :     }
+     161             : 
+     162           0 :     if (!do_print)
+     163           0 :       return;
+     164             :   }
+     165             : 
+     166             :   // If logger object exists and it should log (a path to a logger file was given by the user)
+     167           0 :   if (_logger_ && _logger_->shouldLog()) {
+     168             : 
+     169             :     // Enabled, if user sets the enable flag to true, a path to a logger file is given, and the logging stream was successfully opened
+     170           0 :     if (!_logger_->loggingEnabled()) {
+     171           0 :       return;
+     172             :     }
+     173             : 
+     174             :     // Log checkpoints, e.g., "SCOPE->checkpoint1;checkpoint1->checkpoint2"
+     175           0 :     std::string label_from = "";
+     176           0 :     for (size_t i = 1; i < checkpoints.size(); i++) {
+     177           0 :       const auto& checkpoint = checkpoints.at(i);
+     178           0 :       _logger_->log(_timer_label_, label_from, checkpoint.label, checkpoints.at(i - 1).chrono_time, checkpoint.chrono_time);
+     179           0 :       label_from = checkpoint.label;
+     180             :     }
+     181             : 
+     182             :     // Log entire scope from start to end
+     183           0 :     _logger_->log(_timer_label_, checkpoints.at(0).chrono_time, chrono_end_time);
+     184             : 
+     185             :   } else {
+     186             : 
+     187           0 :     checkpoints.push_back(time_point("scope end"));
+     188             : 
+     189           0 :     const int gap1 = 8;
+     190           0 :     const int gap2 = 8;
+     191           0 :     const int gap3 = 12;
+     192             : 
+     193           0 :     std::stringstream ss;
+     194           0 :     ss.precision(3);
+     195           0 :     ss << std::fixed;
+     196             : 
+     197           0 :     const char separator = ' ';
+     198             : 
+     199           0 :     int max_label_width = 5;
+     200           0 :     for (auto& el : checkpoints) {
+     201           0 :       el.label      = "(" + el.label + ")";
+     202           0 :       const int len = el.label.length();
+     203           0 :       if (len > max_label_width)
+     204           0 :         max_label_width = len;
+     205             :     }
+     206             : 
+     207           0 :     int width_label_column = 10;
+     208           0 :     for (unsigned long i = 1; i < checkpoints.size(); i++) {
+     209           0 :       const int len = (checkpoints.at(i).label + checkpoints.at(i - 1).label).length();
+     210           0 :       if (len > width_label_column)
+     211           0 :         width_label_column = len;
+     212             :     }
+     213           0 :     width_label_column += 7;
+     214             : 
+     215           0 :     ss << std::endl << std::left << std::setw(width_label_column) << std::setfill(separator) << " {label}";
+     216           0 :     ss << std::left << std::setw(gap1) << std::setfill(separator) << "";
+     217           0 :     ss << std::left << std::setw(gap2) << std::setfill(separator) << "{ROS time}";
+     218           0 :     ss << std::left << std::setw(gap3) << std::setfill(separator) << "";
+     219           0 :     ss << std::left << std::setw(gap2) << std::setfill(separator) << "{chrono time}" << std::endl;
+     220             : 
+     221           0 :     for (unsigned long i = 1; i < checkpoints.size(); i++) {
+     222             : 
+     223           0 :       const double ros_elapsed = (checkpoints.at(i).ros_time - checkpoints.at(i - 1).ros_time).toSec();
+     224           0 :       const int    ros_secs    = int(ros_elapsed);
+     225           0 :       const double ros_msecs   = std::fmod(ros_elapsed * 1000, 1000);
+     226             : 
+     227           0 :       const std::chrono::duration<double> chrono_elapsed = (checkpoints.at(i).chrono_time - checkpoints.at(i - 1).chrono_time);
+     228           0 :       const int                           chrono_secs    = int(chrono_elapsed.count());
+     229           0 :       const double                        chrono_msecs   = std::fmod(chrono_elapsed.count() * 1000, 1000);
+     230             : 
+     231           0 :       ss << std::left << std::setw(max_label_width) << std::setfill(separator) << checkpoints.at(i - 1).label;
+     232           0 :       ss << " -> ";
+     233           0 :       ss << std::left << std::setw(max_label_width) << std::setfill(separator) << checkpoints.at(i).label;
+     234             : 
+     235           0 :       ss << std::right << std::setw(gap1) << std::setfill(separator) << ros_secs << std::setw(0) << "s";
+     236           0 :       ss << std::right << std::setw(gap2) << std::setfill(separator) << ros_msecs << std::setw(0) << "ms";
+     237           0 :       ss << std::right << std::setw(gap3) << std::setfill(separator) << chrono_secs << std::setw(0) << "s";
+     238           0 :       ss << std::right << std::setw(gap2) << std::setfill(separator) << chrono_msecs << std::setw(0) << "ms" << std::endl;
+     239             :     }
+     240             : 
+     241           0 :     const double ros_elapsed = (ros_end_time - checkpoints.at(0).ros_time).toSec();
+     242           0 :     const int    ros_secs    = int(ros_elapsed);
+     243           0 :     const double ros_msecs   = std::fmod(ros_elapsed * 1000, 1000);
+     244             : 
+     245           0 :     const std::chrono::duration<double> chrono_elapsed = (chrono_end_time - checkpoints.at(0).chrono_time);
+     246           0 :     const int                           chrono_secs    = int(chrono_elapsed.count());
+     247           0 :     const double                        chrono_msecs   = std::fmod(chrono_elapsed.count() * 1000, 1000);
+     248             : 
+     249           0 :     ss << std::left << std::setw(width_label_column) << std::setfill(separator) << "TOTAL TIME";
+     250           0 :     ss << std::right << std::setw(gap1) << std::setfill(separator) << ros_secs << std::setw(0) << "s";
+     251           0 :     ss << std::right << std::setw(gap2) << std::setfill(separator) << ros_msecs << std::setw(0) << "ms";
+     252           0 :     ss << std::right << std::setw(gap3) << std::setfill(separator) << chrono_secs << std::setw(0) << "s";
+     253           0 :     ss << std::right << std::setw(gap2) << std::setfill(separator) << chrono_msecs << std::setw(0) << "ms" << std::endl;
+     254             : 
+     255           0 :     ROS_INFO("[%s]: Scope timer [%s] finished!%s", ros::this_node::getName().c_str(), _timer_label_.c_str(), ss.str().c_str());
+     256             :   }
+     257     4723890 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : }  // namespace mrs_lib
+
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+ + + diff --git a/mrs_lib/src/scope_timer/scope_timer.cpp.gcov.overview.html b/mrs_lib/src/scope_timer/scope_timer.cpp.gcov.overview.html new file mode 100644 index 0000000000..8fad4dc2df --- /dev/null +++ b/mrs_lib/src/scope_timer/scope_timer.cpp.gcov.overview.html @@ -0,0 +1,86 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/scope_timer/scope_timer.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 + + +
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Current view:top level - mrs_lib/src/timeout_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:496279.0 %
Date:2024-02-24 08:13:25Functions:91181.8 %
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mrs_lib::TimeoutManager::change(unsigned long, ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)0
mrs_lib::TimeoutManager::lastReset(unsigned long)0
mrs_lib::TimeoutManager::pauseAll()2
mrs_lib::TimeoutManager::startAll(ros::Time const&)4
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::TimeoutManager(ros::NodeHandle const&, ros::Rate const&)77
mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)80
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)80
mrs_lib::TimeoutManager::started(unsigned long)1576
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)19938
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)171396
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mrs_lib::TimeoutManager::registerNew(ros::Duration const&, std::function<void (ros::Time const&)> const&, ros::Time const&, bool, bool)80
mrs_lib::TimeoutManager::main_timer_callback(ros::TimerEvent const&)19938
mrs_lib::TimeoutManager::pause(unsigned long)9
mrs_lib::TimeoutManager::reset(unsigned long, ros::Time const&)171396
mrs_lib::TimeoutManager::start(unsigned long, ros::Time const&)80
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)1576
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&)77
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          Line data    Source code
+
+       1             : #include <mrs_lib/timeout_manager.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6          77 :   TimeoutManager::TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate)
+       7          77 :     : m_last_id(0)
+       8             :   {
+       9          77 :     m_main_timer = nh.createTimer(update_rate, &TimeoutManager::main_timer_callback, this);
+      10          77 :   }
+      11             : 
+      12             : 
+      13          80 :   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         160 :     std::scoped_lock lck(m_mtx);
+      16          80 :     const auto new_id = m_timeouts.size();
+      17          80 :     const timeout_info_t new_info = {oneshot, autostart, callback, timeout, last_reset, last_reset};
+      18          80 :     m_timeouts.push_back(new_info);
+      19         160 :     return new_id;
+      20             :   }
+      21             : 
+      22      171396 :   void TimeoutManager::reset(const timeout_id_t id, const ros::Time& time)
+      23             :   {
+      24      171396 :     std::scoped_lock lck(m_mtx);
+      25      171396 :     m_timeouts.at(id).last_reset = time;
+      26      171396 :   }
+      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          80 :   void TimeoutManager::start(const timeout_id_t id, const ros::Time& time)
+      35             :   {
+      36          80 :     std::scoped_lock lck(m_mtx);
+      37          80 :     m_timeouts.at(id).started = true;
+      38          80 :     m_timeouts.at(id).last_reset = time;
+      39          80 :   }
+      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        1576 :   bool TimeoutManager::started(const timeout_id_t id)
+      76             :   {
+      77        1576 :     std::scoped_lock lck(m_mtx);
+      78        3152 :     return m_timeouts.at(id).started;
+      79             :   }
+      80             : 
+      81       19938 :   void TimeoutManager::main_timer_callback([[maybe_unused]] const ros::TimerEvent &evt)
+      82             :   {
+      83       19938 :     const auto now = ros::Time::now();
+      84             : 
+      85       39876 :     std::scoped_lock lck(m_mtx);
+      86       46158 :     for (auto& timeout_info : m_timeouts)
+      87             :     {
+      88             :       // don't worry, this'll get optimized out by the compiler
+      89       26220 :       const bool started = timeout_info.started;
+      90       26220 :       const bool last_reset_timeout = now - timeout_info.last_reset >= timeout_info.timeout;
+      91       26220 :       const bool last_callback_timeout = now - timeout_info.last_callback >= timeout_info.timeout;
+      92       26220 :       if (started && last_reset_timeout && last_callback_timeout)
+      93             :       {
+      94        2105 :         timeout_info.callback(timeout_info.last_reset);
+      95        2105 :         timeout_info.last_callback = now;
+      96             :         // if the timeout is oneshot, pause it
+      97        2105 :         if (timeout_info.oneshot)
+      98           0 :           timeout_info.started = false;
+      99             :       }
+     100             :     }
+     101       19938 :   }
+     102             : }
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Test:MRS UAV System - Test coverage reportLines:10611493.0 %
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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 %
Date:2024-02-24 08:13:25Functions:1515100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_lib::ThreadTimer::Impl::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::threadFcn()8
mrs_lib::ThreadTimer::Impl::Impl(std::function<void (ros::TimerEvent const&)> const&, ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::~Impl()8
mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ThreadTimer::Impl::stop()24
mrs_lib::ThreadTimer::Impl::start()24
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ThreadTimer::Impl::breakableSleep(ros::Time const&)208
mrs_lib::ThreadTimer::running()208
mrs_lib::ROSTimer::running()216
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Current view:top level - mrs_lib/src/timer - timer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10611493.0 %
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Function Name Sort by function nameHit count Sort by hit count
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mrs_lib::ThreadTimer::Impl::stop()24
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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
mrs_lib::ThreadTimer::Impl::~Impl()8
mrs_lib::ThreadTimer::stop()24
mrs_lib::ThreadTimer::start()24
mrs_lib::ThreadTimer::running()208
mrs_lib::ThreadTimer::setPeriod(ros::Duration const&, bool)8
mrs_lib::ROSTimer::stop()24
mrs_lib::ROSTimer::start()24
mrs_lib::ROSTimer::running()216
mrs_lib::ROSTimer::setPeriod(ros::Duration const&, bool)8
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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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Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_lib/timer.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : // | ------------------------ ROSTimer ------------------------ |
+       7             : 
+       8             : /* stop() //{ */
+       9             : 
+      10          24 : void ROSTimer::stop() {
+      11             : 
+      12          48 :   std::scoped_lock lock(mutex_timer_);
+      13             : 
+      14          24 :   if (timer_) {
+      15          24 :     timer_->stop();
+      16             :   }
+      17          24 : }
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* start() //{ */
+      22             : 
+      23          24 : void ROSTimer::start() {
+      24             : 
+      25          48 :   std::scoped_lock lock(mutex_timer_);
+      26             : 
+      27          24 :   if (timer_) {
+      28          24 :     timer_->start();
+      29             :   }
+      30          24 : }
+      31             : 
+      32             : //}
+      33             : 
+      34             : /* setPeriod() //{ */
+      35             : 
+      36           8 : void ROSTimer::setPeriod(const ros::Duration& duration, const bool reset) {
+      37             : 
+      38          16 :   std::scoped_lock lock(mutex_timer_);
+      39             : 
+      40           8 :   if (timer_) {
+      41           8 :     timer_->setPeriod(duration, reset);
+      42             :   }
+      43           8 : }
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* running() //{ */
+      48             : 
+      49         216 : bool ROSTimer::running()
+      50             : {
+      51         432 :   std::scoped_lock lock(mutex_timer_);
+      52             : 
+      53         216 :   if (timer_)
+      54         216 :     return timer_->hasStarted();
+      55             :   else
+      56           0 :     return false;
+      57             : }
+      58             : 
+      59             : //}
+      60             : 
+      61             : // | ----------------------- ThreadTimer ---------------------- |
+      62             : 
+      63             : /* TheadTimer::start() //{ */
+      64             : 
+      65          24 : void ThreadTimer::start() {
+      66             : 
+      67          24 :   if (impl_) {
+      68          24 :     impl_->start();
+      69             :   }
+      70          24 : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* ThreadTimer::stop() //{ */
+      75             : 
+      76          24 : void ThreadTimer::stop() {
+      77             : 
+      78          24 :   if (impl_) {
+      79          24 :     impl_->stop();
+      80             :   }
+      81          24 : }
+      82             : 
+      83             : //}
+      84             : 
+      85             : /* ThreadTimer::setPeriod() //{ */
+      86             : 
+      87           8 : void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset) {
+      88             : 
+      89           8 :   if (impl_) {
+      90           8 :     impl_->setPeriod(duration, reset);
+      91             :   }
+      92           8 : }
+      93             : 
+      94             : //}
+      95             : 
+      96             : /* ThreadTimer::running() //{ */
+      97             : 
+      98         208 : bool ThreadTimer::running()
+      99             : {
+     100         208 :   if (impl_)
+     101         208 :     return impl_->running_;
+     102             :   else
+     103           0 :     return false;
+     104             : }
+     105             : 
+     106             : //}
+     107             : 
+     108             : /* ThreadTimer::Impl //{ */
+     109             : 
+     110           8 : ThreadTimer::Impl::Impl(const std::function<void(const ros::TimerEvent&)>& callback, const ros::Duration& delay_dur, const bool oneshot)
+     111           8 :   : callback_(callback), oneshot_(oneshot), delay_dur_(delay_dur)
+     112             : {
+     113           8 :   ending_  = false;
+     114           8 :   running_ = false;
+     115             : 
+     116           8 :   last_real_     = ros::Time(0);
+     117           8 :   last_expected_ = ros::Time(0);
+     118           8 :   next_expected_ = ros::Time(0);
+     119             : 
+     120           8 :   thread_ = std::thread(&ThreadTimer::Impl::threadFcn, this);
+     121           8 : }
+     122             : 
+     123           8 : ThreadTimer::Impl::~Impl()
+     124             : {
+     125             :   {
+     126             :     // signal the thread to end
+     127          16 :     std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     128           8 :     ending_ = true;
+     129           8 :     wakeup_cond_.notify_all();
+     130             :   }
+     131             :   // wait for it to die
+     132           8 :   thread_.join();
+     133           8 : }
+     134             : 
+     135          24 : void ThreadTimer::Impl::start()
+     136             : {
+     137          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     138          24 :   if (!running_)
+     139             :   {
+     140          24 :     next_expected_ = ros::Time::now() + delay_dur_;
+     141          24 :     running_ = true;
+     142          24 :     wakeup_cond_.notify_all();
+     143             :   }
+     144          24 : }
+     145             : 
+     146          24 : void ThreadTimer::Impl::stop()
+     147             : {
+     148          48 :   std::scoped_lock lck(mutex_wakeup_, mutex_state_);
+     149          24 :   running_ = false;
+     150          24 :   wakeup_cond_.notify_all();
+     151          24 : }
+     152             : 
+     153           8 : void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]] const bool reset)
+     154             : {
+     155          16 :   std::scoped_lock lock(mutex_wakeup_, mutex_state_);
+     156           8 :   delay_dur_ = duration;
+     157             :   // gracefully handle the special case
+     158           8 :   if (duration == ros::Duration(0))
+     159           0 :     this->oneshot_  = true;
+     160           8 : }
+     161             : 
+     162             : //}
+     163             : 
+     164             : /* ThreadTimer::breakableSleep() method //{ */
+     165         408 : bool ThreadTimer::Impl::breakableSleep(const ros::Time& until)
+     166             : {
+     167         408 :   while (ros::ok() && ros::Time::now() < until)
+     168             :   {
+     169         208 :     const std::chrono::nanoseconds dur {(until - ros::Time::now()).toNSec()};
+     170         208 :     const std::chrono::time_point<std::chrono::steady_clock> until_stl = std::chrono::steady_clock::now() + dur;
+     171         208 :     std::unique_lock lck(mutex_wakeup_);
+     172         208 :     if (!ending_ && running_)
+     173         208 :       wakeup_cond_.wait_until(lck, until_stl);
+     174             :     // check the flags while mutex_state_ is locked
+     175         208 :     if (ending_ || !running_)
+     176           8 :       return false;
+     177             :   }
+     178         200 :   return true;
+     179             : }
+     180             : //}
+     181             : 
+     182             : /* ThreadTimer::Impl::threadFcn() //{ */
+     183             : 
+     184         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          16 :         wakeup_cond_.wait(lck);
+     193             :       // The thread either got cv-notified, or running_ was already true, or it got woken up for some other reason.
+     194             :       // Check if the reason is that we should end (and end if it is).
+     195         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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Test:MRS UAV System - Test coverage reportLines:163053.3 %
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Test:MRS UAV System - Test coverage reportLines:163053.3 %
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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()154
mrs_lib::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1691183
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mrs_lib::TransformBroadcaster::sendTransform(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1691183
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()154
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Test:MRS UAV System - Test coverage reportLines:163053.3 %
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Legend: Lines: + hit + not hit +
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+
          Line data    Source code
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+       1             : #include <mrs_lib/transform_broadcaster.h>
+       2             : 
+       3             : namespace mrs_lib
+       4             : {
+       5             : 
+       6             : /* constructor //{ */
+       7         154 : TransformBroadcaster::TransformBroadcaster() {
+       8         154 :   broadcaster_ = tf2_ros::TransformBroadcaster();
+       9         154 : }
+      10             : //}
+      11             : 
+      12             : /* sendTransform (const geometry_msgs::TransformStamped &transform) //{ */
+      13     1691183 : void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped &transform) {
+      14     3380988 :   std::string frames_from_to = transform.header.frame_id + transform.child_frame_id;
+      15     1688592 :   if (last_messages_.count(frames_from_to) > 0) {
+      16     1689693 :     if (transform.header.stamp > last_messages_[frames_from_to]) {
+      17     1443583 :       broadcaster_.sendTransform(transform);
+      18     1445917 :       last_messages_[frames_from_to] = transform.header.stamp;
+      19             :     } else {
+      20      243185 :       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        1604 :     std::pair<std::string, ros::Time> new_pair;
+      25         787 :     new_pair.first  = frames_from_to;
+      26         787 :     new_pair.second = transform.header.stamp;
+      27         787 :     broadcaster_.sendTransform(transform);
+      28         787 :     last_messages_.insert(new_pair);
+      29             :   }
+      30     1691389 : }
+      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&)564
mrs_lib::Transformer::UTMtoLL(geometry_msgs::PoseStamped_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1775
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Pose_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1775
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1777
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3560
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&)22556
mrs_lib::Transformer::transformImpl(geometry_msgs::TransformStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)101253
mrs_lib::Transformer::setLatLon(double, double)169944
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&)1457090
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6118315
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+
+ + + +
Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2024-02-24 08:13:25Functions: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&)22556
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&)101253
mrs_lib::Transformer::getFramePrefix(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)3560
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&)1457090
mrs_lib::Transformer::resolveFrameImpl(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6118315
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&)1775
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&)1775
mrs_lib::Transformer::UTMtoLL(geometry_msgs::Point_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1777
mrs_lib::Transformer::setLatLon(double, double)169944
mrs_lib::Transformer::Transformer(ros::NodeHandle const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)564
mrs_lib::Transformer::Transformer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Duration const&)12
mrs_lib::Transformer::Transformer()0
mrs_lib::Transformer::operator=(mrs_lib::Transformer&&)0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_lib/src/transformer - transformer.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:18528066.1 %
Date:2024-02-24 08:13:25Functions:202676.9 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : // clang: MatousFormat
+       2             : 
+       3             : #include <mrs_lib/transformer.h>
+       4             : #include <mrs_lib/gps_conversions.h>
+       5             : #include <opencv2/core/types.hpp>
+       6             : #include <mrs_lib/geometry/conversions.h>
+       7             : #include <mutex>
+       8             : 
+       9             : using test_t = mrs_msgs::ReferenceStamped;
+      10             : /* using test_t = pcl::PointCloud<pcl::PointXYZ>; */
+      11             : template std::optional<test_t> mrs_lib::Transformer::transform<test_t>(const test_t& what, const geometry_msgs::TransformStamped& to_frame);
+      12             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transform<test_t>(const test_t::Ptr& what, const geometry_msgs::TransformStamped& to_frame);
+      13             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transform<test_t>(const test_t::ConstPtr& what, const geometry_msgs::TransformStamped& to_frame);
+      14             : template std::optional<test_t> mrs_lib::Transformer::transformSingle<test_t>(const test_t& what, const std::string& to_frame);
+      15             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transformSingle<test_t>(const test_t::Ptr& what, const std::string& to_frame);
+      16             : template std::optional<test_t::Ptr> mrs_lib::Transformer::transformSingle<test_t>(const test_t::ConstPtr& what, const std::string& to_frame);
+      17             : 
+      18             : namespace tf2
+      19             : {
+      20             :   template <>
+      21           1 :   void doTransform(const cv::Point3d& point_in, cv::Point3d& point_out, const geometry_msgs::TransformStamped& transform)
+      22             :   {
+      23           1 :     const geometry_msgs::Point pt = mrs_lib::geometry::fromCV(point_in);
+      24           1 :     geometry_msgs::Point pt_tfd;
+      25           1 :     tf2::doTransform(pt, pt_tfd, transform);
+      26           1 :     point_out = mrs_lib::geometry::toCV(pt_tfd);
+      27           1 :   }
+      28             : }
+      29             : 
+      30             : namespace mrs_lib
+      31             : {
+      32             : 
+      33             :   // | ----------------------- Transformer ---------------------- |
+      34             : 
+      35             :   // | ------------------ user-callable methods ----------------- |
+      36             : 
+      37             :   /* Transformer() (constructors)//{ */
+      38             : 
+      39           0 :   Transformer::Transformer()
+      40             :   {
+      41           0 :   }
+      42             : 
+      43          12 :   Transformer::Transformer(const std::string& node_name, const ros::Duration& cache_time)
+      44          12 :     : initialized_(true), node_name_(node_name), tf_buffer_(std::make_unique<tf2_ros::Buffer>(cache_time)), tf_listener_ptr_(std::make_unique<tf2_ros::TransformListener>(*tf_buffer_))
+      45             :   {
+      46          12 :   }
+      47             : 
+      48         564 :   Transformer::Transformer(const ros::NodeHandle& nh, const std::string& node_name, const ros::Duration& cache_time)
+      49         564 :     : 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         564 :   }
+      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       22556 :   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       45125 :     std::scoped_lock lck(mutex_);
+      81             : 
+      82       22569 :     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       45138 :     const std::string from_frame = resolveFrameImpl(from_frame_raw);
+      90       45138 :     const std::string to_frame = resolveFrameImpl(to_frame_raw);
+      91       45138 :     const std::string latlon_frame = resolveFrameImpl(LATLON_ORIGIN);
+      92             : 
+      93       22569 :     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      169944 :   void Transformer::setLatLon(const double lat, const double lon)
+     118             :   {
+     119      169944 :     std::scoped_lock lck(mutex_);
+     120             : 
+     121             :     double utm_x, utm_y;
+     122      169399 :     mrs_lib::LLtoUTM(lat, lon, utm_y, utm_x, utm_zone_.data());
+     123      169152 :     got_utm_zone_ = true;
+     124      168648 :   }
+     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      101253 :   std::optional<mrs_msgs::ReferenceStamped> Transformer::transformImpl(const geometry_msgs::TransformStamped& tf, const mrs_msgs::ReferenceStamped& what)
+     253             :   {
+     254             :     // create a pose message
+     255      202506 :     geometry_msgs::PoseStamped pose;
+     256      101253 :     pose.header = what.header;
+     257             :   
+     258      101253 :     pose.pose.position.x = what.reference.position.x;
+     259      101253 :     pose.pose.position.y = what.reference.position.y;
+     260      101253 :     pose.pose.position.z = what.reference.position.z;
+     261      101253 :     pose.pose.orientation = geometry::fromEigen(geometry::quaternionFromHeading(what.reference.heading));
+     262             :   
+     263             :     // try to transform the pose message
+     264      202506 :     const auto pose_opt = transformImpl(tf, pose);
+     265      101253 :     if (!pose_opt.has_value())
+     266           0 :       return std::nullopt;
+     267             :     // overwrite the pose with it's transformed value
+     268      101253 :     pose = pose_opt.value();
+     269             :   
+     270      202506 :     mrs_msgs::ReferenceStamped ret;
+     271      101253 :     ret.header = pose.header;
+     272             :   
+     273             :     // copy the new transformed data back
+     274      101253 :     ret.reference.position.x = pose.pose.position.x;
+     275      101253 :     ret.reference.position.y = pose.pose.position.y;
+     276      101253 :     ret.reference.position.z = pose.pose.position.z;
+     277      101253 :     ret.reference.heading = geometry::headingFromRot(geometry::toEigen(pose.pose.orientation));
+     278      101253 :     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     1457090 :   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     1457090 :     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     1457090 :     if (from_frame.empty() || to_frame.empty())
+     312             :     {
+     313        1041 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Transformer: cannot transform to/from an empty frame!", node_name_.c_str());
+     314        1041 :       return std::nullopt;
+     315             :     }
+     316             : 
+     317             :     // if the frames are the same, just return an identity transform
+     318     1456039 :     if (from_frame == to_frame)
+     319      321402 :       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     1295352 :     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     1295343 :     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        3556 :       const std::string utm_frame = getFramePrefix(to_frame) + "utm_origin";
+     337        3556 :       auto tf_opt = getTransformImpl(from_frame, utm_frame, time_stamp, latlon_frame);
+     338        1778 :       if (!tf_opt.has_value())
+     339           0 :         return std::nullopt;
+     340             :       // change the transformation frames to point to latlon
+     341        1778 :       frame_to(*tf_opt) = to_frame;
+     342        1778 :       return tf_opt;
+     343             :     }
+     344             : 
+     345     3880594 :     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     1808899 :       return tf_buffer_->lookupTransform(to_frame, from_frame, time_stamp, lookup_timeout_);
+     351             :     }
+     352     1556232 :     catch (tf2::TransformException& e)
+     353             :     {
+     354      778122 :       ex = e;
+     355             :     }
+     356             : 
+     357             :     // if that failed, try to get the newest one if requested
+     358      778112 :     if (retry_lookup_newest_)
+     359             :     {
+     360             :       try
+     361             :       {
+     362     1544037 :         return tf_buffer_->lookupTransform(to_frame, from_frame, ros::Time(0), lookup_timeout_);
+     363             :       }
+     364       24212 :       catch (tf2::TransformException& e)
+     365             :       {
+     366       12106 :         ex = e;
+     367             :       }
+     368             :     }
+     369             : 
+     370             :     // if the flow got here, we've failed to look the transform up
+     371       12137 :     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       12137 :       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       12136 :     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     6118315 :   std::string Transformer::resolveFrameImpl(const std::string& frame_id)
+     464             :   {
+     465             :     // if the frame is empty, return the default frame id
+     466     6118315 :     if (frame_id.empty())
+     467       56174 :       return default_frame_id_;
+     468             : 
+     469             :     // if there is no prefix set, just return the raw frame id
+     470     6062089 :     if (prefix_.empty())
+     471     3669205 :       return frame_id;
+     472             : 
+     473             :     // if there is a default prefix set and the frame does not start with it, prefix it
+     474     2392785 :     if (frame_id.substr(0, prefix_.length()) != prefix_)
+     475     1560319 :       return prefix_ + frame_id;
+     476             : 
+     477      832682 :     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        1777 :   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        1777 :     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        1776 :     geometry_msgs::Point latlon;
+     532        1776 :     mrs_lib::UTMtoLL(what.y, what.x, utm_zone_.data(), latlon.x, latlon.y);
+     533        1776 :     latlon.z = what.z;
+     534        1776 :     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        1775 :   std::optional<geometry_msgs::Pose> Transformer::UTMtoLL(const geometry_msgs::Pose& what, const std::string& prefix)
+     551             :   {
+     552        1775 :     const auto opt = UTMtoLL(what.position, prefix);
+     553        1775 :     if (!opt.has_value())
+     554           0 :       return std::nullopt;
+     555             : 
+     556        1775 :     geometry_msgs::Pose ret;
+     557        1775 :     ret.position = opt.value();
+     558        1775 :     ret.orientation = what.orientation;
+     559        1775 :     return ret;
+     560             :   }
+     561             : 
+     562        1775 :   std::optional<geometry_msgs::PoseStamped> Transformer::UTMtoLL(const geometry_msgs::PoseStamped& what, const std::string& prefix)
+     563             :   {
+     564        1775 :     const auto opt = UTMtoLL(what.pose, prefix);
+     565        1775 :     if (!opt.has_value())
+     566           0 :       return std::nullopt;
+     567             : 
+     568        3550 :     geometry_msgs::PoseStamped ret;
+     569        1775 :     ret.header.frame_id = prefix + "utm_origin";
+     570        1775 :     ret.header.stamp = what.header.stamp;
+     571        1775 :     ret.pose = opt.value();
+     572        1775 :     return ret;
+     573             :   }
+     574             :   //}
+     575             : 
+     576             :   /* getFramePrefix() method //{ */
+     577        3560 :   std::string Transformer::getFramePrefix(const std::string& frame_id)
+     578             :   {
+     579        3560 :     const auto firstof = frame_id.find_first_of('/');
+     580        3560 :     if (firstof == std::string::npos)
+     581           0 :       return "";
+     582             :     else
+     583        3560 :       return frame_id.substr(0, firstof+1);
+     584             :   }
+     585             :   //}
+     586             : 
+     587             : }  // namespace mrs_lib
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_lib/src/transformer/transformer.cpp.gcov.overview.html b/mrs_lib/src/transformer/transformer.cpp.gcov.overview.html new file mode 100644 index 0000000000..18b7b2cf49 --- /dev/null +++ b/mrs_lib/src/transformer/transformer.cpp.gcov.overview.html @@ -0,0 +1,167 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/transformer/transformer.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 + + +
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+ + diff --git a/mrs_lib/src/transformer/transformer.cpp.gcov.png b/mrs_lib/src/transformer/transformer.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..4ff2b0c9fa7b42598266c351feaaee51bdaf01d7 GIT binary patch literal 1995 zcmV;+2Q>JJP))dTBU|#LNWnRdg4=R%6}JAzmUEkiX&NUtZheNG zYM9ax12#c(z)?P90~i2xlySpzaX6;Ou4{Qd=6L4N88JCs@z*8Q`P6{TS-{59Pt4c` zR5095(o}^s1R$8>0`U2MH}^37n$Ly0%l+pdX!6VEv8^VsfH_@efJ;-abql#&~qdAW*wZ=Oy_8QPvLRrh|Uq9 z3`wg!Sic_Ntl-_|KkNZ8*Z{9)GWAgldvGNPE5ewOhKQQW?v5mb01G(Ga57^Fy68oi z>l8}FAv$V8+*iX{z<1E_>lL?BoYeuZ({QBci%!k13m?PNRR@f@MzeuT*hJHKrE$5U zH0+)6#LR>a14Iywz&Kj<;^?{{VZSh^=%yHRWFZ-ab$^z}wcghL_+LFP^#Qr>)j3jH zE|*wZ4FEt>;Fnn?mNhGGi{rhbr(wYiM}<;IWZk{`_*&s7T4Aqr#)XB!hXx5TrcAa> z(iGzyfY1uXlBxL~v>}hKGfrK1Q@$Se6Fn}m z)cbRJPm=ZlphrwFV}HP^vo};Vsgq(9iFH!N(mZwn@P$t5>i|B{0en-gzn5|)hA>Ni z9Vv^W++5!y+e@7nW8ChFjTld~a`eL$pYGvtdV%WMM`^#BP3ar7#2qx{&2zR!L+Jnz z?10s98IHsO&|2y@0c)LMFtkx&jB3$jJ1QX4%1g=7EGjSzmpg#fLv25Q_J@D*2>|sB z$Um|xpOp2zaGxch;qxeUydI;mI@wgsl;UWbA^Bp!1AXMUhiB}5KznhUM3)l3)$|p4 z8~Lbmq`|Cx0z~?Z(bB~ZQeBeC0VI8J&Y%<_asa%nt2sp#@EvlB{%UsNSzO;esbW0U z{qTXk3Q(r_cAStzx(_}!5772ZqN_=P_&j@N;_cIsbbM$0O4MAtNJh<`2})S++ahnG zLyPS3tZCv=^*xoAA#EmQu^UkCA7Zx^<`{ara~zvks`wak1zdOpMun1p^x8wW74qs3 zgzEvzP*8Bl0ZKLjTt}tEx||hmaaYHGWw$RI?HVSE8}O|13(5L`j|!WK8payLuZu8B zuqncLD+OMERfM$f8;fw^4E6#MibvrdnG(R=HZaRQszz|2OSZH)vMa7Ec_o3(F8EOp z)7Zu_^i^jHM8lS6O~K-5%rWp~aR!VJimzB8V?JUgvgMw_0rb@hJMFQs@5Ta(ki@=+ z6}DXnlp_DJtm z3i&t_2WirQMf&KxCds6TLq%_vYeXo_T;HZY{DUi`ekA}Q2HQ<~aYKF?=p9M`NA-?~ zrI(@LLY7bBT;i79mdg1A*&Yl|DSDRxD^lFO5#h)$eFDc=P(%b%B{WWSPb!_!E;%j;N4}X%*(M=sOnaZ> z{o(MCG<&d8ZZqMn=IKxIQohgPn5D_u?EWJ~68`01@!GS*3%1Rxr+&kiNrLIpuj%=q zPc6zST=f3Tb7x@6V?bBWY>k*xefUcaoARM0dp(9hh!Z3q-9ua@nrF=RIlw7~HB*TJR8s=$PS0w#sWPRsYPn2RwGOrQ?ld(kM zsBm}f002ovPDHLkV1hv?z6byS literal 0 HcmV?d00001 diff --git a/mrs_lib/src/utils/index-detail-sort-f.html b/mrs_lib/src/utils/index-detail-sort-f.html new file mode 100644 index 0000000000..2d6e9e53eb --- /dev/null +++ b/mrs_lib/src/utils/index-detail-sort-f.html @@ -0,0 +1,110 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_lib/src/utils + + + + + + + + + + + + + + +
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)462591
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()462613
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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:2024-02-24 08:13:25Functions:22100.0 %
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mrs_lib::AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>&)462591
mrs_lib::AtomicScopeFlag::~AtomicScopeFlag()462613
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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
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Date:2024-02-24 08:13:25Functions: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      462591 : AtomicScopeFlag::AtomicScopeFlag(std::atomic<bool>& in)
+       7      462591 :   : variable(in)
+       8             : {
+       9      462591 :   variable = true;
+      10      462614 : }
+      11             : 
+      12      925226 : AtomicScopeFlag::~AtomicScopeFlag()
+      13             : {
+      14      462613 :   variable = false;
+      15      462613 : }
+      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 + + +
+ Top

+ Overview +
+ + diff --git a/mrs_lib/src/utils/utils.cpp.gcov.png b/mrs_lib/src/utils/utils.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3b82aa0d55e194f12f9515f4d5ef4f00538985ef GIT binary patch literal 194 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIs!VDyLSeu0dDTx4|5ZC|z|E~gqdj0}#k_Vn~lnZVFINzf&xlOe%CX$e!F(g};y)F!t{2}&Ee3~RkNUNtx`aKVxJ gJcj|7z|;l?m3NMIqUuuIK(iS + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_autostart/src/automatic_start.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_autostart/src - automatic_start.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:28032386.7 %
Date:2024-02-24 08:13:25Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()18
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)24
(anonymous namespace)::ProxyExec0::ProxyExec0()25
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()25
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)41
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)51
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()74
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3115
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()9549
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()9549
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()9549
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()9550
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()9550
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()9550
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)16967
mrs_uav_autostart::automatic_start::Topic::getTime()38270
mrs_uav_autostart::automatic_start::Topic::updateTime()46493
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)46517
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&) const46517
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)109555
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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:28032386.7 %
Date:2024-02-24 08:13:25Functions:2121100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()25
mrs_uav_autostart::automatic_start::AutomaticStart::topicCheck()9549
mrs_uav_autostart::automatic_start::AutomaticStart::changeState(mrs_uav_autostart::automatic_start::LandingStates_t)41
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)46517
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckGyro()9550
mrs_uav_autostart::automatic_start::AutomaticStart::validateReference()9549
mrs_uav_autostart::automatic_start::AutomaticStart::isGazeboSimulation()9549
mrs_uav_autostart::automatic_start::AutomaticStart::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)109555
mrs_uav_autostart::automatic_start::AutomaticStart::preflighCheckHeight()9550
mrs_uav_autostart::automatic_start::AutomaticStart::preflightCheckSpeed()9550
mrs_uav_autostart::automatic_start::AutomaticStart::toggleControlOutput(bool const&)24
mrs_uav_autostart::automatic_start::AutomaticStart::callbackGazeboSpawnerDiagnostics(boost::shared_ptr<mrs_msgs::GazeboSpawnerDiagnostics_<std::allocator<void> > const>)3115
mrs_uav_autostart::automatic_start::AutomaticStart::disarm()3
mrs_uav_autostart::automatic_start::AutomaticStart::onInit()25
mrs_uav_autostart::automatic_start::AutomaticStart::takeoff()18
mrs_uav_autostart::automatic_start::AutomaticStart::timerMain(ros::TimerEvent const&)16967
mrs_uav_autostart::automatic_start::Topic::updateTime()46493
mrs_uav_autostart::automatic_start::Topic::getTopicName[abi:cxx11]()74
mrs_uav_autostart::automatic_start::Topic::getTime()38270
mrs_uav_autostart::automatic_start::Topic::Topic(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)51
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&) const46517
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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:28032386.7 %
Date:2024-02-24 08:13:25Functions:2121100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/mutex.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/publisher_handler.h>
+      10             : 
+      11             : #include <std_msgs/Bool.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      17             : #include <mrs_msgs/UavManagerDiagnostics.h>
+      18             : #include <mrs_msgs/ValidateReference.h>
+      19             : #include <mrs_msgs/GazeboSpawnerDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiStatus.h>
+      21             : #include <mrs_msgs/HwApiCapabilities.h>
+      22             : #include <mrs_msgs/EstimationDiagnostics.h>
+      23             : 
+      24             : #include <sensor_msgs/Range.h>
+      25             : #include <sensor_msgs/Imu.h>
+      26             : 
+      27             : #include <topic_tools/shape_shifter.h>
+      28             : 
+      29             : //}
+      30             : 
+      31             : namespace mrs_uav_autostart
+      32             : {
+      33             : 
+      34             : namespace automatic_start
+      35             : {
+      36             : 
+      37             : /* class Topic //{ */
+      38             : 
+      39             : class Topic {
+      40             : private:
+      41             :   std::string topic_name_;
+      42             :   ros::Time   last_time_;
+      43             : 
+      44             : public:
+      45          51 :   Topic(std::string topic_name) : topic_name_(topic_name) {
+      46          51 :     last_time_ = ros::Time::UNINITIALIZED;
+      47          51 :   }
+      48             : 
+      49       46493 :   void updateTime(void) {
+      50       46493 :     last_time_ = ros::Time::now();
+      51       46506 :   }
+      52             : 
+      53       38270 :   ros::Time getTime(void) {
+      54       38270 :     return last_time_;
+      55             :   }
+      56             : 
+      57          74 :   std::string getTopicName(void) {
+      58          74 :     return topic_name_;
+      59             :   }
+      60             : };
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* class AutomaticStart //{ */
+      65             : 
+      66             : // state machine
+      67             : typedef enum
+      68             : {
+      69             :   STATE_IDLE,
+      70             :   STATE_TAKEOFF,
+      71             :   STATE_FINISHED
+      72             : } LandingStates_t;
+      73             : 
+      74             : const char* state_names[3] = {"IDLING", "TAKEOFF", "FINISHED"};
+      75             : 
+      76             : class AutomaticStart : public nodelet::Nodelet {
+      77             : 
+      78             : public:
+      79             :   virtual void onInit();
+      80             : 
+      81             : private:
+      82             :   ros::NodeHandle   nh_;
+      83             :   std::atomic<bool> is_initialized_ = false;
+      84             : 
+      85             :   std::string _uav_name_;
+      86             :   bool        _simulation_;
+      87             : 
+      88             :   // | --------------------- service clients -------------------- |
+      89             : 
+      90             :   ros::ServiceClient service_client_toggle_control_output_;
+      91             :   ros::ServiceClient service_client_arm_;
+      92             :   ros::ServiceClient service_client_takeoff_;
+      93             :   ros::ServiceClient service_client_validate_reference_;
+      94             : 
+      95             :   // | ----------------------- subscribers ---------------------- |
+      96             : 
+      97             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      98             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>               sh_hw_api_status_;
+      99             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>         sh_hw_api_capabilities_;
+     100             :   mrs_lib::SubscribeHandler<sensor_msgs::Range>                  sh_distance_sensor_;
+     101             :   mrs_lib::SubscribeHandler<sensor_msgs::Imu>                    sh_imu_;
+     102             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     103             :   mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>     sh_uav_manager_diag_;
+     104             :   mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>  sh_gazebo_spawner_diag_;
+     105             : 
+     106             :   // | ----------------------- publishers ----------------------- |
+     107             : 
+     108             :   mrs_lib::PublisherHandler<std_msgs::Bool> ph_can_takeoff_;
+     109             : 
+     110             :   // | ----------------------- main timer ----------------------- |
+     111             : 
+     112             :   ros::Timer timer_main_;
+     113             :   void       timerMain(const ros::TimerEvent& event);
+     114             :   double     _main_timer_rate_;
+     115             : 
+     116             :   // | ------------------- hw api diagnostics ------------------- |
+     117             : 
+     118             :   void              callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     119             :   std::atomic<bool> hw_api_connected_ = false;
+     120             :   std::mutex        mutex_hw_api_status_;
+     121             : 
+     122             :   // | --------------- Gazebo spawner diagnostics --------------- |
+     123             : 
+     124             :   void                               callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg);
+     125             :   std::atomic<bool>                  got_gazebo_spawner_diagnostics = false;
+     126             :   mrs_msgs::GazeboSpawnerDiagnostics gazebo_spawner_diagnostics_;
+     127             :   std::mutex                         mutex_gazebo_spawner_diagnostics_;
+     128             : 
+     129             :   // | ----------------- arm and offboard check ----------------- |
+     130             : 
+     131             :   ros::Time armed_time_;
+     132             :   bool      armed_ = false;
+     133             : 
+     134             :   ros::Time offboard_time_;
+     135             :   bool      offboard_ = false;
+     136             : 
+     137             :   // | ------------------------ routines ------------------------ |
+     138             : 
+     139             :   bool takeoff();
+     140             : 
+     141             :   bool validateReference();
+     142             : 
+     143             :   bool toggleControlOutput(const bool& value);
+     144             :   bool disarm();
+     145             : 
+     146             :   bool isGazeboSimulation(void);
+     147             :   bool topicCheck(void);
+     148             :   bool preflightCheckSpeed(void);
+     149             :   bool preflighCheckHeight(void);
+     150             :   bool preflighCheckGyro(void);
+     151             : 
+     152             :   bool is_gazebo_simulation_ = false;
+     153             : 
+     154             :   // | ---------------------- other params ---------------------- |
+     155             : 
+     156             :   std::string _body_frame_name_;
+     157             :   double      _pre_takeoff_sleep_;
+     158             :   bool        _handle_takeoff_ = false;
+     159             :   double      _safety_timeout_;
+     160             :   double      _control_output_timeout_;
+     161             : 
+     162             :   // | ---------------------- state machine --------------------- |
+     163             : 
+     164             :   uint current_state = STATE_IDLE;
+     165             :   void changeState(LandingStates_t new_state);
+     166             : 
+     167             :   // | --------------------- preflight check -------------------- |
+     168             : 
+     169             :   double _preflight_check_time_window_;
+     170             : 
+     171             :   // | ------------------ preflight speed check ----------------- |
+     172             : 
+     173             :   bool      _speed_check_enabled_ = false;
+     174             :   double    _speed_check_max_speed_;
+     175             :   ros::Time speed_check_violated_time_;
+     176             : 
+     177             :   // | ----------------- preflight height check ----------------- |
+     178             : 
+     179             :   bool      _height_check_enabled_ = false;
+     180             :   double    _height_check_max_height_;
+     181             :   ros::Time height_check_violated_time_;
+     182             : 
+     183             :   // | ----------------- preflight gyro check ----------------- |
+     184             : 
+     185             :   bool      _gyro_check_enabled_ = false;
+     186             :   double    _gyro_check_max_rate_;
+     187             :   ros::Time gyro_check_violated_time_;
+     188             : 
+     189             :   // | ---------------- generic topic subscribers --------------- |
+     190             : 
+     191             :   bool                     _topic_check_enabled_ = false;
+     192             :   double                   _topic_check_timeout_;
+     193             :   std::vector<std::string> _topic_check_topic_names_;
+     194             : 
+     195             :   std::vector<Topic>           topic_check_topics_;
+     196             :   std::vector<ros::Subscriber> generic_subscriber_vec_;
+     197             : 
+     198             :   // generic callback, for any topic, to monitor its rate
+     199             :   void genericCallback(const topic_tools::ShapeShifter::ConstPtr& msg, const std::string& topic_name, const int id);
+     200             : };
+     201             : 
+     202             : //}
+     203             : 
+     204             : /* onInit() //{ */
+     205             : 
+     206          25 : void AutomaticStart::onInit() {
+     207             : 
+     208          25 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     209             : 
+     210          25 :   ros::Time::waitForValid();
+     211             : 
+     212          25 :   armed_      = false;
+     213          25 :   armed_time_ = ros::Time(0);
+     214             : 
+     215          25 :   offboard_      = false;
+     216          25 :   offboard_time_ = ros::Time(0);
+     217             : 
+     218          50 :   mrs_lib::ParamLoader param_loader(nh_, "AutomaticStart");
+     219             : 
+     220          50 :   std::string custom_config_path;
+     221             : 
+     222          25 :   param_loader.loadParam("custom_config", custom_config_path);
+     223             : 
+     224          25 :   if (custom_config_path != "") {
+     225           4 :     param_loader.addYamlFile(custom_config_path);
+     226             :   }
+     227             : 
+     228          25 :   param_loader.addYamlFileFromParam("config_private");
+     229          25 :   param_loader.addYamlFileFromParam("config_public");
+     230             : 
+     231          25 :   param_loader.loadParam("uav_name", _uav_name_);
+     232          25 :   param_loader.loadParam("simulation", _simulation_);
+     233             : 
+     234          25 :   param_loader.loadParam("main_timer_rate", _main_timer_rate_);
+     235          25 :   param_loader.loadParam("body_frame_name", _body_frame_name_);
+     236          25 :   param_loader.loadParam("control_output_timeout", _control_output_timeout_);
+     237             : 
+     238          25 :   param_loader.loadParam("safety_timeout", _safety_timeout_);
+     239          25 :   param_loader.loadParam("pre_takeoff_sleep", _pre_takeoff_sleep_);
+     240             : 
+     241          25 :   param_loader.loadParam("handle_takeoff", _handle_takeoff_);
+     242             : 
+     243          25 :   param_loader.loadParam("preflight_check/time_window", _preflight_check_time_window_);
+     244             : 
+     245          25 :   param_loader.loadParam("preflight_check/speed_check/enabled", _speed_check_enabled_);
+     246          25 :   param_loader.loadParam("preflight_check/speed_check/max_speed", _speed_check_max_speed_);
+     247             : 
+     248          25 :   param_loader.loadParam("preflight_check/height_check/enabled", _height_check_enabled_);
+     249          25 :   param_loader.loadParam("preflight_check/height_check/max_height", _height_check_max_height_);
+     250             : 
+     251          25 :   param_loader.loadParam("preflight_check/gyro_check/enabled", _gyro_check_enabled_);
+     252          25 :   param_loader.loadParam("preflight_check/gyro_check/max_rate", _gyro_check_max_rate_);
+     253             : 
+     254          25 :   param_loader.loadParam("preflight_check/topic_check/enabled", _topic_check_enabled_);
+     255          25 :   param_loader.loadParam("preflight_check/topic_check/timeout", _topic_check_timeout_);
+     256          25 :   param_loader.loadParam("preflight_check/topic_check/topics", _topic_check_topic_names_);
+     257             : 
+     258          25 :   if (!param_loader.loadedSuccessfully()) {
+     259           0 :     ROS_ERROR("[AutomaticStart]: Could not load all parameters!");
+     260           0 :     ros::shutdown();
+     261             :   }
+     262             : 
+     263             :   // | ----------------------- subscribers ---------------------- |
+     264             : 
+     265          50 :   mrs_lib::SubscribeHandlerOptions shopts;
+     266          25 :   shopts.nh                 = nh_;
+     267          25 :   shopts.node_name          = "AutomaticStart";
+     268          25 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     269          25 :   shopts.threadsafe         = true;
+     270          25 :   shopts.autostart          = true;
+     271          25 :   shopts.queue_size         = 10;
+     272          25 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     273             : 
+     274          25 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diag_in");
+     275          25 :   sh_hw_api_status_        = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &AutomaticStart::callbackHwApiStatus, this);
+     276          25 :   sh_hw_api_capabilities_  = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     277          25 :   sh_distance_sensor_      = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, "distance_sensor_in");
+     278          25 :   sh_imu_                  = mrs_lib::SubscribeHandler<sensor_msgs::Imu>(shopts, "imu_in");
+     279          25 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     280          25 :   sh_uav_manager_diag_     = mrs_lib::SubscribeHandler<mrs_msgs::UavManagerDiagnostics>(shopts, "uav_manager_diagnostics_in");
+     281          50 :   sh_gazebo_spawner_diag_  = mrs_lib::SubscribeHandler<mrs_msgs::GazeboSpawnerDiagnostics>(shopts, "gazebo_spawner_diagnostics_in",
+     282          25 :                                                                                           &AutomaticStart::callbackGazeboSpawnerDiagnostics, this);
+     283             : 
+     284             :   // | ----------------------- publishers ----------------------- |
+     285             : 
+     286          25 :   ph_can_takeoff_ = mrs_lib::PublisherHandler<std_msgs::Bool>(nh_, "can_takeoff_out");
+     287             : 
+     288             :   // | --------------------- service clients -------------------- |
+     289             : 
+     290          25 :   service_client_takeoff_               = nh_.serviceClient<std_srvs::Trigger>("takeoff_out");
+     291          25 :   service_client_toggle_control_output_ = nh_.serviceClient<std_srvs::SetBool>("toggle_control_output_out");
+     292          25 :   service_client_arm_                   = nh_.serviceClient<std_srvs::SetBool>("arm_out");
+     293             : 
+     294          25 :   service_client_validate_reference_ = nh_.serviceClient<mrs_msgs::ValidateReference>("validate_reference_out");
+     295             : 
+     296             :   // | ------------------ setup generic topics ------------------ |
+     297             : 
+     298          25 :   if (_topic_check_enabled_) {
+     299             : 
+     300          50 :     boost::function<void(const topic_tools::ShapeShifter::ConstPtr&)> callback;
+     301             : 
+     302          76 :     for (int i = 0; i < int(_topic_check_topic_names_.size()); i++) {
+     303             : 
+     304         102 :       std::string topic_name = _topic_check_topic_names_[i];
+     305             : 
+     306          51 :       if (topic_name.at(0) != '/') {
+     307          51 :         topic_name = "/" + _uav_name_ + "/" + topic_name;
+     308             :       }
+     309             : 
+     310         102 :       Topic tmp_topic(topic_name);
+     311          51 :       topic_check_topics_.push_back(tmp_topic);
+     312             : 
+     313          51 :       int id = i;  // id to identify which topic called the generic callback
+     314             : 
+     315       46568 :       callback                       = [this, topic_name, id](const topic_tools::ShapeShifter::ConstPtr& msg) -> void { genericCallback(msg, topic_name, id); };
+     316         153 :       ros::Subscriber tmp_subscriber = nh_.subscribe(topic_name, 1, callback);
+     317             : 
+     318          51 :       generic_subscriber_vec_.push_back(tmp_subscriber);
+     319             :     }
+     320             :   }
+     321             : 
+     322             :   // | ------------------------- timers ------------------------- |
+     323             : 
+     324          25 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &AutomaticStart::timerMain, this);
+     325             : 
+     326             :   // | --------------------- finish the init -------------------- |
+     327             : 
+     328          25 :   is_initialized_ = true;
+     329             : 
+     330          25 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: initialized");
+     331          25 : }
+     332             : 
+     333             : //}
+     334             : 
+     335             : // --------------------------------------------------------------
+     336             : // |                          callbacks                         |
+     337             : // --------------------------------------------------------------
+     338             : 
+     339             : /* genericCallback() //{ */
+     340             : 
+     341       46517 : void AutomaticStart::genericCallback([[maybe_unused]] const topic_tools::ShapeShifter::ConstPtr& msg, [[maybe_unused]] const std::string& topic_name,
+     342             :                                      const int id) {
+     343       46517 :   topic_check_topics_[id].updateTime();
+     344       46507 : }
+     345             : 
+     346             : //}
+     347             : 
+     348             : /* callbackHwApiDiag() //{ */
+     349             : 
+     350      109555 : void AutomaticStart::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+     351             : 
+     352      109555 :   if (!is_initialized_) {
+     353           0 :     return;
+     354             :   }
+     355             : 
+     356      109555 :   ROS_INFO_ONCE("[AutomaticStart]: getting HW API diagnostics");
+     357             : 
+     358      219110 :   std::scoped_lock lock(mutex_hw_api_status_);
+     359             : 
+     360             :   // check armed_ state
+     361      109555 :   if (armed_ == false) {
+     362             : 
+     363             :     // if armed_ state changed to true, please "start the clock"
+     364       59968 :     if (msg->armed) {
+     365             : 
+     366          24 :       armed_      = true;
+     367          24 :       armed_time_ = ros::Time::now();
+     368             :     }
+     369             : 
+     370             :     // if we were armed_ previously
+     371       49587 :   } else if (armed_ == true) {
+     372             : 
+     373             :     // and we are not really now
+     374       49587 :     if (!msg->armed) {
+     375             : 
+     376           4 :       armed_ = false;
+     377             :     }
+     378             :   }
+     379             : 
+     380             :   // check offboard_ state
+     381      109555 :   if (offboard_ == false) {
+     382             : 
+     383             :     // if offboard_ state changed to true, please "start the clock"
+     384       69848 :     if (msg->offboard) {
+     385             : 
+     386          21 :       offboard_      = true;
+     387          21 :       offboard_time_ = ros::Time::now();
+     388             :     }
+     389             : 
+     390             :     // if we were in offboard_ previously
+     391       39707 :   } else if (offboard_ == true) {
+     392             : 
+     393             :     // and we are not really now
+     394       39707 :     if (!msg->offboard) {
+     395             : 
+     396           0 :       offboard_ = false;
+     397             :     }
+     398             :   }
+     399             : 
+     400      109555 :   if (msg->connected) {
+     401      106213 :     hw_api_connected_ = true;
+     402             :   }
+     403             : }
+     404             : 
+     405             : //}
+     406             : 
+     407             : /* callbackGazeboSpawnerDiagnostics() //{ */
+     408             : 
+     409        3115 : void AutomaticStart::callbackGazeboSpawnerDiagnostics(const mrs_msgs::GazeboSpawnerDiagnostics::ConstPtr msg) {
+     410             : 
+     411        3115 :   if (!is_initialized_) {
+     412           0 :     return;
+     413             :   }
+     414             : 
+     415        3115 :   ROS_INFO_ONCE("[AutomaticStart]: getting spawner diagnostics");
+     416             : 
+     417             :   {
+     418        6230 :     std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     419             : 
+     420        3115 :     gazebo_spawner_diagnostics_ = *msg;
+     421             : 
+     422        3115 :     got_gazebo_spawner_diagnostics = true;
+     423             :   }
+     424             : }
+     425             : 
+     426             : //}
+     427             : 
+     428             : // --------------------------------------------------------------
+     429             : // |                           timers                           |
+     430             : // --------------------------------------------------------------
+     431             : 
+     432             : /* timerMain() //{ */
+     433             : 
+     434       16967 : void AutomaticStart::timerMain([[maybe_unused]] const ros::TimerEvent& event) {
+     435             : 
+     436       16967 :   if (!is_initialized_) {
+     437        4727 :     return;
+     438             :   }
+     439             : 
+     440       16967 :   bool got_uav_manager_diag     = sh_uav_manager_diag_.hasMsg();
+     441       16967 :   bool got_control_manager_diag = sh_control_manager_diag_.hasMsg();
+     442       16967 :   bool got_estimation_diag      = sh_estimation_diag_.hasMsg();
+     443       16967 :   bool got_hw_api               = sh_hw_api_status_.hasMsg() && sh_hw_api_capabilities_.hasMsg() && hw_api_connected_;
+     444             : 
+     445       16967 :   if (!got_control_manager_diag || !got_hw_api || !got_uav_manager_diag || !got_estimation_diag) {
+     446        4726 :     ROS_WARN_THROTTLE(5.0, "[AutomaticStart]: waiting for data: ControlManager=%s, UavManager=%s, HW Api=%s, EstimationManager=%s",
+     447             :                       got_control_manager_diag ? "true" : "FALSE", got_uav_manager_diag ? "true" : "FALSE", got_hw_api ? "true" : "FALSE",
+     448             :                       got_estimation_diag ? "true" : "FALSE");
+     449        4726 :     return;
+     450             :   }
+     451             : 
+     452       12241 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     453       12241 :   auto control_manager_diagnostics                  = sh_control_manager_diag_.getMsg();
+     454             : 
+     455       12241 :   switch (current_state) {
+     456             : 
+     457        9550 :     case STATE_IDLE: {
+     458             : 
+     459             :       // | --------------------- preflight check -------------------- |
+     460             : 
+     461        9550 :       bool speed_valid  = preflightCheckSpeed();
+     462        9550 :       bool height_valid = preflighCheckHeight();
+     463        9550 :       bool gyros_valid  = preflighCheckGyro();
+     464             : 
+     465        9550 :       bool possibly_in_the_air = !speed_valid || !height_valid || !gyros_valid;
+     466             : 
+     467        9550 :       if (possibly_in_the_air) {
+     468             : 
+     469           1 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: preflight check failed, the UAV is possibly in the air");
+     470             : 
+     471           1 :         if (armed) {
+     472             : 
+     473           1 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: -- the UAV is also armed!! finishing to prevent unwanted system activation");
+     474             : 
+     475           1 :           bool res = toggleControlOutput(false);
+     476             : 
+     477           1 :           if (!res) {
+     478           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output OFF");
+     479             :           }
+     480             : 
+     481           1 :           changeState(STATE_FINISHED);
+     482             : 
+     483           1 :           return;
+     484             :         }
+     485             : 
+     486           0 :         return;
+     487             :       }
+     488             : 
+     489             :       // | -------------------- ready to takeoff -------------------- |
+     490             : 
+     491        9549 :       bool control_output_enabled = sh_control_manager_diag_.getMsg()->output_enabled;
+     492             : 
+     493        9549 :       std_msgs::Bool can_takeoff_msg;
+     494        9549 :       can_takeoff_msg.data = false;
+     495             : 
+     496             :       // | -------------------- preflight checks -------------------- |
+     497             : 
+     498        9549 :       bool position_valid = validateReference();
+     499        9549 :       bool got_topics     = topicCheck();
+     500             : 
+     501        9549 :       bool can_takeoff = got_topics && position_valid;
+     502             : 
+     503             :       // | ---------------------------------------------------------- |
+     504             : 
+     505        9549 :       can_takeoff_msg.data = can_takeoff;
+     506        9549 :       ph_can_takeoff_.publish(can_takeoff_msg);
+     507             : 
+     508        9549 :       if (armed && !control_output_enabled) {
+     509             : 
+     510         116 :         if (can_takeoff) {
+     511             : 
+     512          23 :           bool res = toggleControlOutput(true);
+     513             : 
+     514          23 :           if (!res) {
+     515           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON");
+     516             :           }
+     517             :         }
+     518             : 
+     519         116 :         double time_from_arming = (ros::Time::now() - armed_time).toSec();
+     520             : 
+     521         116 :         if (armed_time != ros::Time::UNINITIALIZED && time_from_arming > _control_output_timeout_) {
+     522             : 
+     523           3 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: could not set control output ON for %.2f secs, disarming", _control_output_timeout_);
+     524           3 :           disarm();
+     525           3 :           changeState(STATE_FINISHED);
+     526             :         }
+     527             :       }
+     528             : 
+     529        9549 :       if (_simulation_ && isGazeboSimulation()) {
+     530             : 
+     531        6062 :         std::scoped_lock lock(mutex_gazebo_spawner_diagnostics_);
+     532             : 
+     533        6062 :         if (got_gazebo_spawner_diagnostics) {
+     534             : 
+     535        6062 :           if (!gazebo_spawner_diagnostics_.spawn_called || gazebo_spawner_diagnostics_.processing) {
+     536           0 :             ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) waiting for spawner to finish spawning UAVs");
+     537           0 :             return;
+     538             :           }
+     539             : 
+     540             :         } else {
+     541             : 
+     542           0 :           ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: (simulation) missing spawner diagnostics");
+     543           0 :           return;
+     544             :         }
+     545             :       }
+     546             : 
+     547             :       // when armed and in offboard, takeoff
+     548        9549 :       if (armed && offboard && control_output_enabled) {
+     549             : 
+     550        3114 :         ros::Duration armed_time_diff    = ros::Time::now() - armed_time;
+     551        3114 :         ros::Duration offboard_time_diff = ros::Time::now() - offboard_time;
+     552             : 
+     553        3114 :         if (armed_time_diff > ros::Duration(_safety_timeout_) && offboard_time_diff > ros::Duration(_safety_timeout_)) {
+     554             : 
+     555          19 :           if (_handle_takeoff_) {
+     556          18 :             changeState(STATE_TAKEOFF);
+     557             :           } else {
+     558           1 :             changeState(STATE_FINISHED);
+     559             :           }
+     560             : 
+     561             :         } else {
+     562             : 
+     563        3095 :           double min = (armed_time_diff < offboard_time_diff) ? armed_time_diff.toSec() : offboard_time_diff.toSec();
+     564             : 
+     565        3095 :           ROS_WARN_THROTTLE(1.0, "taking off in %.0f", (_safety_timeout_ - min));
+     566             :         }
+     567             :       }
+     568             : 
+     569        9549 :       break;
+     570             :     }
+     571             : 
+     572        2668 :     case STATE_TAKEOFF: {
+     573             : 
+     574             :       // if takeoff finished
+     575        2668 :       if (control_manager_diagnostics->flying_normally) {
+     576             : 
+     577          18 :         ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: takeoff finished");
+     578             : 
+     579          18 :         changeState(STATE_FINISHED);
+     580             : 
+     581             :       } else {
+     582             : 
+     583        2650 :         ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: waiting for the takeoff to finish");
+     584             :       }
+     585             : 
+     586        2668 :       break;
+     587             :     }
+     588             : 
+     589          23 :     case STATE_FINISHED: {
+     590             : 
+     591          23 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: finished");
+     592          23 :       ros::requestShutdown();
+     593          23 :       break;
+     594             :     }
+     595             :   }
+     596             : }
+     597             : 
+     598             : //}
+     599             : 
+     600             : // --------------------------------------------------------------
+     601             : // |                          routines                          |
+     602             : // --------------------------------------------------------------
+     603             : 
+     604             : /* changeState() //{ */
+     605             : 
+     606          41 : void AutomaticStart::changeState(LandingStates_t new_state) {
+     607             : 
+     608          41 :   ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: switching states %s -> %s", state_names[current_state], state_names[new_state]);
+     609             : 
+     610          41 :   switch (new_state) {
+     611             : 
+     612           0 :     case STATE_IDLE: {
+     613             : 
+     614           0 :       break;
+     615             :     }
+     616             : 
+     617          18 :     case STATE_TAKEOFF: {
+     618             : 
+     619          18 :       if (_pre_takeoff_sleep_ > 1.0) {
+     620           0 :         ROS_INFO("[AutomaticStart]: sleeping for %.2f secs before takeoff", _pre_takeoff_sleep_);
+     621           0 :         ros::Duration(_pre_takeoff_sleep_).sleep();
+     622             :       }
+     623             : 
+     624          18 :       bool res = takeoff();
+     625             : 
+     626          18 :       if (!res) {
+     627             : 
+     628           0 :         current_state = STATE_FINISHED;
+     629             : 
+     630           0 :         return;
+     631             :       }
+     632             : 
+     633          18 :       break;
+     634             :     }
+     635             : 
+     636          23 :     case STATE_FINISHED: {
+     637             : 
+     638          23 :       break;
+     639             :     }
+     640             : 
+     641             :     break;
+     642             :   }
+     643             : 
+     644          41 :   current_state = new_state;
+     645             : }
+     646             : 
+     647             : //}
+     648             : 
+     649             : /* takeoff() //{ */
+     650             : 
+     651          18 : bool AutomaticStart::takeoff() {
+     652             : 
+     653          18 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: taking off");
+     654             : 
+     655          36 :   std_srvs::Trigger srv;
+     656             : 
+     657          18 :   bool res = service_client_takeoff_.call(srv);
+     658             : 
+     659          18 :   if (res) {
+     660             : 
+     661          18 :     if (srv.response.success) {
+     662             : 
+     663          18 :       return true;
+     664             : 
+     665             :     } else {
+     666             : 
+     667           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: taking off failed: %s", srv.response.message.c_str());
+     668             :     }
+     669             : 
+     670             :   } else {
+     671             : 
+     672           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for taking off failed");
+     673             :   }
+     674             : 
+     675           0 :   return false;
+     676             : }
+     677             : 
+     678             : //}
+     679             : 
+     680             : /* validateReference() //{ */
+     681             : 
+     682        9549 : bool AutomaticStart::validateReference() {
+     683             : 
+     684       19098 :   mrs_msgs::ValidateReference srv_out;
+     685             : 
+     686        9549 :   srv_out.request.reference.header.frame_id = _body_frame_name_;
+     687             : 
+     688        9549 :   bool res = service_client_validate_reference_.call(srv_out);
+     689             : 
+     690        9549 :   if (res) {
+     691             : 
+     692        9549 :     if (srv_out.response.success) {
+     693             : 
+     694        9473 :       ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: current position is valid");
+     695        9473 :       return true;
+     696             : 
+     697             :     } else {
+     698             : 
+     699          76 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position is not valid (safety area, bumper)!");
+     700          76 :       return false;
+     701             :     }
+     702             : 
+     703             :   } else {
+     704             : 
+     705           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: current position could not be validated");
+     706           0 :     return false;
+     707             :   }
+     708             : }
+     709             : 
+     710             : //}
+     711             : 
+     712             : /* toggleControlOutput() //{ */
+     713             : 
+     714          24 : bool AutomaticStart::toggleControlOutput(const bool& value) {
+     715             : 
+     716          24 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: setting control output %s", value ? "ON" : "OFF");
+     717             : 
+     718          48 :   std_srvs::SetBool srv;
+     719          24 :   srv.request.data = value;
+     720             : 
+     721          24 :   bool res = service_client_toggle_control_output_.call(srv);
+     722             : 
+     723          24 :   if (res) {
+     724             : 
+     725          24 :     if (srv.response.success) {
+     726             : 
+     727          24 :       return true;
+     728             : 
+     729             :     } else {
+     730             : 
+     731           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: setting of control output failed: %s", srv.response.message.c_str());
+     732             :     }
+     733             : 
+     734             :   } else {
+     735             : 
+     736           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for toggling control output failed");
+     737             :   }
+     738             : 
+     739           0 :   return false;
+     740             : }
+     741             : 
+     742             : //}
+     743             : 
+     744             : /* disarm() //{ */
+     745             : 
+     746           3 : bool AutomaticStart::disarm() {
+     747             : 
+     748           3 :   if (!hw_api_connected_) {
+     749             : 
+     750           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, missing HW API status!");
+     751             : 
+     752           0 :     return false;
+     753             :   }
+     754             : 
+     755           3 :   auto [armed, offboard, armed_time, offboard_time] = mrs_lib::get_mutexed(mutex_hw_api_status_, armed_, offboard_, armed_time_, offboard_time_);
+     756             : 
+     757           3 :   if (offboard) {
+     758             : 
+     759           1 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: cannot disarm, already in offboard mode!");
+     760             : 
+     761           1 :     return false;
+     762             :   }
+     763             : 
+     764           2 :   ROS_INFO_THROTTLE(1.0, "[AutomaticStart]: disarming");
+     765             : 
+     766           4 :   std_srvs::SetBool srv;
+     767           2 :   srv.request.data = false;
+     768             : 
+     769           2 :   bool res = service_client_arm_.call(srv);
+     770             : 
+     771           2 :   if (res) {
+     772             : 
+     773           2 :     if (srv.response.success) {
+     774             : 
+     775           2 :       return true;
+     776             : 
+     777             :     } else {
+     778             : 
+     779           0 :       ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: disarming failed");
+     780             :     }
+     781             : 
+     782             :   } else {
+     783             : 
+     784           0 :     ROS_ERROR_THROTTLE(1.0, "[AutomaticStart]: service call for disarming failed");
+     785             :   }
+     786             : 
+     787           0 :   return false;
+     788             : }
+     789             : 
+     790             : //}
+     791             : 
+     792             : /* isGazeboSimulation() //{ */
+     793             : 
+     794        9549 : bool AutomaticStart::isGazeboSimulation(void) {
+     795             : 
+     796        9549 :   if (is_gazebo_simulation_) {
+     797        6053 :     return true;
+     798             :   }
+     799             : 
+     800        6992 :   ros::V_string node_list;
+     801        3496 :   ros::master::getNodes(node_list);
+     802             : 
+     803       48826 :   for (auto& node : node_list) {
+     804       45339 :     if (node.find("mrs_drone_spawner") != std::string::npos) {
+     805           9 :       ROS_INFO("[AutomaticStart]: MRS Gazebo Simulation detected");
+     806           9 :       is_gazebo_simulation_ = true;
+     807           9 :       return true;
+     808             :     }
+     809             :   }
+     810             : 
+     811        3487 :   return false;
+     812             : }
+     813             : 
+     814             : //}
+     815             : 
+     816             : /* topicCheck() //{ */
+     817             : 
+     818        9549 : bool AutomaticStart::topicCheck(void) {
+     819             : 
+     820        9549 :   bool got_topics = true;
+     821             : 
+     822        9549 :   std::stringstream missing_topics;
+     823             : 
+     824        9549 :   if (_topic_check_enabled_) {
+     825             : 
+     826       28721 :     for (int i = 0; i < int(topic_check_topics_.size()); i++) {
+     827             : 
+     828       38270 :       if (topic_check_topics_[i].getTime() == ros::Time::UNINITIALIZED ||
+     829       38270 :           (ros::Time::now() - topic_check_topics_[i].getTime()) > ros::Duration(_topic_check_timeout_)) {
+     830             : 
+     831          74 :         missing_topics << std::endl << "\t" << topic_check_topics_[i].getTopicName();
+     832          74 :         got_topics = false;
+     833             :       }
+     834             :     }
+     835             :   }
+     836             : 
+     837        9549 :   if (!got_topics) {
+     838          74 :     ROS_WARN_STREAM_THROTTLE(1.0, "[AutomaticStart]: missing data on topics: " << missing_topics.str());
+     839             :   }
+     840             : 
+     841       19098 :   return got_topics;
+     842             : }
+     843             : 
+     844             : //}
+     845             : 
+     846             : // | -------- preflight cheks for detecting flyign UAV -------- |
+     847             : 
+     848             : /* preflightCheckSpeed() //{ */
+     849             : 
+     850        9550 : bool AutomaticStart::preflightCheckSpeed(void) {
+     851             : 
+     852        9550 :   if (!_speed_check_enabled_) {
+     853           0 :     return true;
+     854             :   }
+     855             : 
+     856       19100 :   auto estimation_diag = sh_estimation_diag_.getMsg();
+     857             : 
+     858        9550 :   double speed = std::hypot(estimation_diag->velocity.linear.x, estimation_diag->velocity.linear.y, estimation_diag->velocity.linear.z);
+     859             : 
+     860        9550 :   if (speed > _speed_check_max_speed_) {
+     861           0 :     speed_check_violated_time_ = ros::Time::now();
+     862           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the estimated speed (%.2f ms^-2) is over the limit (%.2f ms^-2)", speed, _speed_check_max_speed_);
+     863             :   }
+     864             : 
+     865        9550 :   if (speed_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     866        9550 :       (ros::Time::now() - speed_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     867           0 :     return false;
+     868             :   } else {
+     869        9550 :     return true;
+     870             :   }
+     871             : }
+     872             : 
+     873             : //}
+     874             : 
+     875             : /* preflighCheckHeight() //{ */
+     876             : 
+     877        9550 : bool AutomaticStart::preflighCheckHeight(void) {
+     878             : 
+     879        9550 :   if (!_height_check_enabled_) {
+     880           0 :     return true;
+     881             :   }
+     882             : 
+     883             :   // | ----------------- is the check possible? ----------------- |
+     884             : 
+     885       19100 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     886             : 
+     887        9550 :   if (!capabilities->produces_distance_sensor) {
+     888           0 :     return true;
+     889             :   }
+     890             : 
+     891             :   // | -------------------- do we have data? -------------------- |
+     892             : 
+     893        9550 :   if (!sh_distance_sensor_.hasMsg()) {
+     894         667 :     return true;
+     895             :   }
+     896             : 
+     897        8883 :   double height = sh_distance_sensor_.getMsg()->range;
+     898             : 
+     899        8883 :   if (height > _height_check_max_height_) {
+     900           0 :     height_check_violated_time_ = ros::Time::now();
+     901           0 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the height (%.2f m) is over the limit (%.2f m)", height, _height_check_max_height_);
+     902             :   }
+     903             : 
+     904        8883 :   if (height_check_violated_time_ != ros::Time::UNINITIALIZED &&
+     905        8883 :       (ros::Time::now() - height_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     906           0 :     return false;
+     907             :   } else {
+     908        8883 :     return true;
+     909             :   }
+     910             : }
+     911             : 
+     912             : //}
+     913             : 
+     914             : /* preflighCheckGyro() //{ */
+     915             : 
+     916        9550 : bool AutomaticStart::preflighCheckGyro(void) {
+     917             : 
+     918        9550 :   if (!_gyro_check_enabled_) {
+     919           0 :     return true;
+     920             :   }
+     921             : 
+     922             :   // | ----------------- is the check possible? ----------------- |
+     923             : 
+     924       19100 :   auto capabilities = sh_hw_api_capabilities_.getMsg();
+     925             : 
+     926        9550 :   if (!capabilities->produces_imu) {
+     927           0 :     return true;
+     928             :   }
+     929             : 
+     930             :   // | -------------------- do we have data? -------------------- |
+     931             : 
+     932        9550 :   if (!sh_imu_.hasMsg()) {
+     933           0 :     return true;
+     934             :   }
+     935             : 
+     936        9550 :   auto gyros = sh_imu_.getMsg()->angular_velocity;
+     937             : 
+     938        9550 :   if (abs(gyros.x) > _gyro_check_max_rate_ || abs(gyros.y) > _gyro_check_max_rate_ || abs(gyros.z) > _gyro_check_max_rate_) {
+     939           1 :     gyro_check_violated_time_ = ros::Time::now();
+     940           1 :     ROS_WARN_THROTTLE(1.0, "[AutomaticStart]: the angular velocity ([%.2f, %.2f, %.2f] rad/s) is over the limit (%.2f rad/s)", gyros.x, gyros.y, gyros.z,
+     941             :                       _gyro_check_max_rate_);
+     942             :   }
+     943             : 
+     944        9550 :   if (gyro_check_violated_time_ != ros::Time::UNINITIALIZED && (ros::Time::now() - gyro_check_violated_time_) < ros::Duration(_preflight_check_time_window_)) {
+     945           1 :     return false;
+     946             :   } else {
+     947        9549 :     return true;
+     948             :   }
+     949             : }
+     950             : 
+     951             : //}
+     952             : 
+     953             : }  // namespace automatic_start
+     954             : 
+     955             : }  // namespace mrs_uav_autostart
+     956             : 
+     957             : #include <pluginlib/class_list_macros.h>
+     958          25 : PLUGINLIB_EXPORT_CLASS(mrs_uav_autostart::automatic_start::AutomaticStart, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)4
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)10
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)26
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)37
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mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)26
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)4
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)37
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)2
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)10
mrs_uav_controllers::common::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)2
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+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_CONTROLLERS_COMMON_H
+       2             : #define MRS_UAV_CONTROLLERS_COMMON_H
+       3             : 
+       4             : #include <eigen3/Eigen/Eigen>
+       5             : #include <mrs_uav_managers/control_manager/common_handlers.h>
+       6             : #include <mrs_uav_managers/controller.h>
+       7             : #include <mrs_lib/attitude_converter.h>
+       8             : 
+       9             : namespace mrs_uav_controllers
+      10             : {
+      11             : 
+      12             : namespace common
+      13             : {
+      14             : 
+      15             : enum CONTROL_OUTPUT
+      16             : {
+      17             :   ACTUATORS_CMD,
+      18             :   CONTROL_GROUP,
+      19             :   ATTITUDE_RATE,
+      20             :   ATTITUDE,
+      21             :   ACCELERATION_HDG_RATE,
+      22             :   ACCELERATION_HDG,
+      23             :   VELOCITY_HDG_RATE,
+      24             :   VELOCITY_HDG,
+      25             :   POSITION
+      26             : };
+      27             : 
+      28             : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd);
+      29             : 
+      30             : std::optional<Eigen::Vector3d> sanitizeDesiredForce(const Eigen::Vector3d& desired_force, const double& tilt_over_limit, const double& tilt_saturation,
+      31             :                                                     const std::string& node_name);
+      32             : 
+      33             : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading);
+      34             : 
+      35             : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      36             : 
+      37             : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs);
+      38             : 
+      39             : std::optional<mrs_msgs::HwApiAttitudeRateCmd> attitudeController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeCmd& reference,
+      40             :                                                                  const Eigen::Vector3d& ff_rate, const Eigen::Vector3d& rate_saturation,
+      41             :                                                                  const Eigen::Vector3d& gains, const bool& parasitic_heading_rate_compensation);
+      42             : 
+      43             : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+      44             :                                                                      const Eigen::Vector3d& gains);
+      45             : 
+      46             : 
+      47             : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer);
+      48             : 
+      49             : /* throttle extraction //{ */
+      50             : 
+      51             : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output);
+      52             : 
+      53             : struct HwApiCmdExtractThrottleVisitor
+      54             : {
+      55           2 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      56             : 
+      57           2 :     double throttle = 0;
+      58             : 
+      59           2 :     if (msg.motors.size() == 0) {
+      60           0 :       return std::nullopt;
+      61             :     }
+      62             : 
+      63           2 :     throttle = 0;
+      64             : 
+      65          10 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      66           8 :       throttle += msg.motors[i];
+      67             :     };
+      68             : 
+      69           2 :     throttle /= msg.motors.size();
+      70             : 
+      71           2 :     return throttle;
+      72             :   }
+      73           3 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      74           3 :     return msg.throttle;
+      75             :   }
+      76          26 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      77          26 :     return msg.throttle;
+      78             :   }
+      79          37 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      80          37 :     return msg.throttle;
+      81             :   }
+      82           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      83           2 :     return std::nullopt;
+      84             :   }
+      85           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      86           2 :     return std::nullopt;
+      87             :   }
+      88          10 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      89          10 :     return std::nullopt;
+      90             :   }
+      91           4 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      92           4 :     return std::nullopt;
+      93             :   }
+      94           2 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+      95           2 :     return std::nullopt;
+      96             :   }
+      97             : };
+      98             : 
+      99             : //}
+     100             : 
+     101             : }  // namespace common
+     102             : 
+     103             : }  // namespace mrs_uav_controllers
+     104             : 
+     105             : #endif  // MRS_UAV_CONTROLLERS_COMMON_H
+
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mrs_uav_controllers::PIDController::reset()972
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mrs_uav_controllers::PIDController::setSaturation(double)13769
mrs_uav_controllers::PIDController::reset()972
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mrs_uav_controllers::PIDController::setParams(double const&, double const&, double const&, double const&, double const&)972
mrs_uav_controllers::PIDController::PIDController()972
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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         972 : PIDController::PIDController() {
+      43             : 
+      44         972 :   this->reset();
+      45         972 : }
+      46             : 
+      47         972 : void PIDController::setParams(const double &kp, const double &kd, const double &ki, const double &saturation, const double &antiwindup) {
+      48             : 
+      49         972 :   this->_kp_       = kp;
+      50         972 :   this->_kd_       = kd;
+      51         972 :   this->_ki_       = ki;
+      52         972 :   this->saturation = saturation;
+      53         972 :   this->antiwindup = antiwindup;
+      54         972 : }
+      55             : 
+      56       13769 : void PIDController::setSaturation(const double saturation) {
+      57             : 
+      58       13769 :   this->saturation = saturation;
+      59       13769 : }
+      60             : 
+      61         972 : void PIDController::reset(void) {
+      62             : 
+      63         972 :   this->last_error_ = 0;
+      64         972 :   this->integral_   = 0;
+      65         972 : }
+      66             : 
+      67       13769 : double PIDController::update(const double &error, const double &dt) {
+      68             : 
+      69             :   // calculate the control error difference
+      70       13769 :   double difference = (error - last_error_) / dt;
+      71       13769 :   last_error_       = error;
+      72             : 
+      73       13769 :   double p_component = _kp_ * error;       // proportional feedback
+      74       13769 :   double d_component = _kd_ * difference;  // derivative feedback
+      75       13769 :   double i_component = _ki_ * integral_;   // derivative feedback
+      76             : 
+      77       13769 :   double sum = p_component + d_component + i_component;
+      78             : 
+      79       13769 :   if (saturation > 0) {
+      80       13769 :     if (sum >= saturation) {
+      81         129 :       sum = saturation;
+      82       13640 :     } else if (sum <= -saturation) {
+      83         176 :       sum = -saturation;
+      84             :     }
+      85             :   }
+      86             : 
+      87       13769 :   if (antiwindup > 0) {
+      88       13769 :     if (std::abs(sum) < antiwindup) {
+      89             :       // add to the integral
+      90       13138 :       integral_ += error * dt;
+      91             :     }
+      92             :   }
+      93             : 
+      94             :   // return the summ of the components
+      95       13769 :   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&)197
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)2594
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&)6420
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9939
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&)69999
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&)69999
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)71982
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&)71982
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)76023
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13415984.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::common::so3transform(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, bool const&)69999
mrs_uav_controllers::common::actuatorMixer(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&, Eigen::Matrix<double, -1, -1, 0, -1, -1> const&)2594
mrs_uav_controllers::common::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)76023
mrs_uav_controllers::common::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)197
mrs_uav_controllers::common::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)9939
mrs_uav_controllers::common::orientationError(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)71982
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&)71982
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&)69999
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&)6420
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Test:MRS UAV System - Test coverage reportLines:13415984.3 %
Date:2024-02-24 08:13:25Functions: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       71982 : Eigen::Vector3d orientationError(const Eigen::Matrix3d& R, const Eigen::Matrix3d& Rd) {
+      12             : 
+      13             :   // orientation error
+      14       71982 :   Eigen::Matrix3d R_error = 0.5 * (Rd.transpose() * R - R.transpose() * Rd);
+      15             : 
+      16             :   // vectorize the orientation error
+      17             :   // clang-format off
+      18       71982 :     Eigen::Vector3d R_error_vec;
+      19       71982 :     R_error_vec << (R_error(1, 2) - R_error(2, 1)) / 2.0,
+      20       71982 :                    (R_error(2, 0) - R_error(0, 2)) / 2.0,
+      21       71982 :                    (R_error(0, 1) - R_error(1, 0)) / 2.0;
+      22             :   // clang-format on
+      23             : 
+      24      143964 :   return R_error_vec;
+      25             : }
+      26             : 
+      27             : //}
+      28             : 
+      29             : /* sanitizeDesiredForce() //{ */
+      30             : 
+      31       69999 : 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       69999 :   double theta = acos(input[2]);
+      36       69999 :   double phi   = atan2(input[1], input[0]);
+      37             : 
+      38             :   // check for the failsafe limit
+      39       69999 :   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       69999 :   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       69999 :   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       69999 :   Eigen::Vector3d output(sin(theta) * cos(phi), sin(theta) * sin(phi), cos(theta));
+      63             : 
+      64       69999 :   return {output};
+      65             : }
+      66             : 
+      67             : //}
+      68             : 
+      69             : /* so3transform() //{ */
+      70             : 
+      71       69999 : Eigen::Matrix3d so3transform(const Eigen::Vector3d& body_z, const ::Eigen::Vector3d& heading, const bool& preserve_heading) {
+      72             : 
+      73       69999 :   Eigen::Vector3d body_z_normed = body_z.normalized();
+      74             : 
+      75       69999 :   Eigen::Matrix3d Rd;
+      76             : 
+      77       69999 :   if (preserve_heading) {
+      78             : 
+      79       21891 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Baca's method");
+      80             : 
+      81             :     // | ------------------------- body z ------------------------- |
+      82       21891 :     Rd.col(2) = body_z_normed;
+      83             : 
+      84             :     // | ------------------------- body x ------------------------- |
+      85             : 
+      86             :     // construct the oblique projection
+      87       21891 :     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       43782 :     Eigen::MatrixXd A = Eigen::MatrixXd(3, 2);
+      91       21891 :     A.col(0)          = projector_body_z_compl.col(0);
+      92       21891 :     A.col(1)          = projector_body_z_compl.col(1);
+      93             : 
+      94             :     // create the basis of the projection null-space complement
+      95       43782 :     Eigen::MatrixXd B = Eigen::MatrixXd(3, 2);
+      96       21891 :     B.col(0)          = Eigen::Vector3d(1, 0, 0);
+      97       21891 :     B.col(1)          = Eigen::Vector3d(0, 1, 0);
+      98             : 
+      99             :     // oblique projector to <range_basis>
+     100       43782 :     Eigen::MatrixXd Bt_A               = B.transpose() * A;
+     101       43782 :     Eigen::MatrixXd Bt_A_pseudoinverse = ((Bt_A.transpose() * Bt_A).inverse()) * Bt_A.transpose();
+     102       21891 :     Eigen::MatrixXd oblique_projector  = A * Bt_A_pseudoinverse * B.transpose();
+     103             : 
+     104       21891 :     Rd.col(0) = oblique_projector * heading;
+     105       21891 :     Rd.col(0).normalize();
+     106             : 
+     107             :     // | ------------------------- body y ------------------------- |
+     108             : 
+     109       21891 :     Rd.col(1) = Rd.col(2).cross(Rd.col(0));
+     110       21891 :     Rd.col(1).normalize();
+     111             : 
+     112             :   } else {
+     113             : 
+     114       48108 :     ROS_DEBUG_THROTTLE(1.0, "[SO3Transform]: using Lee's method");
+     115             : 
+     116       48108 :     Rd.col(2) = body_z_normed;
+     117       48108 :     Rd.col(1) = Rd.col(2).cross(heading);
+     118       48108 :     Rd.col(1).normalize();
+     119       48108 :     Rd.col(0) = Rd.col(1).cross(Rd.col(2));
+     120       48108 :     Rd.col(0).normalize();
+     121             :   }
+     122             : 
+     123      139998 :   return Rd;
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* getLowestOutput() //{ */
+     129             : 
+     130       76023 : std::optional<CONTROL_OUTPUT> getLowestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     131             : 
+     132       76023 :   if (outputs.actuators) {
+     133        1201 :     return ACTUATORS_CMD;
+     134             :   }
+     135             : 
+     136       74822 :   if (outputs.control_group) {
+     137        2433 :     return CONTROL_GROUP;
+     138             :   }
+     139             : 
+     140       72389 :   if (outputs.attitude_rate) {
+     141       64169 :     return ATTITUDE_RATE;
+     142             :   }
+     143             : 
+     144        8220 :   if (outputs.attitude) {
+     145        2196 :     return ATTITUDE;
+     146             :   }
+     147             : 
+     148        6024 :   if (outputs.acceleration_hdg_rate) {
+     149        1068 :     return ACCELERATION_HDG_RATE;
+     150             :   }
+     151             : 
+     152        4956 :   if (outputs.acceleration_hdg) {
+     153        1015 :     return ACCELERATION_HDG;
+     154             :   }
+     155             : 
+     156        3941 :   if (outputs.velocity_hdg_rate) {
+     157        2282 :     return VELOCITY_HDG_RATE;
+     158             :   }
+     159             : 
+     160        1659 :   if (outputs.velocity_hdg) {
+     161        1191 :     return VELOCITY_HDG;
+     162             :   }
+     163             : 
+     164         468 :   if (outputs.position) {
+     165         468 :     return POSITION;
+     166             :   }
+     167             : 
+     168           0 :   return {};
+     169             : }
+     170             : 
+     171             : //}
+     172             : 
+     173             : /* getHighestOutput() //{ */
+     174             : 
+     175        9939 : std::optional<CONTROL_OUTPUT> getHighestOuput(const mrs_uav_managers::control_manager::ControlOutputModalities_t& outputs) {
+     176             : 
+     177        9939 :   if (outputs.position) {
+     178           2 :     return POSITION;
+     179             :   }
+     180             : 
+     181        9937 :   if (outputs.velocity_hdg) {
+     182           5 :     return VELOCITY_HDG;
+     183             :   }
+     184             : 
+     185        9932 :   if (outputs.velocity_hdg_rate) {
+     186           9 :     return VELOCITY_HDG_RATE;
+     187             :   }
+     188             : 
+     189        9923 :   if (outputs.acceleration_hdg) {
+     190           4 :     return ACCELERATION_HDG;
+     191             :   }
+     192             : 
+     193        9919 :   if (outputs.acceleration_hdg_rate) {
+     194           6 :     return ACCELERATION_HDG_RATE;
+     195             :   }
+     196             : 
+     197        9913 :   if (outputs.attitude) {
+     198        5676 :     return ATTITUDE;
+     199             :   }
+     200             : 
+     201        4237 :   if (outputs.attitude_rate) {
+     202        1421 :     return ATTITUDE_RATE;
+     203             :   }
+     204             : 
+     205        2816 :   if (outputs.control_group) {
+     206        1411 :     return CONTROL_GROUP;
+     207             :   }
+     208             : 
+     209        1405 :   if (outputs.actuators) {
+     210        1405 :     return ACTUATORS_CMD;
+     211             :   }
+     212             : 
+     213           0 :   return {};
+     214             : }
+     215             : 
+     216             : //}
+     217             : 
+     218             : /* extractThrottle() //{ */
+     219             : 
+     220         197 : std::optional<double> extractThrottle(const mrs_uav_managers::Controller::ControlOutput& control_output) {
+     221             : 
+     222         197 :   if (!control_output.control_output) {
+     223         109 :     return {};
+     224             :   }
+     225             : 
+     226         176 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* attitudeController() //{ */
+     232             : 
+     233       71982 : 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       71982 :   Eigen::Matrix3d R  = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     238       71982 :   Eigen::Matrix3d Rd = mrs_lib::AttitudeConverter(reference.orientation);
+     239             : 
+     240             :   // calculate the orientation error
+     241       71982 :   Eigen::Vector3d E = common::orientationError(R, Rd);
+     242             : 
+     243       71982 :   Eigen::Vector3d rate_feedback = gains.array() * E.array() + ff_rate.array();
+     244             : 
+     245             :   // | ----------- parasitic heading rate compensation ---------- |
+     246             : 
+     247       71982 :   if (parasitic_heading_rate_compensation) {
+     248             : 
+     249       20769 :     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       20769 :     Eigen::Vector3d rp_heading_rate_compensation(0, 0, 0);
+     253             : 
+     254       20769 :     Eigen::Vector3d q_feedback_yawless = rate_feedback;
+     255       20769 :     q_feedback_yawless(2)              = 0;  // nullyfy the effect of the original yaw feedback
+     256             : 
+     257       20769 :     double parasitic_heading_rate = 0;
+     258             : 
+     259             :     try {
+     260       20769 :       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       20769 :       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       20769 :     rate_feedback += rp_heading_rate_compensation;
+     274             :   }
+     275             : 
+     276             :   // | --------------- saturate the attitude rate --------------- |
+     277             : 
+     278       71982 :   if (rate_feedback[0] > rate_saturation[0]) {
+     279           0 :     rate_feedback[0] = rate_saturation[0];
+     280       71982 :   } else if (rate_feedback[0] < -rate_saturation[0]) {
+     281           0 :     rate_feedback[0] = -rate_saturation[0];
+     282             :   }
+     283             : 
+     284       71982 :   if (rate_feedback[1] > rate_saturation[1]) {
+     285           0 :     rate_feedback[1] = rate_saturation[1];
+     286       71982 :   } else if (rate_feedback[1] < -rate_saturation[1]) {
+     287           0 :     rate_feedback[1] = -rate_saturation[1];
+     288             :   }
+     289             : 
+     290       71982 :   if (rate_feedback[2] > rate_saturation[2]) {
+     291           0 :     rate_feedback[2] = rate_saturation[2];
+     292       71982 :   } 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       71982 :   mrs_msgs::HwApiAttitudeRateCmd cmd;
+     299             : 
+     300       71982 :   cmd.stamp = ros::Time::now();
+     301             : 
+     302       71982 :   cmd.body_rate.x = rate_feedback[0];
+     303       71982 :   cmd.body_rate.y = rate_feedback[1];
+     304       71982 :   cmd.body_rate.z = rate_feedback[2];
+     305             : 
+     306       71982 :   cmd.throttle = reference.throttle;
+     307             : 
+     308      143964 :   return cmd;
+     309             : }
+     310             : 
+     311             : //}
+     312             : 
+     313             : /* attitudeRateController() //{ */
+     314             : 
+     315        6420 : std::optional<mrs_msgs::HwApiControlGroupCmd> attitudeRateController(const mrs_msgs::UavState& uav_state, const mrs_msgs::HwApiAttitudeRateCmd& reference,
+     316             :                                                                      const Eigen::Vector3d& gains) {
+     317             : 
+     318        6420 :   Eigen::Vector3d des_rate(reference.body_rate.x, reference.body_rate.y, reference.body_rate.z);
+     319        6420 :   Eigen::Vector3d cur_rate(uav_state.velocity.angular.x, uav_state.velocity.angular.y, uav_state.velocity.angular.z);
+     320             : 
+     321        6420 :   Eigen::Vector3d ctrl_group_action = (des_rate - cur_rate).array() * gains.array();
+     322             : 
+     323        6420 :   mrs_msgs::HwApiControlGroupCmd cmd;
+     324             : 
+     325        6420 :   cmd.stamp = ros::Time::now();
+     326             : 
+     327        6420 :   cmd.throttle = reference.throttle;
+     328             : 
+     329        6420 :   cmd.roll  = ctrl_group_action[0];
+     330        6420 :   cmd.pitch = ctrl_group_action[1];
+     331        6420 :   cmd.yaw   = ctrl_group_action[2];
+     332             : 
+     333       12840 :   return {cmd};
+     334             : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* actuatorMixer() //{ */
+     339             : 
+     340        2594 : mrs_msgs::HwApiActuatorCmd actuatorMixer(const mrs_msgs::HwApiControlGroupCmd& ctrl_group_cmd, const Eigen::MatrixXd& mixer) {
+     341             : 
+     342        2594 :   Eigen::Vector4d ctrl_group(ctrl_group_cmd.roll, ctrl_group_cmd.pitch, ctrl_group_cmd.yaw, ctrl_group_cmd.throttle);
+     343             : 
+     344        5188 :   Eigen::VectorXd motors = mixer * ctrl_group;
+     345             : 
+     346        2594 :   double min = motors.minCoeff();
+     347             : 
+     348        2594 :   if (min < 0.0) {
+     349           0 :     motors.array() += abs(min);
+     350             :   }
+     351             : 
+     352        2594 :   double max = motors.maxCoeff();
+     353             : 
+     354        2594 :   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        2594 :   mrs_msgs::HwApiActuatorCmd actuator_msg;
+     373             : 
+     374        2594 :   actuator_msg.stamp = ros::Time::now();
+     375             : 
+     376       12970 :   for (int i = 0; i < motors.size(); i++) {
+     377       10376 :     actuator_msg.motors.push_back(motors[i]);
+     378             :   }
+     379             : 
+     380        5188 :   return actuator_msg;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : }  // namespace common
+     386             : 
+     387             : }  // namespace mrs_uav_controllers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.overview.html b/mrs_uav_controllers/src/common.cpp.gcov.overview.html new file mode 100644 index 0000000000..dd0d0db077 --- /dev/null +++ b/mrs_uav_controllers/src/common.cpp.gcov.overview.html @@ -0,0 +1,117 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/common.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_controllers/src/common.cpp.gcov.png b/mrs_uav_controllers/src/common.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..ae7a39fe11d1881d88a0dc8901f5aabbb7614895 GIT binary patch literal 1368 zcmV-e1*iInP)oiq$s z=NH2Am0;OgEB5CBD62zU z{0~B*^^;g{Gnu2ZEX$e<>)sE0Gw^o&IfD=AUo8*QLFz)L2chU0?~CiP#6q@!xE%yCid_+&Kx1$X`Ja*nN?~tAa88? zKxc45lH{g&hp4A`P%0=Wl0@2v;*`|P257*h)lzi5P09)vF~-ogLHF{kqn$e_BWA63 zT|ZzqrfK_Pm;^p)TdPy%vB_^ddlL%xod}6F9ZySpBI5RJbHNG^7bEJFc_eM9K18AS zlz}qTG>9r?&@oJ7mQ9@k|2en>0O4Qr9>_{2d{;rV02Nei0?e0~vk3mHFkQt?X%&Hgh@e!z5aZl>AF1HmZ-6fatSs6np!&6Xc} zl~Ps9t}XOBAwsy zCno%9ht(gGkktU1U^rzS?3-V2o}jedXND`JIX(+@LWrcETCVa3s@*(hGUJ zX|OEox?KlhI$&d+#G`*{E$i=nh&oZ;h0p!H6po_8Ji=3m$a-zvr$E-y`SleyI!TE% z;=y6EuKZ?Y&u=@QDHT#Az85o-%Zvb!mS>^5S1}ZeGfWz|cBi6E@eaeVNp}VNQ$$a# a + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/failsafe_controller.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions: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()32
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)315
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&)9713
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)112060
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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:2024-02-24 08:13:25Functions:91181.8 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_controllers::failsafe_controller::FailsafeController::deactivate()32
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>)81
mrs_uav_controllers::failsafe_controller::FailsafeController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)9713
mrs_uav_controllers::failsafe_controller::FailsafeController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)315
mrs_uav_controllers::failsafe_controller::FailsafeController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)112060
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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Current view:top level - mrs_uav_controllers/src - failsafe_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13119467.5 %
Date:2024-02-24 08:13:25Functions:91181.8 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : 
+       8             : #include <mrs_uav_managers/controller.h>
+       9             : 
+      10             : #include <mrs_lib/profiler.h>
+      11             : #include <mrs_lib/attitude_converter.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : 
+      15             : //}
+      16             : 
+      17             : namespace mrs_uav_controllers
+      18             : {
+      19             : 
+      20             : namespace failsafe_controller
+      21             : {
+      22             : 
+      23             : /* class FailsafeController //{ */
+      24             : 
+      25             : class FailsafeController : public mrs_uav_managers::Controller {
+      26             : 
+      27             : public:
+      28             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      29             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      30             : 
+      31             :   bool activate(const ControlOutput &last_control_output);
+      32             :   void deactivate(void);
+      33             : 
+      34             :   void updateInactive(const mrs_msgs::UavState &uav_state, const std::optional<mrs_msgs::TrackerCommand> &tracker_command);
+      35             : 
+      36             :   ControlOutput updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command);
+      37             : 
+      38             :   const mrs_msgs::ControllerStatus getStatus();
+      39             : 
+      40             :   void switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      41             : 
+      42             :   void resetDisturbanceEstimators(void);
+      43             : 
+      44             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      45             : 
+      46             :   double getHeadingSafely(const geometry_msgs::Quaternion &quaternion);
+      47             : 
+      48             : private:
+      49             :   ros::NodeHandle nh_;
+      50             : 
+      51             :   bool is_initialized_ = false;
+      52             :   bool is_active_      = false;
+      53             : 
+      54             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      55             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      56             : 
+      57             :   // | ----------------------- parameters ----------------------- |
+      58             : 
+      59             :   double _descend_speed_;
+      60             :   double _descend_acceleration_;
+      61             : 
+      62             :   double _kq_;
+      63             :   double _kw_;
+      64             : 
+      65             :   // | ------------------- remember uav state ------------------- |
+      66             : 
+      67             :   mrs_msgs::UavState uav_state_;
+      68             :   std::mutex         mutex_uav_state_;
+      69             : 
+      70             :   // | --------------------- throttle control --------------------- |
+      71             : 
+      72             :   double _uav_mass_;
+      73             :   double uav_mass_difference_;
+      74             : 
+      75             :   double hover_throttle_;
+      76             : 
+      77             :   double _throttle_decrease_rate_;
+      78             :   double _initial_throttle_percentage_;
+      79             : 
+      80             :   // | ----------------------- yaw control ---------------------- |
+      81             : 
+      82             :   double heading_setpoint_;
+      83             : 
+      84             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+      85             : 
+      86             :   // | ------------------ activation and output ----------------- |
+      87             : 
+      88             :   ControlOutput last_control_output_;
+      89             :   ControlOutput activation_control_output_;
+      90             : 
+      91             :   ros::Time         last_update_time_;
+      92             :   std::atomic<bool> first_iteration_ = true;
+      93             : 
+      94             :   // | ------------------------ profiler ------------------------ |
+      95             : 
+      96             :   mrs_lib::Profiler profiler_;
+      97             :   bool              _profiler_enabled_ = false;
+      98             : 
+      99             :   // | ----------------------- constraints ---------------------- |
+     100             : 
+     101             :   mrs_msgs::DynamicsConstraints constraints_;
+     102             :   std::mutex                    mutex_constraints_;
+     103             : };
+     104             : 
+     105             : //}
+     106             : 
+     107             : // --------------------------------------------------------------
+     108             : // |                   controller's interface                   |
+     109             : // --------------------------------------------------------------
+     110             : 
+     111             : /* initialize() //{ */
+     112             : 
+     113          81 : 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          81 :   nh_ = nh;
+     117             : 
+     118          81 :   common_handlers_  = common_handlers;
+     119          81 :   private_handlers_ = private_handlers;
+     120             : 
+     121          81 :   _uav_mass_ = common_handlers->getMass();
+     122             : 
+     123          81 :   ros::Time::waitForValid();
+     124             : 
+     125             :   // | ---------- loading params using the parent's nh ---------- |
+     126             : 
+     127         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     128             : 
+     129          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     130             : 
+     131          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/failsafe_controller.yaml");
+     139          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/failsafe_controller.yaml");
+     140             : 
+     141         162 :   const std::string yaml_namespace = "mrs_uav_controllers/failsafe_controller/";
+     142             : 
+     143          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/throttle_decrease_rate", _throttle_decrease_rate_);
+     144          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "throttle_output/initial_throttle_percentage", _initial_throttle_percentage_);
+     145             : 
+     146          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "attitude_controller/gains/kp", _kq_);
+     147             : 
+     148          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "rate_controller/gains/kp", _kw_);
+     149             : 
+     150          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "velocity_output/descend_speed", _descend_speed_);
+     151          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "acceleration_output/descend_acceleration", _descend_acceleration_);
+     152             : 
+     153          81 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     154           0 :     ROS_ERROR("[FailsafeController]: Could not load all parameters!");
+     155           0 :     return false;
+     156             :   }
+     157             : 
+     158          81 :   _descend_speed_        = std::abs(_descend_speed_);
+     159          81 :   _descend_acceleration_ = std::abs(_descend_acceleration_);
+     160             : 
+     161          81 :   uav_mass_difference_ = 0;
+     162             : 
+     163             :   // | ----------------------- subscribers ---------------------- |
+     164             : 
+     165          81 :   mrs_lib::SubscribeHandlerOptions shopts;
+     166          81 :   shopts.nh                 = nh_;
+     167          81 :   shopts.node_name          = "FailsafeController";
+     168          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     169          81 :   shopts.threadsafe         = true;
+     170          81 :   shopts.autostart          = true;
+     171          81 :   shopts.queue_size         = 10;
+     172          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     173             : 
+     174          81 :   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          81 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     179             : 
+     180             :   // | ------------------------ profiler ------------------------ |
+     181             : 
+     182          81 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "FailsafeController", _profiler_enabled_);
+     183             : 
+     184             :   // | ----------------------- finish init ---------------------- |
+     185             : 
+     186          81 :   ROS_INFO("[FailsafeController]: initialized");
+     187             : 
+     188          81 :   is_initialized_ = true;
+     189             : 
+     190          81 :   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          32 : void FailsafeController::deactivate(void) {
+     254             : 
+     255          32 :   is_active_           = false;
+     256          32 :   first_iteration_     = false;
+     257          32 :   uav_mass_difference_ = 0;
+     258             : 
+     259          32 :   ROS_INFO("[FailsafeController]: deactivated");
+     260          32 : }
+     261             : 
+     262             : //}
+     263             : 
+     264             : /* updateInactive() //{ */
+     265             : 
+     266      112060 : void FailsafeController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     267             : 
+     268      112060 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     269             : 
+     270      112060 :   last_update_time_ = ros::Time::now();
+     271             : 
+     272      112060 :   first_iteration_ = false;
+     273      112060 : }
+     274             : 
+     275             : //}
+     276             : 
+     277             : /* //{ updateWhenAcctive() */
+     278             : 
+     279        9713 : FailsafeController::ControlOutput FailsafeController::updateActive(const mrs_msgs::UavState &                       uav_state,
+     280             :                                                                    [[maybe_unused]] const mrs_msgs::TrackerCommand &tracker_command) {
+     281             : 
+     282       29139 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     283       29139 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("FailsafeController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     284             : 
+     285             :   {
+     286       19426 :     std::scoped_lock lock(mutex_uav_state_);
+     287             : 
+     288        9713 :     uav_state_ = uav_state;
+     289             :   }
+     290             : 
+     291        9713 :   if (!is_active_) {
+     292           0 :     return ControlOutput();
+     293             :   }
+     294             : 
+     295        9713 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     296             : 
+     297             :   // | -------------------- calculate the dt -------------------- |
+     298             : 
+     299             :   double dt;
+     300             : 
+     301        9713 :   if (first_iteration_) {
+     302           7 :     dt               = 0.01;
+     303           7 :     first_iteration_ = false;
+     304             :   } else {
+     305        9706 :     dt = (ros::Time::now() - last_update_time_).toSec();
+     306             :   }
+     307             : 
+     308        9713 :   last_update_time_ = ros::Time::now();
+     309             : 
+     310        9713 :   hover_throttle_ -= _throttle_decrease_rate_ * dt;
+     311             : 
+     312        9713 :   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        9713 :   } else if (hover_throttle_ > 1.0) {
+     316           0 :     hover_throttle_ = 1.0;
+     317        9713 :   } else if (hover_throttle_ < 0.0) {
+     318           0 :     hover_throttle_ = 0.0;
+     319             :   }
+     320             : 
+     321             :   // | --------------- prepare the control output --------------- |
+     322             : 
+     323       19426 :   FailsafeController::ControlOutput control_output;
+     324             : 
+     325        9713 :   control_output.diagnostics.controller = "FailsafeController";
+     326             : 
+     327        9713 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     328             : 
+     329        9713 :   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        9713 :   control_output.diagnostics.controller = "FailsafeController";
+     335             : 
+     336             :   // --------------------------------------------------------------
+     337             :   // |                       position output                      |
+     338             :   // --------------------------------------------------------------
+     339             : 
+     340        9713 :   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        9713 :   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        9713 :   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        9713 :   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        9713 :   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        9713 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+     422             : 
+     423        9713 :   attitude_cmd.stamp       = ros::Time::now();
+     424        9713 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(0, 0, heading_setpoint_);
+     425        9713 :   attitude_cmd.throttle    = hover_throttle_;
+     426             : 
+     427        9713 :   if (highest_modality.value() == common::ATTITUDE) {
+     428        5534 :     ROS_DEBUG_THROTTLE(1.0, "[FailsafeController]: returning attitude output");
+     429        5534 :     control_output.control_output = attitude_cmd;
+     430        5534 :     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         315 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr FailsafeController::setConstraints([
+     506             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     507             : 
+     508         315 :   if (!is_initialized_) {
+     509           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     510             :   }
+     511             : 
+     512         315 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     513             : 
+     514         315 :   ROS_INFO("[FailsafeController]: updating constraints");
+     515             : 
+     516         630 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     517         315 :   res.success = true;
+     518         315 :   res.message = "constraints updated";
+     519             : 
+     520         315 :   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          81 : 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..4270c6e8f0 --- /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:1752217280.7 %
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failsafe_controller.cpp +
67.5%67.5%
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<unnamed>67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
se3_controller.cpp +
79.6%79.6%
+ 		79.6 %616 / 77488.2 %15 / 17
<unnamed>79.6 %616 / 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 +
84.3%84.3%
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<unnamed>84.3 %134 / 159100.0 %9 / 9
+
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Test:MRS UAV System - Test coverage reportLines:1752217280.7 %
Date:2024-02-24 08:13:25Functions:586687.9 %
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se3_controller.cpp +
79.6%79.6%
+ 		79.6 %616 / 77488.2 %15 / 17
<unnamed>79.6 %616 / 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 +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
<unnamed>84.3 %134 / 159100.0 %9 / 9
midair_activation_controller.cpp +
88.7%88.7%
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common.cpp +
84.3%84.3%
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<unnamed>84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
<unnamed>67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
<unnamed>88.7 %134 / 15181.8 %9 / 11
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 +
79.6%79.6%
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Test:MRS UAV System - Test coverage reportLines:1752217280.7 %
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failsafe_controller.cpp +
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midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
se3_controller.cpp +
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+ 		79.6 %616 / 77488.2 %15 / 17
mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 18
common.cpp +
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+ 		84.3 %134 / 159100.0 %9 / 9
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+ + + diff --git a/mrs_uav_controllers/src/index-sort-l.html b/mrs_uav_controllers/src/index-sort-l.html new file mode 100644 index 0000000000..e9bdcf9ea2 --- /dev/null +++ b/mrs_uav_controllers/src/index-sort-l.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1752217280.7 %
Date:2024-02-24 08:13:25Functions: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 +
79.6%79.6%
+ 		79.6 %616 / 77488.2 %15 / 17
mpc_controller.cpp +
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+ 		82.4 %737 / 89488.9 %16 / 18
common.cpp +
84.3%84.3%
+ 		84.3 %134 / 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..c0fb10c74c --- /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:1752217280.7 %
Date:2024-02-24 08:13:25Functions: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 +
84.3%84.3%
+ 		84.3 %134 / 159100.0 %9 / 9
failsafe_controller.cpp +
67.5%67.5%
+ 		67.5 %131 / 19481.8 %9 / 11
midair_activation_controller.cpp +
88.7%88.7%
+ 		88.7 %134 / 15181.8 %9 / 11
mpc_controller.cpp +
82.4%82.4%
+ 		82.4 %737 / 89488.9 %16 / 18
se3_controller.cpp +
79.6%79.6%
+ 		79.6 %616 / 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..2b3946e9af --- /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:2024-02-24 08:13:25Functions:91181.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::midair_activation_controller::MidairActivationController::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::resetDisturbanceEstimators()0
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)11
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()75
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()87
mrs_uav_controllers::midair_activation_controller::MidairActivationController::activate(mrs_uav_managers::Controller::ControlOutput const&)111
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)226
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)315
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)121547
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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:2024-02-24 08:13:25Functions: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()81
mrs_uav_controllers::midair_activation_controller::MidairActivationController::deactivate()75
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>)81
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)226
mrs_uav_controllers::midair_activation_controller::MidairActivationController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)315
mrs_uav_controllers::midair_activation_controller::MidairActivationController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)121547
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)11
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&)111
mrs_uav_controllers::midair_activation_controller::MidairActivationController::getStatus()87
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0679c78cc0 --- /dev/null +++ b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/midair_activation_controller.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html b/mrs_uav_controllers/src/midair_activation_controller.cpp.gcov.html new file mode 100644 index 0000000000..37a9597bed --- /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:2024-02-24 08:13:25Functions: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          81 : 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          81 :   nh_ = nh;
+      90             : 
+      91          81 :   common_handlers_  = common_handlers;
+      92          81 :   private_handlers_ = private_handlers;
+      93             : 
+      94          81 :   _uav_mass_ = common_handlers->getMass();
+      95             : 
+      96          81 :   ros::Time::waitForValid();
+      97             : 
+      98             :   // | ---------- loading params using the parent's nh ---------- |
+      99             : 
+     100         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     101             : 
+     102          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     103             : 
+     104          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/midair_activation_controller.yaml");
+     112          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/midair_activation_controller.yaml");
+     113             : 
+     114          81 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     115           0 :     ROS_ERROR("[MidairActivationController]: Could not load all parameters!");
+     116           0 :     return false;
+     117             :   }
+     118             : 
+     119          81 :   uav_mass_difference_ = 0;
+     120             : 
+     121             :   // | ------------------------ profiler ------------------------ |
+     122             : 
+     123          81 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationController", _profiler_enabled_);
+     124             : 
+     125             :   // | ----------------------- finish init ---------------------- |
+     126             : 
+     127          81 :   ROS_INFO("[MidairActivationController]: initialized");
+     128             : 
+     129          81 :   is_initialized_ = true;
+     130             : 
+     131          81 :   return true;
+     132             : }
+     133             : 
+     134             : //}
+     135             : 
+     136             : /* activate() //{ */
+     137             : 
+     138         111 : bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {
+     139             : 
+     140         111 :   ROS_INFO("[MidairActivationController]: activating");
+     141             : 
+     142         111 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     143             : 
+     144         111 :   hover_throttle_ = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, _uav_mass_ * common_handlers_->g);
+     145             : 
+     146         111 :   is_active_ = true;
+     147             : 
+     148         111 :   ROS_INFO("[MidairActivationController]: activated, hover throttle %.2f", hover_throttle_);
+     149             : 
+     150         222 :   return true;
+     151             : }
+     152             : 
+     153             : //}
+     154             : 
+     155             : /* deactivate() //{ */
+     156             : 
+     157          75 : void MidairActivationController::deactivate(void) {
+     158             : 
+     159          75 :   is_active_           = false;
+     160          75 :   uav_mass_difference_ = 0;
+     161             : 
+     162          75 :   ROS_INFO("[MidairActivationController]: deactivated");
+     163          75 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* updateInactive() //{ */
+     168             : 
+     169      121547 : void MidairActivationController::updateInactive(const mrs_msgs::UavState &                                      uav_state,
+     170             :                                                 [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     171             : 
+     172      121547 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     173      121547 : }
+     174             : 
+     175             : //}
+     176             : 
+     177             : /* //{ updateWhenAcctive() */
+     178             : 
+     179         226 : MidairActivationController::ControlOutput MidairActivationController::updateActive(const mrs_msgs::UavState &      uav_state,
+     180             :                                                                                    const mrs_msgs::TrackerCommand &tracker_command) {
+     181             : 
+     182         678 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     183             :   mrs_lib::ScopeTimer timer =
+     184         678 :       mrs_lib::ScopeTimer("MidairActivationController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     185             : 
+     186         226 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     187             : 
+     188         226 :   if (!is_active_) {
+     189           0 :     return Controller::ControlOutput();
+     190             :   }
+     191             : 
+     192             :   // | --------------- prepare the control output --------------- |
+     193             : 
+     194         452 :   ControlOutput control_output;
+     195             : 
+     196         226 :   control_output.diagnostics.controller = "MidairActivationController";
+     197             : 
+     198         226 :   auto highest_modality = common::getHighestOuput(common_handlers_->control_output_modalities);
+     199             : 
+     200         226 :   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         226 :   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           5 :     case common::VELOCITY_HDG: {
+     228             : 
+     229          10 :       mrs_msgs::HwApiVelocityHdgCmd cmd;
+     230             : 
+     231           5 :       cmd.header.stamp    = ros::Time::now();
+     232           5 :       cmd.header.frame_id = uav_state.header.frame_id;
+     233             : 
+     234           5 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     235           5 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     236           5 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     237             : 
+     238           5 :       cmd.heading = getHeadingSafely(uav_state, tracker_command);
+     239             : 
+     240           5 :       control_output.control_output = cmd;
+     241             : 
+     242           5 :       break;
+     243             :     }
+     244             : 
+     245           9 :     case common::VELOCITY_HDG_RATE: {
+     246             : 
+     247          18 :       mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+     248             : 
+     249           9 :       cmd.header.stamp    = ros::Time::now();
+     250           9 :       cmd.header.frame_id = uav_state.header.frame_id;
+     251             : 
+     252           9 :       cmd.velocity.x = uav_state.velocity.linear.x;
+     253           9 :       cmd.velocity.y = uav_state.velocity.linear.y;
+     254           9 :       cmd.velocity.z = uav_state.velocity.linear.z;
+     255             : 
+     256           9 :       cmd.heading_rate = 0;
+     257             : 
+     258           9 :       control_output.control_output = cmd;
+     259             : 
+     260           9 :       break;
+     261             :     }
+     262             : 
+     263           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           6 :     case common::ACCELERATION_HDG_RATE: {
+     282             : 
+     283          12 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+     284             : 
+     285           6 :       cmd.header.stamp    = ros::Time::now();
+     286           6 :       cmd.header.frame_id = uav_state.header.frame_id;
+     287             : 
+     288           6 :       cmd.acceleration.x = uav_state.acceleration.linear.x;
+     289           6 :       cmd.acceleration.y = uav_state.acceleration.linear.y;
+     290           6 :       cmd.acceleration.z = uav_state.acceleration.linear.z;
+     291             : 
+     292           6 :       cmd.heading_rate = 0;
+     293             : 
+     294           6 :       control_output.control_output = cmd;
+     295             : 
+     296           6 :       break;
+     297             :     }
+     298             : 
+     299         142 :     case common::ATTITUDE: {
+     300             : 
+     301         142 :       mrs_msgs::HwApiAttitudeCmd cmd;
+     302             : 
+     303         142 :       cmd.stamp = ros::Time::now();
+     304             : 
+     305         142 :       cmd.orientation = uav_state.pose.orientation;
+     306         142 :       cmd.throttle    = hover_throttle_;
+     307             : 
+     308         142 :       control_output.control_output = cmd;
+     309             : 
+     310         142 :       break;
+     311             :     }
+     312             : 
+     313          28 :     case common::ATTITUDE_RATE: {
+     314             : 
+     315          28 :       mrs_msgs::HwApiAttitudeRateCmd cmd;
+     316             : 
+     317          28 :       cmd.stamp = ros::Time::now();
+     318             : 
+     319          28 :       cmd.body_rate.x = 0;
+     320          28 :       cmd.body_rate.y = 0;
+     321          28 :       cmd.body_rate.z = 0;
+     322             : 
+     323          28 :       cmd.throttle = hover_throttle_;
+     324             : 
+     325          28 :       control_output.control_output = cmd;
+     326             : 
+     327          28 :       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          12 :     case common::ACTUATORS_CMD: {
+     347             : 
+     348          24 :       mrs_msgs::HwApiActuatorCmd cmd;
+     349             : 
+     350          12 :       cmd.stamp = ros::Time::now();
+     351             : 
+     352          60 :       for (int i = 0; i < common_handlers_->throttle_model.n_motors; i++) {
+     353          48 :         cmd.motors.push_back(hover_throttle_);
+     354             :       }
+     355             : 
+     356          12 :       control_output.control_output = cmd;
+     357             : 
+     358          12 :       break;
+     359             :     }
+     360             :   }
+     361             : 
+     362         226 :   return control_output;
+     363             : }  // namespace midair_activation_controller
+     364             : 
+     365             : //}
+     366             : 
+     367             : /* getStatus() //{ */
+     368             : 
+     369          87 : const mrs_msgs::ControllerStatus MidairActivationController::getStatus() {
+     370             : 
+     371          87 :   mrs_msgs::ControllerStatus controller_status;
+     372             : 
+     373          87 :   controller_status.active = is_active_;
+     374             : 
+     375          87 :   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         315 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationController::setConstraints([
+     397             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     398             : 
+     399         315 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     400             : }
+     401             : 
+     402             : //}
+     403             : 
+     404             : /* getHeadingSafely() //{ */
+     405             : 
+     406          11 : double MidairActivationController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     407             : 
+     408             :   try {
+     409          11 :     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          81 : 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:2024-02-24 08:13:25Functions: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()81
mrs_uav_controllers::mpc_controller::MpcController::deactivate()137
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>)162
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)162
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)171
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)221
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)630
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&)727
mrs_uav_controllers::mpc_controller::MpcController::getStatus()11248
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)12459
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&)49124
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)49851
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)50072
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)99672
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)193474
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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..ab936feaf3 --- /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:2024-02-24 08:13:25Functions:161888.9 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_controllers::mpc_controller::MpcController::deactivate()137
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>)162
mrs_uav_controllers::mpc_controller::MpcController::timerGains(ros::TimerEvent const&)12459
mrs_uav_controllers::mpc_controller::MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig&, unsigned int)162
mrs_uav_controllers::mpc_controller::MpcController::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)50072
mrs_uav_controllers::mpc_controller::MpcController::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)630
mrs_uav_controllers::mpc_controller::MpcController::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)193474
mrs_uav_controllers::mpc_controller::MpcController::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)49851
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&)727
mrs_uav_controllers::mpc_controller::MpcController::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)99672
mrs_uav_controllers::mpc_controller::MpcController::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)221
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&)49124
mrs_uav_controllers::mpc_controller::MpcController::activate(mrs_uav_managers::Controller::ControlOutput const&)171
mrs_uav_controllers::mpc_controller::MpcController::getStatus()11248
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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..54551b185f --- /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:2024-02-24 08:13:25Functions: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         162 : 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         162 :   nh_ = nh;
+     260             : 
+     261         162 :   common_handlers_  = common_handlers;
+     262         162 :   private_handlers_ = private_handlers;
+     263             : 
+     264         162 :   _uav_mass_ = common_handlers_->getMass();
+     265         162 :   name_      = private_handlers_->runtime_name;
+     266             : 
+     267         162 :   ros::Time::waitForValid();
+     268             : 
+     269             :   // | ---------- loading params using the parent's nh ---------- |
+     270             : 
+     271         324 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     272             : 
+     273         162 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     274             : 
+     275         162 :   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         162 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/mpc_controller.yaml");
+     283         162 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/mpc_controller.yaml");
+     284         162 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/" + private_handlers->name_space + ".yaml");
+     285         162 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/" + private_handlers->name_space + ".yaml");
+     286             : 
+     287         324 :   const std::string yaml_namespace = "mrs_uav_controllers/" + private_handlers_->name_space + "/";
+     288             : 
+     289             :   // load the dynamicall model parameters
+     290         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/number_of_states", _n_states_);
+     291         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt1", _dt1_);
+     292         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_model/dt2", _dt2_);
+     293             : 
+     294         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizon_length", _horizon_length_);
+     295             : 
+     296         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_speed", _max_speed_horizontal_);
+     297         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_acceleration", _max_acceleration_horizontal_);
+     298         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/max_jerk", _max_jerk_);
+     299             : 
+     300         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/Q", _mat_Q_);
+     301         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/horizontal/S", _mat_S_);
+     302             : 
+     303         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_speed", _max_speed_vertical_);
+     304         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_acceleration", _max_acceleration_vertical_);
+     305         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/max_u", _max_u_vertical_);
+     306             : 
+     307         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/Q", _mat_Q_z_);
+     308         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/mpc_parameters/vertical/S", _mat_S_z_);
+     309             : 
+     310         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/verbose", _mpc_solver_verbose_);
+     311         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "mpc/solver/max_iterations", _mpc_solver_max_iterations_);
+     312             : 
+     313             :   // | ------------------------- rampup ------------------------- |
+     314             : 
+     315         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/enabled", _rampup_enabled_);
+     316         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/rampup/speed", _rampup_speed_);
+     317             : 
+     318             :   // | --------------------- integral gains --------------------- |
+     319             : 
+     320         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw", gains_.kiwxy);
+     321         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kib", gains_.kibxy);
+     322             : 
+     323             :   // integrator limits
+     324         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/integral_gains/kiw_lim", gains_.kiwxy_lim);
+     325         162 :   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         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/roll_pitch", gains_.kq_roll_pitch);
+     331         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude/yaw", gains_.kq_yaw);
+     332             : 
+     333             :   // attitude rate gains
+     334         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/roll_pitch", gains_.kw_rp);
+     335         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gains/attitude_rate/yaw", gains_.kw_y);
+     336             : 
+     337             :   // mass estimator
+     338         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km", gains_.km);
+     339         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/mass_estimator/km_lim", gains_.km_lim);
+     340             : 
+     341             :   // constraints
+     342         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     343         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     344             : 
+     345         162 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     346             : 
+     347         162 :   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         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/constraints/throttle_saturation", _throttle_saturation_);
+     353             : 
+     354             :   // gain filtering
+     355         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     356         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     357         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/rate", _gain_filtering_rate_);
+     358         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     359             : 
+     360             :   // angular rate feed forward
+     361         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     362             : 
+     363             :   // output mode
+     364         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "so3/preferred_output", drs_params_.preferred_output_mode);
+     365             : 
+     366             :   // | ------------------- position pid params ------------------ |
+     367             : 
+     368         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     369         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     370         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     371             : 
+     372         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     373         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     374         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     375             : 
+     376         162 :   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         162 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     384         162 :         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         162 :   uav_mass_difference_ = 0;
+     390         162 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     391         162 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     392             : 
+     393             :   // | ----------------- prepare the MPC solver ----------------- |
+     394             : 
+     395         162 :   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         162 :                                                                             _dt2_, 0, 1.0);
+     397         162 :   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         162 :                                                                             _dt2_, 0, 1.0);
+     399         162 :   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         162 :                                                                             _dt1_, _dt2_, 0.5, 0.5);
+     401             : 
+     402             :   // | --------------- dynamic reconfigure server --------------- |
+     403             : 
+     404         162 :   drs_params_.kiwxy         = gains_.kiwxy;
+     405         162 :   drs_params_.kibxy         = gains_.kibxy;
+     406         162 :   drs_params_.kq_roll_pitch = gains_.kq_roll_pitch;
+     407         162 :   drs_params_.kq_yaw        = gains_.kq_yaw;
+     408         162 :   drs_params_.km            = gains_.km;
+     409         162 :   drs_params_.km_lim        = gains_.km_lim;
+     410         162 :   drs_params_.kiwxy_lim     = gains_.kiwxy_lim;
+     411         162 :   drs_params_.kibxy_lim     = gains_.kibxy_lim;
+     412             : 
+     413         162 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     414         162 :   drs_->updateConfig(drs_params_);
+     415         162 :   Drs_t::CallbackType f = boost::bind(&MpcController::callbackDrs, this, _1, _2);
+     416         162 :   drs_->setCallback(f);
+     417             : 
+     418             :   // | --------------------- service servers -------------------- |
+     419             : 
+     420         162 :   service_set_integral_terms_ = nh_.advertiseService("set_integral_terms_in", &MpcController::callbackSetIntegralTerms, this);
+     421             : 
+     422             :   // | ------------------------- timers ------------------------- |
+     423             : 
+     424         162 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &MpcController::timerGains, this, false, false);
+     425             : 
+     426             :   // | ---------------------- position pid ---------------------- |
+     427             : 
+     428         162 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     429         162 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     430         162 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     431         162 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     432             : 
+     433             :   // | ------------------------ profiler ------------------------ |
+     434             : 
+     435         162 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MpcController", _profiler_enabled_);
+     436             : 
+     437             :   // | ----------------------- finish init ---------------------- |
+     438             : 
+     439         162 :   ROS_INFO("[%s]: initialized", this->name_.c_str());
+     440             : 
+     441         162 :   is_initialized_ = true;
+     442             : 
+     443         162 :   return true;
+     444             : }
+     445             : 
+     446             : //}
+     447             : 
+     448             : /* //{ activate() */
+     449             : 
+     450         171 : bool MpcController::activate(const ControlOutput &last_control_output) {
+     451             : 
+     452         171 :   activation_control_output_ = last_control_output;
+     453             : 
+     454         171 :   double activation_mass = _uav_mass_;
+     455             : 
+     456         171 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     457           6 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     458           6 :     activation_mass += uav_mass_difference_;
+     459           6 :     ROS_INFO("[%s]: setting mass difference from the last control output: %.2f kg", this->name_.c_str(), uav_mass_difference_);
+     460             :   }
+     461             : 
+     462         171 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     463             : 
+     464         171 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     465           6 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     466           6 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     467             : 
+     468           6 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     469           6 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     470             : 
+     471           6 :     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         171 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     479             : 
+     480             :   // rampup check
+     481         171 :   if (_rampup_enabled_ && throttle_last_controller) {
+     482             : 
+     483          55 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     484             : 
+     485          55 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     486             : 
+     487          55 :     if (throttle_difference > 0) {
+     488          33 :       rampup_direction_ = 1;
+     489          22 :     } else if (throttle_difference < 0) {
+     490           2 :       rampup_direction_ = -1;
+     491             :     } else {
+     492          20 :       rampup_direction_ = 0;
+     493             :     }
+     494             : 
+     495          55 :     ROS_INFO("[%s]: activating rampup with initial throttle: %.4f, target: %.4f", name_.c_str(), throttle_last_controller.value(), hover_throttle);
+     496             : 
+     497          55 :     rampup_active_     = true;
+     498          55 :     rampup_start_time_ = ros::Time::now();
+     499          55 :     rampup_last_time_  = ros::Time::now();
+     500          55 :     rampup_throttle_   = throttle_last_controller.value();
+     501             : 
+     502          55 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     503             :   }
+     504             : 
+     505         171 :   first_iteration_ = true;
+     506         171 :   mute_gains_      = true;
+     507             : 
+     508         171 :   timer_gains_.start();
+     509             : 
+     510         171 :   ROS_INFO("[%s]: activated", this->name_.c_str());
+     511             : 
+     512         171 :   is_active_ = true;
+     513             : 
+     514         171 :   return true;
+     515             : }
+     516             : 
+     517             : //}
+     518             : 
+     519             : /* //{ deactivate() */
+     520             : 
+     521         137 : void MpcController::deactivate(void) {
+     522             : 
+     523         137 :   is_active_           = false;
+     524         137 :   first_iteration_     = false;
+     525         137 :   uav_mass_difference_ = 0;
+     526             : 
+     527         137 :   timer_gains_.stop();
+     528             : 
+     529         137 :   ROS_INFO("[%s]: deactivated", this->name_.c_str());
+     530         137 : }
+     531             : 
+     532             : //}
+     533             : 
+     534             : /* updateInactive() //{ */
+     535             : 
+     536      193474 : void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &tracker_command) {
+     537             : 
+     538      193474 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     539             : 
+     540      193474 :   last_update_time_ = uav_state.header.stamp;
+     541             : 
+     542      193474 :   first_iteration_ = false;
+     543      193474 : }
+     544             : 
+     545             : //}
+     546             : 
+     547             : /* //{ updateWhenAcctive() */
+     548             : 
+     549       50072 : MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+     550             : 
+     551      150216 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     552      150216 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     553             : 
+     554      100144 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     555             : 
+     556       50072 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     557             : 
+     558       50072 :   last_control_output_.desired_heading_rate          = {};
+     559       50072 :   last_control_output_.desired_orientation           = {};
+     560       50072 :   last_control_output_.desired_unbiased_acceleration = {};
+     561       50072 :   last_control_output_.control_output                = {};
+     562             : 
+     563       50072 :   if (!is_active_) {
+     564           0 :     return last_control_output_;
+     565             :   }
+     566             : 
+     567             :   // | -------------------- calculate the dt -------------------- |
+     568             : 
+     569             :   double dt;
+     570             : 
+     571       50072 :   if (first_iteration_) {
+     572          56 :     dt               = 0.01;
+     573          56 :     first_iteration_ = false;
+     574             :   } else {
+     575       50016 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     576             :   }
+     577             : 
+     578       50072 :   last_update_time_ = uav_state.header.stamp;
+     579             : 
+     580       50072 :   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       50072 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     590             : 
+     591       50072 :   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       50072 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     601       44623 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: prioritizing attitude rate output", name_.c_str());
+     602       44623 :     lowest_modality = common::ATTITUDE_RATE;
+     603        5449 :   } 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        5449 :   } 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        5449 :   } 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       50072 :   switch (lowest_modality.value()) {
+     615             : 
+     616         221 :     case common::POSITION: {
+     617         221 :       positionPassthrough(uav_state, tracker_command);
+     618         221 :       break;
+     619             :     }
+     620             : 
+     621         250 :     case common::VELOCITY_HDG: {
+     622         250 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     623         250 :       break;
+     624             :     }
+     625             : 
+     626         477 :     case common::VELOCITY_HDG_RATE: {
+     627         477 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     628         477 :       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         551 :     case common::ACCELERATION_HDG_RATE: {
+     637         551 :       MPC(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     638         551 :       break;
+     639             :     }
+     640             : 
+     641        1074 :     case common::ATTITUDE: {
+     642        1074 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE);
+     643        1074 :       break;
+     644             :     }
+     645             : 
+     646       44623 :     case common::ATTITUDE_RATE: {
+     647       44623 :       MPC(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     648       44623 :       break;
+     649             :     }
+     650             : 
+     651        1210 :     case common::CONTROL_GROUP: {
+     652        1210 :       MPC(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     653        1210 :       break;
+     654             :     }
+     655             : 
+     656        1201 :     case common::ACTUATORS_CMD: {
+     657        1201 :       MPC(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     658        1201 :       break;
+     659             :     }
+     660             : 
+     661           0 :     default: {
+     662           0 :       break;
+     663             :     }
+     664             :   }
+     665             : 
+     666       50072 :   return last_control_output_;
+     667             : }
+     668             : 
+     669             : //}
+     670             : 
+     671             : /* //{ getStatus() */
+     672             : 
+     673       11248 : const mrs_msgs::ControllerStatus MpcController::getStatus() {
+     674             : 
+     675       11248 :   mrs_msgs::ControllerStatus controller_status;
+     676             : 
+     677       11248 :   controller_status.active = is_active_;
+     678             : 
+     679       11248 :   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         630 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcController::setConstraints([
+     740             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &constraints) {
+     741             : 
+     742         630 :   if (!is_initialized_) {
+     743           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     744             :   }
+     745             : 
+     746         630 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     747             : 
+     748         630 :   ROS_INFO("[%s]: updating constraints", this->name_.c_str());
+     749             : 
+     750        1260 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     751         630 :   res.success = true;
+     752         630 :   res.message = "constraints updated";
+     753             : 
+     754         630 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     755             : }
+     756             : 
+     757             : //}
+     758             : 
+     759             : // --------------------------------------------------------------
+     760             : // |                         controllers                        |
+     761             : // --------------------------------------------------------------
+     762             : 
+     763             : /* Mpc() //{ */
+     764             : 
+     765       49124 : 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       98248 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     769       49124 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     770       49124 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     771             : 
+     772             :   // | ----------------- get the current heading ---------------- |
+     773             : 
+     774       49124 :   double uav_heading = getHeadingSafely(uav_state, tracker_command);
+     775             : 
+     776             :   // | ------------------- prepare constraints ------------------ |
+     777             : 
+     778       49124 :   double max_speed_horizontal        = _max_speed_horizontal_;
+     779       49124 :   double max_speed_vertical          = _max_speed_vertical_;
+     780       49124 :   double max_acceleration_horizontal = _max_acceleration_horizontal_;
+     781       49124 :   double max_acceleration_vertical   = _max_acceleration_vertical_;
+     782       49124 :   double max_jerk                    = _max_jerk_;
+     783       49124 :   double max_u_vertical              = _max_u_vertical_;
+     784             : 
+     785       49124 :   if (tracker_command.use_full_state_prediction) {
+     786             : 
+     787       32097 :     max_speed_horizontal = 1.5 * (constraints.horizontal_speed);
+     788       32097 :     max_speed_vertical   = 1.5 * (constraints.vertical_ascending_speed < constraints.vertical_descending_speed ? constraints.vertical_ascending_speed
+     789             :                                                                                                              : constraints.vertical_descending_speed);
+     790             : 
+     791       32097 :     max_acceleration_horizontal = 1.5 * (constraints.horizontal_acceleration);
+     792       32097 :     max_acceleration_vertical =
+     793       32097 :         1.5 * (constraints.vertical_ascending_acceleration < constraints.vertical_descending_acceleration ? constraints.vertical_ascending_acceleration
+     794             :                                                                                                           : constraints.vertical_descending_acceleration);
+     795             : 
+     796       32097 :     max_jerk       = 1.5 * constraints.horizontal_jerk;
+     797       32097 :     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       49124 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     810       49124 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     811       49124 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     812             : 
+     813       49124 :   Rp << tracker_command.position.x, tracker_command.position.y, tracker_command.position.z;  // fill the desired position
+     814       49124 :   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       49124 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     821       49124 :   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       49124 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     825             : 
+     826             :   // Ow - UAV angular rate
+     827       49124 :   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       49124 :   Eigen::Vector3d Ep = Rp - Op;
+     836       49124 :   Eigen::Vector3d Ev = Rv - Ov;
+     837             : 
+     838             :   // | ------------------- initial conditions ------------------- |
+     839             : 
+     840       98248 :   Eigen::MatrixXd initial_x = Eigen::MatrixXd::Zero(3, 1);
+     841       98248 :   Eigen::MatrixXd initial_y = Eigen::MatrixXd::Zero(3, 1);
+     842       98248 :   Eigen::MatrixXd initial_z = Eigen::MatrixXd::Zero(3, 1);
+     843             : 
+     844             :   /* initial x //{ */
+     845             : 
+     846             :   {
+     847             :     double acceleration;
+     848             :     double velocity;
+     849       49124 :     double coef = 1.5;
+     850             : 
+     851       49124 :     if (fabs(uav_state.acceleration.linear.x) < coef * max_acceleration_horizontal) {
+     852       49124 :       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       49124 :     if (fabs(uav_state.velocity.linear.x) < coef * max_speed_horizontal) {
+     861       49124 :       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       49124 :     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       49124 :     double coef = 1.5;
+     880             : 
+     881       49124 :     if (fabs(uav_state.acceleration.linear.y) < coef * max_acceleration_horizontal) {
+     882       49124 :       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       49124 :     if (fabs(uav_state.velocity.linear.y) < coef * max_speed_horizontal) {
+     891       49124 :       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       49124 :     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       49124 :     double coef = 1.5;
+     910             : 
+     911       49124 :     if (fabs(uav_state.acceleration.linear.z) < coef * max_acceleration_horizontal) {
+     912       49124 :       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       49124 :     if (fabs(uav_state.velocity.linear.z) < coef * max_speed_vertical) {
+     921       49124 :       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       49124 :     initial_z << uav_state.pose.position.z, velocity, acceleration;
+     930             :   }
+     931             : 
+     932             :   //}
+     933             : 
+     934             :   // | ---------------------- set reference --------------------- |
+     935             : 
+     936       98248 :   Eigen::MatrixXd mpc_reference_x = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     937       98248 :   Eigen::MatrixXd mpc_reference_y = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     938       98248 :   Eigen::MatrixXd mpc_reference_z = Eigen::MatrixXd::Zero(_horizon_length_ * _n_states_, 1);
+     939             : 
+     940             :   // prepare the full reference vector
+     941       49124 :   if (tracker_command.use_full_state_prediction) {
+     942             : 
+     943       32097 :     mpc_reference_x(0, 0) = tracker_command.position.x;
+     944       32097 :     mpc_reference_y(0, 0) = tracker_command.position.y;
+     945       32097 :     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      834522 :     for (int i = 1; i < _horizon_length_; i++) {
+     951      802425 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].x;
+     952      802425 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].y;
+     953      802425 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.full_state_prediction.position[i].z;
+     954             :     }
+     955             : 
+     956      834522 :     for (int i = 1; i < _horizon_length_; i++) {
+     957      802425 :       mpc_reference_x((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].x;
+     958      802425 :       mpc_reference_y((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].y;
+     959      802425 :       mpc_reference_z((i * _n_states_) + 1, 0) = tracker_command.full_state_prediction.velocity[i].z;
+     960             :     }
+     961             : 
+     962      834522 :     for (int i = 1; i < _horizon_length_; i++) {
+     963      802425 :       mpc_reference_x((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].x;
+     964      802425 :       mpc_reference_y((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].y;
+     965      802425 :       mpc_reference_z((i * _n_states_) + 2, 0) = tracker_command.full_state_prediction.acceleration[i].z;
+     966             :     }
+     967             : 
+     968             :   } else {
+     969             : 
+     970      459729 :     for (int i = 0; i < _horizon_length_; i++) {
+     971      442702 :       mpc_reference_x((i * _n_states_) + 0, 0) = tracker_command.position.x;
+     972      442702 :       mpc_reference_y((i * _n_states_) + 0, 0) = tracker_command.position.y;
+     973      442702 :       mpc_reference_z((i * _n_states_) + 0, 0) = tracker_command.position.z;
+     974             :     }
+     975             :   }
+     976             : 
+     977             :   // | ------------------ set the penalizations ----------------- |
+     978             : 
+     979       98248 :   std::vector<double> temp_Q_horizontal = _mat_Q_;
+     980       98248 :   std::vector<double> temp_Q_vertical   = _mat_Q_z_;
+     981             : 
+     982       98248 :   std::vector<double> temp_S_horizontal = _mat_S_;
+     983       98248 :   std::vector<double> temp_S_vertical   = _mat_S_z_;
+     984             : 
+     985       49124 :   if (!tracker_command.use_position_horizontal) {
+     986           0 :     temp_Q_horizontal[0] = 0;
+     987           0 :     temp_S_horizontal[0] = 0;
+     988             :   }
+     989             : 
+     990       49124 :   if (!tracker_command.use_velocity_horizontal) {
+     991           0 :     temp_Q_horizontal[1] = 0;
+     992           0 :     temp_S_horizontal[1] = 0;
+     993             :   }
+     994             : 
+     995       49124 :   if (!tracker_command.use_position_vertical) {
+     996           0 :     temp_Q_vertical[0] = 0;
+     997           0 :     temp_S_vertical[0] = 0;
+     998             :   }
+     999             : 
+    1000       49124 :   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       49124 :   mpc_solver_x_->setQ(temp_Q_horizontal);
+    1008       49124 :   mpc_solver_x_->setS(temp_S_horizontal);
+    1009       49124 :   mpc_solver_x_->setParams();
+    1010       49124 :   mpc_solver_x_->setLastInput(mpc_solver_x_u_);
+    1011       49124 :   mpc_solver_x_->loadReference(mpc_reference_x);
+    1012       49124 :   mpc_solver_x_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1013       49124 :   mpc_solver_x_->setInitialState(initial_x);
+    1014       49124 :   [[maybe_unused]] int iters_x = mpc_solver_x_->solveMPC();
+    1015       49124 :   mpc_solver_x_u_              = mpc_solver_x_->getFirstControlInput();
+    1016             : 
+    1017       49124 :   mpc_solver_y_->setQ(temp_Q_horizontal);
+    1018       49124 :   mpc_solver_y_->setS(temp_S_horizontal);
+    1019       49124 :   mpc_solver_y_->setParams();
+    1020       49124 :   mpc_solver_y_->setLastInput(mpc_solver_y_u_);
+    1021       49124 :   mpc_solver_y_->loadReference(mpc_reference_y);
+    1022       49124 :   mpc_solver_y_->setLimits(max_speed_horizontal, 999, max_acceleration_horizontal, max_jerk, _dt1_, _dt2_);
+    1023       49124 :   mpc_solver_y_->setInitialState(initial_y);
+    1024       49124 :   [[maybe_unused]] int iters_y = mpc_solver_y_->solveMPC();
+    1025       49124 :   mpc_solver_y_u_              = mpc_solver_y_->getFirstControlInput();
+    1026             : 
+    1027       49124 :   mpc_solver_z_->setQ(temp_Q_vertical);
+    1028       49124 :   mpc_solver_z_->setS(temp_S_vertical);
+    1029       49124 :   mpc_solver_z_->setParams();
+    1030       49124 :   mpc_solver_z_->setLastInput(mpc_solver_z_u_);
+    1031       49124 :   mpc_solver_z_->loadReference(mpc_reference_z);
+    1032       49124 :   mpc_solver_z_->setLimits(max_speed_vertical, max_acceleration_vertical, max_u_vertical, 999.0, _dt1_, _dt2_);
+    1033       49124 :   mpc_solver_z_->setInitialState(initial_z);
+    1034       49124 :   [[maybe_unused]] int iters_z = mpc_solver_z_->solveMPC();
+    1035       49124 :   mpc_solver_z_u_              = mpc_solver_z_->getFirstControlInput();
+    1036             : 
+    1037             :   // | ----------- disable lateral feedback if needed ----------- |
+    1038             : 
+    1039       49124 :   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       49124 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+    1047             : 
+    1048       49124 :   Eigen::Array3d Kw(0, 0, 0);
+    1049       49124 :   Eigen::Array3d Kq;
+    1050             : 
+    1051             :   {
+    1052       49124 :     std::scoped_lock lock(mutex_gains_);
+    1053             : 
+    1054       49124 :     Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+    1055             : 
+    1056       49124 :     Kw[0] = gains.kw_rp;
+    1057       49124 :     Kw[1] = gains.kw_rp;
+    1058       49124 :     Kw[2] = gains.kw_y;
+    1059             :   }
+    1060             : 
+    1061             :   // | ---------- desired orientation matrix and force ---------- |
+    1062             : 
+    1063             :   // get body integral in the world frame
+    1064             : 
+    1065       49124 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+    1066             : 
+    1067             :   {
+    1068             : 
+    1069       98248 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+    1070             : 
+    1071       49124 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+    1072       49124 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+    1073       49124 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+    1074       49124 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+    1075       49124 :     Ib_b_stamped.vector.z        = 0;
+    1076             : 
+    1077       98248 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+    1078             : 
+    1079       49124 :     if (res) {
+    1080       49124 :       Ib_w[0] = res.value().vector.x;
+    1081       49124 :       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       49124 :   if (tracker_command.use_acceleration && !tracker_command.use_full_state_prediction) {
+    1090        1614 :     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       47510 :     Ra << mpc_solver_x_u_, mpc_solver_y_u_, mpc_solver_z_u_;
+    1093             :   }
+    1094             : 
+    1095       49124 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+    1096             : 
+    1097       49124 :   Eigen::Vector3d feed_forward = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+    1098             : 
+    1099       49124 :   Eigen::Vector3d integral_feedback;
+    1100             :   {
+    1101       49124 :     std::scoped_lock lock(mutex_integrals_);
+    1102             : 
+    1103       49124 :     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       98248 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+    1118             : 
+    1119       49124 :     Eigen::Vector3d integration_switch(1, 1, 0);
+    1120             : 
+    1121             :     // integrate the world error
+    1122             : 
+    1123             :     // antiwindup
+    1124       49124 :     double temp_gain = gains.kiwxy;
+    1125       49124 :     if (!tracker_command.disable_antiwindups) {
+    1126       40692 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1127       17524 :         temp_gain = 0;
+    1128       17524 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for world integral kicks in", this->name_.c_str());
+    1129             :       }
+    1130             :     }
+    1131             : 
+    1132       49124 :     if (integral_terms_enabled_) {
+    1133       49124 :       if (tracker_command.use_position_horizontal) {
+    1134       49124 :         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       49124 :     bool world_integral_saturated = false;
+    1142       49124 :     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       49124 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+    1146           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+    1147           0 :       world_integral_saturated = true;
+    1148       49124 :     } 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       49124 :     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       49124 :     world_integral_saturated = false;
+    1159       49124 :     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       49124 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+    1163           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+    1164           0 :       world_integral_saturated = true;
+    1165       49124 :     } 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       49124 :     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       98248 :     std::scoped_lock lock(mutex_gains_);
+    1181             : 
+    1182       49124 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+    1183       49124 :     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       98248 :       geometry_msgs::Vector3Stamped Ep_stamped;
+    1189             : 
+    1190       49124 :       Ep_stamped.header.stamp    = ros::Time::now();
+    1191       49124 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+    1192       49124 :       Ep_stamped.vector.x        = Ep(0);
+    1193       49124 :       Ep_stamped.vector.y        = Ep(1);
+    1194       49124 :       Ep_stamped.vector.z        = Ep(2);
+    1195             : 
+    1196      147372 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+    1197             : 
+    1198       49124 :       if (res) {
+    1199       49124 :         Ep_fcu_untilted[0] = res.value().vector.x;
+    1200       49124 :         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       98248 :       geometry_msgs::Vector3Stamped Ev_stamped;
+    1209             : 
+    1210       49124 :       Ev_stamped.header.stamp    = ros::Time::now();
+    1211       49124 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+    1212       49124 :       Ev_stamped.vector.x        = Ev(0);
+    1213       49124 :       Ev_stamped.vector.y        = Ev(1);
+    1214       49124 :       Ev_stamped.vector.z        = Ev(2);
+    1215             : 
+    1216      147372 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+    1217             : 
+    1218       49124 :       if (res) {
+    1219       49124 :         Ev_fcu_untilted[0] = res.value().vector.x;
+    1220       49124 :         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       49124 :     double temp_gain = gains.kibxy;
+    1230       49124 :     if (!tracker_command.disable_antiwindups) {
+    1231       40692 :       if (rampup_active_ || sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2)) > 0.3) {
+    1232       17524 :         temp_gain = 0;
+    1233       17524 :         ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for body integral kicks in", this->name_.c_str());
+    1234             :       }
+    1235             :     }
+    1236             : 
+    1237       49124 :     if (integral_terms_enabled_) {
+    1238       49124 :       if (tracker_command.use_position_horizontal) {
+    1239       49124 :         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       49124 :     bool body_integral_saturated = false;
+    1247       49124 :     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       49124 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1251           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1252           0 :       body_integral_saturated = true;
+    1253       49124 :     } 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       49124 :     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       49124 :     body_integral_saturated = false;
+    1264       49124 :     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       49124 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1268           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1269           0 :       body_integral_saturated = true;
+    1270       49124 :     } 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       49124 :     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       49124 :   Eigen::Vector3d des_acc = integral_feedback / total_mass + Ra;
+    1283             : 
+    1284       49124 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1285             : 
+    1286        1016 :     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         551 :       double des_hdg_ff = 0;
+    1301             : 
+    1302         551 :       if (tracker_command.use_heading_rate) {
+    1303         551 :         des_hdg_ff = tracker_command.heading_rate;
+    1304             :       }
+    1305             : 
+    1306        1102 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1307             : 
+    1308         551 :       cmd.acceleration.x = des_acc[0];
+    1309         551 :       cmd.acceleration.y = des_acc[1];
+    1310         551 :       cmd.acceleration.z = des_acc[2];
+    1311             : 
+    1312         551 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1313             : 
+    1314         551 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1315             : 
+    1316         551 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1317             : 
+    1318         551 :       cmd.heading_rate = des_hdg_rate;
+    1319             : 
+    1320         551 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1321             : 
+    1322         551 :       last_control_output_.control_output = cmd;
+    1323             :     }
+    1324             : 
+    1325             :     // | -------------- unbiased desired acceleration ------------- |
+    1326             : 
+    1327        1016 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1328             : 
+    1329             :     {
+    1330             : 
+    1331        2032 :       geometry_msgs::Vector3Stamped world_accel;
+    1332             : 
+    1333        1016 :       world_accel.header.stamp    = ros::Time::now();
+    1334        1016 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1335        1016 :       world_accel.vector.x        = Ra[0];
+    1336        1016 :       world_accel.vector.y        = Ra[1];
+    1337        1016 :       world_accel.vector.z        = Ra[2];
+    1338             : 
+    1339        3048 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1340             : 
+    1341        1016 :       if (res) {
+    1342        1016 :         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        1016 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1348             : 
+    1349             :     // | ----------------- fill in the diagnostics ---------------- |
+    1350             : 
+    1351        1016 :     last_control_output_.diagnostics.ramping_up = false;
+    1352             : 
+    1353        1016 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1354        1016 :     last_control_output_.diagnostics.mass_difference = 0;
+    1355        1016 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1356             : 
+    1357        1016 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1358             : 
+    1359        1016 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1360        1016 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1361             : 
+    1362        1016 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1363        1016 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1364             : 
+    1365        1016 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1366        1016 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1367             : 
+    1368        1016 :     last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1369             : 
+    1370        1016 :     last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * max_speed_horizontal;
+    1371        1016 :     last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * max_acceleration_horizontal;
+    1372             : 
+    1373        1016 :     last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * max_speed_vertical;
+    1374        1016 :     last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1375             : 
+    1376        1016 :     last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * max_speed_vertical;
+    1377        1016 :     last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * max_acceleration_vertical;
+    1378             : 
+    1379        1016 :     last_control_output_.diagnostics.controller = name_;
+    1380             : 
+    1381        1016 :     return;
+    1382             :   }
+    1383             : 
+    1384             :   /* mass estimatior //{ */
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                integrate the mass difference               |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390             :   {
+    1391       96216 :     std::scoped_lock lock(mutex_gains_);
+    1392             : 
+    1393             :     // antiwindup
+    1394       48108 :     double temp_gain = gains.km;
+    1395       95236 :     if (rampup_active_ ||
+    1396       47128 :         (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       13387 :       temp_gain = 0;
+    1398       13387 :       ROS_DEBUG_THROTTLE(1.0, "[%s]: anti-windup for the mass kicks in", this->name_.c_str());
+    1399             :     }
+    1400             : 
+    1401       48108 :     if (tracker_command.use_position_vertical) {
+    1402       48108 :       uav_mass_difference_ += temp_gain * Ep[2] * dt;
+    1403             :     }
+    1404             : 
+    1405             :     // saturate the mass estimator
+    1406       48108 :     bool uav_mass_saturated = false;
+    1407       48108 :     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       48108 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1411           0 :       uav_mass_difference_ = gains.km_lim;
+    1412           0 :       uav_mass_saturated   = true;
+    1413       48108 :     } 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       48108 :     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       48108 :   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       48108 :   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       48108 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1441             : 
+    1442       48108 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "MpcController");
+    1443             : 
+    1444       48108 :   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       48108 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1458             : 
+    1459             :   // --------------------------------------------------------------
+    1460             :   // |               desired orientation + throttle               |
+    1461             :   // --------------------------------------------------------------
+    1462             : 
+    1463             :   // | ------------------- desired orientation ------------------ |
+    1464             : 
+    1465       48108 :   Eigen::Matrix3d Rd;
+    1466             : 
+    1467       48108 :   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       48108 :     Eigen::Vector3d bxd;  // desired heading vector
+    1484             : 
+    1485       48108 :     if (tracker_command.use_heading) {
+    1486       48108 :       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       48108 :     Rd = common::so3transform(f_normed, bxd, false);
+    1493             :   }
+    1494             : 
+    1495             :   // | -------------------- desired throttle -------------------- |
+    1496             : 
+    1497       48108 :   double desired_thrust_force = f.dot(R.col(2));
+    1498       48108 :   double throttle             = 0;
+    1499             : 
+    1500       48108 :   if (rampup_active_) {
+    1501             : 
+    1502             :     // deactivate the rampup when the times up
+    1503         980 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1504             : 
+    1505          49 :       rampup_active_ = false;
+    1506             : 
+    1507          49 :       ROS_INFO("[%s]: rampup finished", name_.c_str());
+    1508             : 
+    1509             :     } else {
+    1510             : 
+    1511         931 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1512             : 
+    1513         931 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1514             : 
+    1515         931 :       rampup_last_time_ = ros::Time::now();
+    1516             : 
+    1517         931 :       throttle = rampup_throttle_;
+    1518             : 
+    1519         931 :       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
+    1520             :     }
+    1521             : 
+    1522             :   } else {
+    1523             : 
+    1524       47128 :     if (desired_thrust_force >= 0) {
+    1525       47128 :       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       48108 :   bool throttle_saturated = false;
+    1534             : 
+    1535       48108 :   if (!std::isfinite(throttle)) {
+    1536             : 
+    1537           0 :     ROS_ERROR("[%s]: NaN detected in variable 'throttle'!!!", name_.c_str());
+    1538           0 :     return;
+    1539             : 
+    1540       48108 :   } 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       48108 :   } 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       48108 :   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       48108 :   double desired_x_accel = 0;
+    1569       48108 :   double desired_y_accel = 0;
+    1570       48108 :   double desired_z_accel = 0;
+    1571             : 
+    1572             :   {
+    1573       48108 :     Eigen::Vector3d thrust_vector = desired_thrust_force * Rd.col(2);
+    1574             : 
+    1575       48108 :     double world_accel_x = (thrust_vector[0] / total_mass) - (Iw_w_[0] / total_mass) - (Ib_w[0] / total_mass);
+    1576       48108 :     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       48108 :     double world_accel_z = tracker_command.acceleration.z;
+    1580             : 
+    1581       96216 :     geometry_msgs::Vector3Stamped world_accel;
+    1582             : 
+    1583       48108 :     world_accel.header.stamp    = ros::Time::now();
+    1584       48108 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1585       48108 :     world_accel.vector.x        = world_accel_x;
+    1586       48108 :     world_accel.vector.y        = world_accel_y;
+    1587       48108 :     world_accel.vector.z        = world_accel_z;
+    1588             : 
+    1589      144324 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1590             : 
+    1591       48108 :     if (res) {
+    1592             : 
+    1593       48108 :       desired_x_accel = res.value().vector.x;
+    1594       48108 :       desired_y_accel = res.value().vector.y;
+    1595       48108 :       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       48108 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1603             : 
+    1604             :   // fill the unbiased desired accelerations
+    1605       48108 :   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       48108 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1610             : 
+    1611       48108 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1612       48108 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1613       48108 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1614             : 
+    1615       48108 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1616             : 
+    1617       48108 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1618       48108 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1619             : 
+    1620       48108 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1621       48108 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1622             : 
+    1623       48108 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1624       48108 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1625             : 
+    1626       48108 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1627             : 
+    1628       48108 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1629       48108 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1630             : 
+    1631       48108 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1632       48108 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1633             : 
+    1634       48108 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1635       48108 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1636             : 
+    1637       48108 :   last_control_output_.diagnostics.controller = name_;
+    1638             : 
+    1639             :   // | ------------ construct the attitude reference ------------ |
+    1640             : 
+    1641       48108 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1642             : 
+    1643       48108 :   attitude_cmd.stamp       = ros::Time::now();
+    1644       48108 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1645       48108 :   attitude_cmd.throttle    = throttle;
+    1646             : 
+    1647       48108 :   if (output_modality == common::ATTITUDE) {
+    1648             : 
+    1649        1074 :     last_control_output_.control_output = attitude_cmd;
+    1650             : 
+    1651        1074 :     return;
+    1652             :   }
+    1653             : 
+    1654             :   // --------------------------------------------------------------
+    1655             :   // |                      attitude control                      |
+    1656             :   // --------------------------------------------------------------
+    1657             : 
+    1658       47034 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1659             : 
+    1660       47034 :   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       47034 :   } else if (tracker_command.use_heading_rate) {
+    1665             : 
+    1666             :     // to fill in the feed forward yaw rate
+    1667       47033 :     double desired_yaw_rate = 0;
+    1668             : 
+    1669             :     try {
+    1670       47033 :       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       47033 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1677             :   }
+    1678             : 
+    1679             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1680             : 
+    1681       47034 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1682             : 
+    1683       47034 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1684             : 
+    1685       30009 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: using jerk feedforward", name_.c_str());
+    1686             : 
+    1687       30009 :     Eigen::Matrix3d I;
+    1688       30009 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1689       30009 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1690       30009 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1691             :   }
+    1692             : 
+    1693             :   // | --------------- run the attitude controller -------------- |
+    1694             : 
+    1695       47034 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1696             : 
+    1697       47034 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq, false);
+    1698             : 
+    1699       47034 :   if (!attitude_rate_command) {
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   // | --------- fill in the already known attitude rate -------- |
+    1704             : 
+    1705             :   {
+    1706             :     try {
+    1707       47034 :       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       47034 :   if (output_modality == common::ATTITUDE_RATE) {
+    1716             : 
+    1717       44623 :     last_control_output_.control_output = attitude_rate_command;
+    1718             : 
+    1719       44623 :     return;
+    1720             :   }
+    1721             : 
+    1722             :   // --------------------------------------------------------------
+    1723             :   // |                    Attitude rate control                   |
+    1724             :   // --------------------------------------------------------------
+    1725             : 
+    1726        2411 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1727             : 
+    1728        2411 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1729             : 
+    1730        2411 :   if (!control_group_command) {
+    1731           0 :     return;
+    1732             :   }
+    1733             : 
+    1734        2411 :   if (output_modality == common::CONTROL_GROUP) {
+    1735             : 
+    1736        1210 :     last_control_output_.control_output = control_group_command;
+    1737             : 
+    1738        1210 :     return;
+    1739             :   }
+    1740             : 
+    1741             :   // --------------------------------------------------------------
+    1742             :   // |                        output mixer                        |
+    1743             :   // --------------------------------------------------------------
+    1744             : 
+    1745        2402 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1746             : 
+    1747        1201 :   last_control_output_.control_output = actuator_cmd;
+    1748             : 
+    1749        1201 :   return;
+    1750             : }
+    1751             : 
+    1752             : //}
+    1753             : 
+    1754             : /* positionPassthrough() //{ */
+    1755             : 
+    1756         221 : void MpcController::positionPassthrough(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    1757             : 
+    1758         221 :   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         442 :   mrs_msgs::HwApiPositionCmd cmd;
+    1764             : 
+    1765         221 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1766         221 :   cmd.header.stamp    = ros::Time::now();
+    1767             : 
+    1768         221 :   cmd.position = tracker_command.position;
+    1769         221 :   cmd.heading  = tracker_command.heading;
+    1770             : 
+    1771         221 :   last_control_output_.control_output = cmd;
+    1772             : 
+    1773             :   // fill the unbiased desired accelerations
+    1774         221 :   last_control_output_.desired_unbiased_acceleration = {};
+    1775         221 :   last_control_output_.desired_orientation           = {};
+    1776         221 :   last_control_output_.desired_heading_rate          = {};
+    1777             : 
+    1778             :   // | ----------------- fill in the diagnostics ---------------- |
+    1779             : 
+    1780         221 :   last_control_output_.diagnostics.ramping_up = false;
+    1781             : 
+    1782         221 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1783         221 :   last_control_output_.diagnostics.mass_difference = 0;
+    1784             : 
+    1785         221 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1786             : 
+    1787         221 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1788         221 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1789             : 
+    1790         221 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1791         221 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1792             : 
+    1793         221 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1794         221 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1795             : 
+    1796         221 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1797             : 
+    1798         221 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1799         221 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1800             : 
+    1801         221 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1802         221 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1803             : 
+    1804         221 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1805         221 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1806             : 
+    1807         221 :   last_control_output_.diagnostics.controller = name_;
+    1808             : }
+    1809             : 
+    1810             : //}
+    1811             : 
+    1812             : /* PIDVelocityOutput() //{ */
+    1813             : 
+    1814         727 : 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         727 :   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         727 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1823             : 
+    1824         727 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1825         727 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1826             : 
+    1827         727 :   double hdg_ref = tracker_command.heading;
+    1828         727 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1829             : 
+    1830             :   // | ------------------ velocity feedforward ------------------ |
+    1831             : 
+    1832         727 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1833             : 
+    1834         727 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1835         727 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1836             :   }
+    1837             : 
+    1838             :   // | --------------------- control errors --------------------- |
+    1839             : 
+    1840         727 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1841             : 
+    1842             :   // | --------------------------- pid -------------------------- |
+    1843             : 
+    1844         727 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1845         727 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1846         727 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1847             : 
+    1848         727 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1849         727 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1850         727 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1851             : 
+    1852             :   // | -------------------- position feedback ------------------- |
+    1853             : 
+    1854         727 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1855             : 
+    1856         727 :   if (control_output == common::VELOCITY_HDG) {
+    1857             : 
+    1858             :     // | --------------------- fill the output -------------------- |
+    1859             : 
+    1860         500 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1861             : 
+    1862         250 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1863         250 :     cmd.header.stamp    = ros::Time::now();
+    1864             : 
+    1865         250 :     cmd.velocity.x = des_vel[0];
+    1866         250 :     cmd.velocity.y = des_vel[1];
+    1867         250 :     cmd.velocity.z = des_vel[2];
+    1868             : 
+    1869         250 :     cmd.heading = tracker_command.heading;
+    1870             : 
+    1871         250 :     last_control_output_.control_output = cmd;
+    1872             : 
+    1873         477 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1874             : 
+    1875         477 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1876             : 
+    1877         477 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1878             : 
+    1879         477 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1880             : 
+    1881             :     // | --------------------------- ff --------------------------- |
+    1882             : 
+    1883         477 :     double des_hdg_ff = 0;
+    1884             : 
+    1885         477 :     if (tracker_command.use_heading_rate) {
+    1886         477 :       des_hdg_ff = tracker_command.heading_rate;
+    1887             :     }
+    1888             : 
+    1889             :     // | --------------------- fill the output -------------------- |
+    1890             : 
+    1891         954 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1892             : 
+    1893         477 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1894         477 :     cmd.header.stamp    = ros::Time::now();
+    1895             : 
+    1896         477 :     cmd.velocity.x = des_vel[0];
+    1897         477 :     cmd.velocity.y = des_vel[1];
+    1898         477 :     cmd.velocity.z = des_vel[2];
+    1899             : 
+    1900         477 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1901             : 
+    1902         477 :     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         727 :   last_control_output_.desired_unbiased_acceleration = {};
+    1911         727 :   last_control_output_.desired_orientation           = {};
+    1912         727 :   last_control_output_.desired_heading_rate          = {};
+    1913             : 
+    1914             :   // | ----------------- fill in the diagnostics ---------------- |
+    1915             : 
+    1916         727 :   last_control_output_.diagnostics.ramping_up = false;
+    1917             : 
+    1918         727 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1919         727 :   last_control_output_.diagnostics.mass_difference = 0;
+    1920             : 
+    1921         727 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1922             : 
+    1923         727 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1924         727 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1925             : 
+    1926         727 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1927         727 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1928             : 
+    1929         727 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1930         727 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1931             : 
+    1932         727 :   last_control_output_.diagnostics.controller_enforcing_constraints = !tracker_command.use_full_state_prediction;
+    1933             : 
+    1934         727 :   last_control_output_.diagnostics.horizontal_speed_constraint = 0.5 * _max_speed_horizontal_;
+    1935         727 :   last_control_output_.diagnostics.horizontal_acc_constraint   = 0.5 * _max_acceleration_horizontal_;
+    1936             : 
+    1937         727 :   last_control_output_.diagnostics.vertical_asc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1938         727 :   last_control_output_.diagnostics.vertical_asc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1939             : 
+    1940         727 :   last_control_output_.diagnostics.vertical_desc_speed_constraint = 0.5 * _max_speed_vertical_;
+    1941         727 :   last_control_output_.diagnostics.vertical_desc_acc_constraint   = 0.5 * _max_acceleration_vertical_;
+    1942             : 
+    1943         727 :   last_control_output_.diagnostics.controller = name_;
+    1944             : }
+    1945             : 
+    1946             : //}
+    1947             : 
+    1948             : // --------------------------------------------------------------
+    1949             : // |                          callbacks                         |
+    1950             : // --------------------------------------------------------------
+    1951             : 
+    1952             : /* //{ callbackDrs() */
+    1953             : 
+    1954         162 : void MpcController::callbackDrs(mrs_uav_controllers::mpc_controllerConfig &config, [[maybe_unused]] uint32_t level) {
+    1955             : 
+    1956         162 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1957             : 
+    1958         162 :   ROS_INFO("[%s]: DRS updated gains", this->name_.c_str());
+    1959         162 : }
+    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       12459 : void MpcController::timerGains(const ros::TimerEvent &event) {
+    1993             : 
+    1994       37377 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1995             :   mrs_lib::ScopeTimer timer =
+    1996       37377 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1997             : 
+    1998       24918 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1999       12459 :   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       12459 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    2004       12459 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    2005             : 
+    2006       12459 :   mute_gains_ = false;
+    2007             : 
+    2008       12459 :   const double dt = (event.current_real - event.last_real).toSec();
+    2009             : 
+    2010       12459 :   bool updated = false;
+    2011             : 
+    2012       12459 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    2013       12459 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    2014       12459 :   gains.km            = calculateGainChange(dt, gains.km, drs_params.km * gain_coeff, bypass_filter, "km", updated);
+    2015       12459 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    2016       12459 :   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       12459 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    2020       12459 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    2021       12459 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    2022             : 
+    2023       12459 :   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       12459 :   if (updated) {
+    2028             : 
+    2029        1191 :     drs_params.kiwxy         = gains.kiwxy;
+    2030        1191 :     drs_params.kibxy         = gains.kibxy;
+    2031        1191 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    2032        1191 :     drs_params.kq_yaw        = gains.kq_yaw;
+    2033        1191 :     drs_params.km            = gains.km;
+    2034        1191 :     drs_params.km_lim        = gains.km_lim;
+    2035        1191 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    2036        1191 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    2037             : 
+    2038        1191 :     drs_->updateConfig(drs_params);
+    2039             : 
+    2040        1191 :     ROS_INFO_THROTTLE(10.0, "[%s]: gains have been updated", name_.c_str());
+    2041             :   }
+    2042       12459 : }
+    2043             : 
+    2044             : //}
+    2045             : 
+    2046             : // --------------------------------------------------------------
+    2047             : // |                       other routines                       |
+    2048             : // --------------------------------------------------------------
+    2049             : 
+    2050             : /* calculateGainChange() //{ */
+    2051             : 
+    2052       99672 : 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       99672 :   double change = desired_value - current_value;
+    2056             : 
+    2057       99672 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    2058       99672 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    2059             : 
+    2060       99672 :   if (!bypass_rate) {
+    2061             : 
+    2062             :     // if current value is near 0...
+    2063             :     double change_in_perc;
+    2064             :     double saturated_change;
+    2065             : 
+    2066       99007 :     if (fabs(current_value) < 1e-6) {
+    2067           0 :       change *= gains_filter_max_change;
+    2068             :     } else {
+    2069             : 
+    2070       99007 :       saturated_change = change;
+    2071             : 
+    2072       99007 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    2073             : 
+    2074       99007 :       if (change_in_perc > gains_filter_max_change) {
+    2075        4630 :         saturated_change = current_value * gains_filter_max_change;
+    2076       94377 :       } else if (change_in_perc < -gains_filter_max_change) {
+    2077           0 :         saturated_change = current_value * -gains_filter_max_change;
+    2078             :       }
+    2079             : 
+    2080       99007 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    2081           0 :         change *= gains_filter_min_change;
+    2082             :       } else {
+    2083       99007 :         change = saturated_change;
+    2084             :       }
+    2085             :     }
+    2086             :   }
+    2087             : 
+    2088       99672 :   if (fabs(change) > 1e-3) {
+    2089        5955 :     ROS_DEBUG("[%s]: changing gain '%s' from %.2f to %.2f", name_.c_str(), name.c_str(), current_value, desired_value);
+    2090        5955 :     updated = true;
+    2091             :   }
+    2092             : 
+    2093       99672 :   return current_value + change;
+    2094             : }
+    2095             : 
+    2096             : //}
+    2097             : 
+    2098             : /* getHeadingSafely() //{ */
+    2099             : 
+    2100       49851 : double MpcController::getHeadingSafely(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
+    2101             : 
+    2102             :   try {
+    2103       49851 :     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          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::mpc_controller::MpcController, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html new file mode 100644 index 0000000000..ec11992da7 --- /dev/null +++ b/mrs_uav_controllers/src/mpc_controller.cpp.gcov.overview.html @@ -0,0 +1,553 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/mpc_controller.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:61677479.6 %
Date:2024-02-24 08:13:25Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_controllers::se3_controller::Se3Controller::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_controllers::se3_controller::Se3Controller::resetDisturbanceEstimators()0
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()21
mrs_uav_controllers::se3_controller::Se3Controller::activate(mrs_uav_managers::Controller::ControlOutput const&)26
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)162
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)247
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)315
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2635
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&)2746
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4239
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&)22958
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)25704
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)25951
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)59346
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)95822
+
+
+ + + +
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..d2d10c8326 --- /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:61677479.6 %
Date:2024-02-24 08:13:25Functions:151788.2 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_controllers::se3_controller::Se3Controller::deactivate()21
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>)81
mrs_uav_controllers::se3_controller::Se3Controller::timerGains(ros::TimerEvent const&)4239
mrs_uav_controllers::se3_controller::Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig&, unsigned int)162
mrs_uav_controllers::se3_controller::Se3Controller::updateActive(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)25951
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&)22958
mrs_uav_controllers::se3_controller::Se3Controller::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)315
mrs_uav_controllers::se3_controller::Se3Controller::updateInactive(mrs_msgs::UavState_<std::allocator<void> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)95822
mrs_uav_controllers::se3_controller::Se3Controller::getHeadingSafely(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)25704
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&)2746
mrs_uav_controllers::se3_controller::Se3Controller::calculateGainChange(double, double, double, bool, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, bool&)59346
mrs_uav_controllers::se3_controller::Se3Controller::positionPassthrough(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_msgs::TrackerCommand_<std::allocator<void> > const&)247
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&)26
mrs_uav_controllers::se3_controller::Se3Controller::getStatus()2635
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LCOV - code coverage report
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Current view:top level - mrs_uav_controllers/src - se3_controller.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:61677479.6 %
Date:2024-02-24 08:13:25Functions:151788.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <common.h>
+       7             : #include <pid.hpp>
+       8             : 
+       9             : #include <mrs_uav_managers/controller.h>
+      10             : 
+      11             : #include <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          81 : 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          81 :   nh_ = nh;
+     217             : 
+     218          81 :   common_handlers_  = common_handlers;
+     219          81 :   private_handlers_ = private_handlers;
+     220             : 
+     221          81 :   _uav_mass_ = common_handlers->getMass();
+     222             : 
+     223          81 :   ros::Time::waitForValid();
+     224             : 
+     225             :   // | ---------- loading params using the parent's nh ---------- |
+     226             : 
+     227         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     228             : 
+     229          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     230             : 
+     231          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/private/se3_controller.yaml");
+     239          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_controllers") + "/config/public/se3_controller.yaml");
+     240             : 
+     241         162 :   const std::string yaml_namespace = "mrs_uav_controllers/se3_controller/";
+     242             : 
+     243             :   // lateral gains
+     244          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kp", gains_.kpxy);
+     245          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kv", gains_.kvxy);
+     246          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/ka", gains_.kaxy);
+     247             : 
+     248          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw", gains_.kiwxy);
+     249          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib", gains_.kibxy);
+     250             : 
+     251             :   // | ------------------------- rampup ------------------------- |
+     252             : 
+     253          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/enabled", _rampup_enabled_);
+     254          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rampup/speed", _rampup_speed_);
+     255             : 
+     256             :   // height gains
+     257          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kp", gains_.kpz);
+     258          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/kv", gains_.kvz);
+     259          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/vertical/ka", gains_.kaz);
+     260             : 
+     261             :   // attitude gains
+     262          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_roll_pitch", gains_.kq_roll_pitch);
+     263          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/attitude/kq_yaw", gains_.kq_yaw);
+     264             : 
+     265             :   // attitude rate gains
+     266          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_roll_pitch", gains_.kw_roll_pitch);
+     267          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/attitude_rate_gains/kw_yaw", gains_.kw_yaw);
+     268             : 
+     269             :   // mass estimator
+     270          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km", gains_.km);
+     271          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/mass_estimator/km_lim", gains_.km_lim);
+     272             : 
+     273             :   // integrator limits
+     274          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kiw_lim", gains_.kiwxy_lim);
+     275          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/default_gains/horizontal/kib_lim", gains_.kibxy_lim);
+     276             : 
+     277             :   // constraints
+     278          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/enabled", _tilt_angle_failsafe_enabled_);
+     279          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/tilt_angle_failsafe/limit", _tilt_angle_failsafe_);
+     280             : 
+     281          81 :   _tilt_angle_failsafe_ = M_PI * (_tilt_angle_failsafe_ / 180.0);
+     282             : 
+     283          81 :   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          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/constraints/throttle_saturation", _throttle_saturation_);
+     289             : 
+     290             :   // gain filtering
+     291          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/perc_change_rate", _gains_filter_change_rate_);
+     292          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/min_change_rate", _gains_filter_min_change_rate_);
+     293          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/rate", _gain_filtering_rate_);
+     294          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/gain_filtering/gain_mute_coefficient", _gain_mute_coefficient_);
+     295             : 
+     296             :   // output mode
+     297          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/preferred_output", drs_params_.preferred_output_mode);
+     298             : 
+     299          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/rotation_matrix", drs_params_.rotation_type);
+     300             : 
+     301             :   // angular rate feed forward
+     302         162 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/parasitic_pitch_roll",
+     303          81 :                                             drs_params_.pitch_roll_heading_rate_compensation);
+     304          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "se3/angular_rate_feedforward/jerk", drs_params_.jerk_feedforward);
+     305             : 
+     306             :   // | ------------------- position pid params ------------------ |
+     307             : 
+     308          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/p", _pos_pid_p_);
+     309          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/i", _pos_pid_i_);
+     310          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/translation_gains/d", _pos_pid_d_);
+     311             : 
+     312          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/p", _hdg_pid_p_);
+     313          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/i", _hdg_pid_i_);
+     314          81 :   private_handlers->param_loader->loadParam(yaml_namespace + "position_controller/heading_gains/d", _hdg_pid_d_);
+     315             : 
+     316             :   // | ------------------ finish loading params ----------------- |
+     317             : 
+     318          81 :   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          81 :   if (!(drs_params_.preferred_output_mode == OUTPUT_ACTUATORS || drs_params_.preferred_output_mode == OUTPUT_CONTROL_GROUP ||
+     326          81 :         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          81 :   uav_mass_difference_ = 0;
+     333          81 :   Iw_w_                = Eigen::Vector2d::Zero(2);
+     334          81 :   Ib_b_                = Eigen::Vector2d::Zero(2);
+     335             : 
+     336             :   // | --------------- dynamic reconfigure server --------------- |
+     337             : 
+     338          81 :   drs_params_.kpxy             = gains_.kpxy;
+     339          81 :   drs_params_.kvxy             = gains_.kvxy;
+     340          81 :   drs_params_.kaxy             = gains_.kaxy;
+     341          81 :   drs_params_.kiwxy            = gains_.kiwxy;
+     342          81 :   drs_params_.kibxy            = gains_.kibxy;
+     343          81 :   drs_params_.kpz              = gains_.kpz;
+     344          81 :   drs_params_.kvz              = gains_.kvz;
+     345          81 :   drs_params_.kaz              = gains_.kaz;
+     346          81 :   drs_params_.kq_roll_pitch    = gains_.kq_roll_pitch;
+     347          81 :   drs_params_.kq_yaw           = gains_.kq_yaw;
+     348          81 :   drs_params_.kiwxy_lim        = gains_.kiwxy_lim;
+     349          81 :   drs_params_.kibxy_lim        = gains_.kibxy_lim;
+     350          81 :   drs_params_.km               = gains_.km;
+     351          81 :   drs_params_.km_lim           = gains_.km_lim;
+     352          81 :   drs_params_.jerk_feedforward = true;
+     353             : 
+     354          81 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     355          81 :   drs_->updateConfig(drs_params_);
+     356          81 :   Drs_t::CallbackType f = boost::bind(&Se3Controller::callbackDrs, this, _1, _2);
+     357          81 :   drs_->setCallback(f);
+     358             : 
+     359             :   // | ------------------------- timers ------------------------- |
+     360             : 
+     361          81 :   timer_gains_ = nh_.createTimer(ros::Rate(_gain_filtering_rate_), &Se3Controller::timerGains, this, false, false);
+     362             : 
+     363             :   // | ---------------------- position pid ---------------------- |
+     364             : 
+     365          81 :   position_pid_x_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     366          81 :   position_pid_y_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     367          81 :   position_pid_z_.setParams(_pos_pid_p_, _pos_pid_d_, _pos_pid_i_, -1, 1.0);
+     368          81 :   position_pid_heading_.setParams(_hdg_pid_p_, _hdg_pid_d_, _hdg_pid_i_, -1, 0.1);
+     369             : 
+     370             :   // | ------------------------ profiler ------------------------ |
+     371             : 
+     372          81 :   profiler_ = mrs_lib::Profiler(common_handlers_->parent_nh, "Se3Controller", _profiler_enabled_);
+     373             : 
+     374             :   // | ----------------------- finish init ---------------------- |
+     375             : 
+     376          81 :   ROS_INFO("[Se3Controller]: initialized");
+     377             : 
+     378          81 :   is_initialized_ = true;
+     379             : 
+     380          81 :   return true;
+     381             : }
+     382             : 
+     383             : //}
+     384             : 
+     385             : /* //{ activate() */
+     386             : 
+     387          26 : bool Se3Controller::activate(const ControlOutput& last_control_output) {
+     388             : 
+     389          26 :   activation_control_output_ = last_control_output;
+     390             : 
+     391          26 :   double activation_mass = _uav_mass_;
+     392             : 
+     393          26 :   if (activation_control_output_.diagnostics.mass_estimator) {
+     394           1 :     uav_mass_difference_ = activation_control_output_.diagnostics.mass_difference;
+     395           1 :     activation_mass += uav_mass_difference_;
+     396           1 :     ROS_INFO("[Se3Controller]: setting mass difference from the last control output: %.2f kg", uav_mass_difference_);
+     397             :   }
+     398             : 
+     399          26 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+     400             : 
+     401          26 :   if (activation_control_output_.diagnostics.disturbance_estimator) {
+     402           1 :     Ib_b_[0] = -activation_control_output_.diagnostics.disturbance_bx_b;
+     403           1 :     Ib_b_[1] = -activation_control_output_.diagnostics.disturbance_by_b;
+     404             : 
+     405           1 :     Iw_w_[0] = -activation_control_output_.diagnostics.disturbance_wx_w;
+     406           1 :     Iw_w_[1] = -activation_control_output_.diagnostics.disturbance_wy_w;
+     407             : 
+     408           1 :     ROS_INFO(
+     409             :         "[Se3Controller]: setting disturbances from the last control output: Ib_b_: %.2f, %.2f N, Iw_w_: "
+     410             :         "%.2f, %.2f N",
+     411             :         Ib_b_[0], Ib_b_[1], Iw_w_[0], Iw_w_[1]);
+     412             :   }
+     413             : 
+     414             :   // did the last controller use manual throttle control?
+     415          26 :   auto throttle_last_controller = common::extractThrottle(activation_control_output_);
+     416             : 
+     417             :   // rampup check
+     418          26 :   if (_rampup_enabled_ && throttle_last_controller) {
+     419             : 
+     420          13 :     double hover_throttle = mrs_lib::quadratic_throttle_model::forceToThrottle(common_handlers_->throttle_model, activation_mass * common_handlers_->g);
+     421             : 
+     422          13 :     double throttle_difference = hover_throttle - throttle_last_controller.value();
+     423             : 
+     424          13 :     if (throttle_difference > 0) {
+     425           2 :       rampup_direction_ = 1;
+     426          11 :     } else if (throttle_difference < 0) {
+     427           0 :       rampup_direction_ = -1;
+     428             :     } else {
+     429          11 :       rampup_direction_ = 0;
+     430             :     }
+     431             : 
+     432          13 :     ROS_INFO("[Se3Controller]: activating rampup with initial throttle: %.4f, target: %.4f", throttle_last_controller.value(), hover_throttle);
+     433             : 
+     434          13 :     rampup_active_     = true;
+     435          13 :     rampup_start_time_ = ros::Time::now();
+     436          13 :     rampup_last_time_  = ros::Time::now();
+     437          13 :     rampup_throttle_   = throttle_last_controller.value();
+     438             : 
+     439          13 :     rampup_duration_ = fabs(throttle_difference) / _rampup_speed_;
+     440             :   }
+     441             : 
+     442          26 :   first_iteration_ = true;
+     443          26 :   mute_gains_      = true;
+     444             : 
+     445          26 :   timer_gains_.start();
+     446             : 
+     447             :   // | ------------------ finish the activation ----------------- |
+     448             : 
+     449          26 :   ROS_INFO("[Se3Controller]: activated");
+     450             : 
+     451          26 :   is_active_ = true;
+     452             : 
+     453          26 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* //{ deactivate() */
+     459             : 
+     460          21 : void Se3Controller::deactivate(void) {
+     461             : 
+     462          21 :   is_active_           = false;
+     463          21 :   first_iteration_     = false;
+     464          21 :   uav_mass_difference_ = 0;
+     465             : 
+     466          21 :   timer_gains_.stop();
+     467             : 
+     468          21 :   ROS_INFO("[Se3Controller]: deactivated");
+     469          21 : }
+     470             : 
+     471             : //}
+     472             : 
+     473             : /* updateInactive() //{ */
+     474             : 
+     475       95822 : void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command) {
+     476             : 
+     477       95822 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     478             : 
+     479       95822 :   last_update_time_ = uav_state.header.stamp;
+     480             : 
+     481       95822 :   first_iteration_ = false;
+     482       95822 : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ updateWhenActive() */
+     487             : 
+     488       25951 : Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+     489             : 
+     490       77853 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     491       77853 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     492             : 
+     493       51902 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     494             : 
+     495       25951 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     496             : 
+     497       25951 :   last_control_output_.desired_heading_rate          = {};
+     498       25951 :   last_control_output_.desired_orientation           = {};
+     499       25951 :   last_control_output_.desired_unbiased_acceleration = {};
+     500       25951 :   last_control_output_.control_output                = {};
+     501             : 
+     502             :   // | -------------------- calculate the dt -------------------- |
+     503             : 
+     504             :   double dt;
+     505             : 
+     506       25951 :   if (first_iteration_) {
+     507          26 :     dt               = 0.01;
+     508          26 :     first_iteration_ = false;
+     509             :   } else {
+     510       25925 :     dt = (uav_state.header.stamp - last_update_time_).toSec();
+     511             :   }
+     512             : 
+     513       25951 :   last_update_time_ = uav_state.header.stamp;
+     514             : 
+     515       25951 :   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       25951 :   auto lowest_modality = common::getLowestOuput(common_handlers_->control_output_modalities);
+     525             : 
+     526       25951 :   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       25951 :   if (drs_params.preferred_output_mode == OUTPUT_ATTITUDE_RATE && common_handlers_->control_output_modalities.attitude_rate) {
+     536       19546 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: prioritizing attitude rate output");
+     537       19546 :     lowest_modality = common::ATTITUDE_RATE;
+     538        6405 :   } 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        6405 :   } 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        6405 :   } 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       25951 :   switch (lowest_modality.value()) {
+     550             : 
+     551         247 :     case common::POSITION: {
+     552         247 :       positionPassthrough(uav_state, tracker_command);
+     553         247 :       break;
+     554             :     }
+     555             : 
+     556         941 :     case common::VELOCITY_HDG: {
+     557         941 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG, dt);
+     558         941 :       break;
+     559             :     }
+     560             : 
+     561        1805 :     case common::VELOCITY_HDG_RATE: {
+     562        1805 :       PIDVelocityOutput(uav_state, tracker_command, common::VELOCITY_HDG_RATE, dt);
+     563        1805 :       break;
+     564             :     }
+     565             : 
+     566         550 :     case common::ACCELERATION_HDG: {
+     567         550 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG);
+     568         550 :       break;
+     569             :     }
+     570             : 
+     571         517 :     case common::ACCELERATION_HDG_RATE: {
+     572         517 :       SE3Controller(uav_state, tracker_command, dt, common::ACCELERATION_HDG_RATE);
+     573         517 :       break;
+     574             :     }
+     575             : 
+     576        1122 :     case common::ATTITUDE: {
+     577        1122 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE);
+     578        1122 :       break;
+     579             :     }
+     580             : 
+     581       19546 :     case common::ATTITUDE_RATE: {
+     582       19546 :       SE3Controller(uav_state, tracker_command, dt, common::ATTITUDE_RATE);
+     583       19546 :       break;
+     584             :     }
+     585             : 
+     586        1223 :     case common::CONTROL_GROUP: {
+     587        1223 :       SE3Controller(uav_state, tracker_command, dt, common::CONTROL_GROUP);
+     588        1223 :       break;
+     589             :     }
+     590             : 
+     591           0 :     case common::ACTUATORS_CMD: {
+     592           0 :       SE3Controller(uav_state, tracker_command, dt, common::ACTUATORS_CMD);
+     593           0 :       break;
+     594             :     }
+     595             : 
+     596       25951 :     default: {
+     597             :     }
+     598             :   }
+     599             : 
+     600       25951 :   return last_control_output_;
+     601             : }
+     602             : 
+     603             : //}
+     604             : 
+     605             : /* //{ getStatus() */
+     606             : 
+     607        2635 : const mrs_msgs::ControllerStatus Se3Controller::getStatus() {
+     608             : 
+     609        2635 :   mrs_msgs::ControllerStatus controller_status;
+     610             : 
+     611        2635 :   controller_status.active = is_active_;
+     612             : 
+     613        2635 :   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         315 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr Se3Controller::setConstraints([
+     674             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+     675             : 
+     676         315 :   if (!is_initialized_) {
+     677           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+     678             :   }
+     679             : 
+     680         315 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+     681             : 
+     682         315 :   ROS_INFO("[Se3Controller]: updating constraints");
+     683             : 
+     684         630 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     685         315 :   res.success = true;
+     686         315 :   res.message = "constraints updated";
+     687             : 
+     688         315 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     689             : }
+     690             : 
+     691             : //}
+     692             : 
+     693             : // --------------------------------------------------------------
+     694             : // |                         controllers                        |
+     695             : // --------------------------------------------------------------
+     696             : 
+     697             : /* SE3Controller() //{ */
+     698             : 
+     699       22958 : 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       45916 :   auto drs_params  = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+     703       22958 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     704       22958 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+     705             : 
+     706             :   // | ----------------- get the current heading ---------------- |
+     707             : 
+     708       22958 :   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       22958 :   Eigen::Vector3d Rp = Eigen::Vector3d::Zero(3);
+     719       22958 :   Eigen::Vector3d Rv = Eigen::Vector3d::Zero(3);
+     720       22958 :   Eigen::Vector3d Ra = Eigen::Vector3d::Zero(3);
+     721             : 
+     722       22958 :   if (tracker_command.use_position_vertical || tracker_command.use_position_horizontal) {
+     723             : 
+     724       22958 :     if (tracker_command.use_position_horizontal) {
+     725       22958 :       Rp[0] = tracker_command.position.x;
+     726       22958 :       Rp[1] = tracker_command.position.y;
+     727             :     } else {
+     728           0 :       Rv[0] = 0;
+     729           0 :       Rv[1] = 0;
+     730             :     }
+     731             : 
+     732       22958 :     if (tracker_command.use_position_vertical) {
+     733       22958 :       Rp[2] = tracker_command.position.z;
+     734             :     } else {
+     735           0 :       Rv[2] = 0;
+     736             :     }
+     737             :   }
+     738             : 
+     739       22958 :   if (tracker_command.use_velocity_horizontal) {
+     740       22958 :     Rv[0] = tracker_command.velocity.x;
+     741       22958 :     Rv[1] = tracker_command.velocity.y;
+     742             :   } else {
+     743           0 :     Rv[0] = 0;
+     744           0 :     Rv[1] = 0;
+     745             :   }
+     746             : 
+     747       22958 :   if (tracker_command.use_velocity_vertical) {
+     748       22958 :     Rv[2] = tracker_command.velocity.z;
+     749             :   } else {
+     750           0 :     Rv[2] = 0;
+     751             :   }
+     752             : 
+     753       22958 :   if (tracker_command.use_acceleration) {
+     754       22958 :     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       22958 :   Eigen::Vector3d Op(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+     764       22958 :   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       22958 :   Eigen::Matrix3d R = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+     768             : 
+     769             :   // Ow - UAV angular rate
+     770       22958 :   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       22958 :   Eigen::Vector3d Ep(0, 0, 0);
+     776             : 
+     777       22958 :   if (tracker_command.use_position_horizontal || tracker_command.use_position_vertical) {
+     778       22958 :     Ep = Rp - Op;
+     779             :   }
+     780             : 
+     781             :   // velocity control error
+     782       22958 :   Eigen::Vector3d Ev(0, 0, 0);
+     783             : 
+     784       22958 :   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       22958 :     Ev = Rv - Ov;
+     787             :   }
+     788             : 
+     789             :   // | --------------------- load the gains --------------------- |
+     790             : 
+     791       22958 :   mute_gains_by_tracker_ = tracker_command.disable_position_gains;
+     792             : 
+     793       22958 :   Eigen::Vector3d Ka(0, 0, 0);
+     794       22958 :   Eigen::Array3d  Kp(0, 0, 0);
+     795       22958 :   Eigen::Array3d  Kv(0, 0, 0);
+     796       22958 :   Eigen::Array3d  Kq(0, 0, 0);
+     797       22958 :   Eigen::Array3d  Kw(0, 0, 0);
+     798             : 
+     799             :   {
+     800       22958 :     std::scoped_lock lock(mutex_gains_);
+     801             : 
+     802       22958 :     if (tracker_command.use_position_horizontal) {
+     803       22958 :       Kp[0] = gains.kpxy;
+     804       22958 :       Kp[1] = gains.kpxy;
+     805             :     } else {
+     806           0 :       Kp[0] = 0;
+     807           0 :       Kp[1] = 0;
+     808             :     }
+     809             : 
+     810       22958 :     if (tracker_command.use_position_vertical) {
+     811       22958 :       Kp[2] = gains.kpz;
+     812             :     } else {
+     813           0 :       Kp[2] = 0;
+     814             :     }
+     815             : 
+     816       22958 :     if (tracker_command.use_velocity_horizontal) {
+     817       22958 :       Kv[0] = gains.kvxy;
+     818       22958 :       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       22958 :     if (tracker_command.use_velocity_vertical || tracker_command.use_position_vertical) {
+     826       22958 :       Kv[2] = gains.kvz;
+     827             :     } else {
+     828           0 :       Kv[2] = 0;
+     829             :     }
+     830             : 
+     831       22958 :     if (tracker_command.use_acceleration) {
+     832       22958 :       Ka << gains.kaxy, gains.kaxy, gains.kaz;
+     833             :     } else {
+     834           0 :       Ka << 0, 0, 0;
+     835             :     }
+     836             : 
+     837       22958 :     if (!tracker_command.use_attitude_rate) {
+     838       22958 :       Kq << gains.kq_roll_pitch, gains.kq_roll_pitch, gains.kq_yaw;
+     839             :     }
+     840             : 
+     841       22958 :     Kw[0] = gains.kw_roll_pitch;
+     842       22958 :     Kw[1] = gains.kw_roll_pitch;
+     843       22958 :     Kw[2] = gains.kw_yaw;
+     844             :   }
+     845             : 
+     846       22958 :   Kp = Kp * (_uav_mass_ + uav_mass_difference_);
+     847       22958 :   Kv = Kv * (_uav_mass_ + uav_mass_difference_);
+     848             : 
+     849             :   // | --------------- desired orientation matrix --------------- |
+     850             : 
+     851             :   // get body integral in the world frame
+     852             : 
+     853       22958 :   Eigen::Vector2d Ib_w = Eigen::Vector2d(0, 0);
+     854             : 
+     855             :   {
+     856       45916 :     geometry_msgs::Vector3Stamped Ib_b_stamped;
+     857             : 
+     858       22958 :     Ib_b_stamped.header.stamp    = ros::Time::now();
+     859       22958 :     Ib_b_stamped.header.frame_id = "fcu_untilted";
+     860       22958 :     Ib_b_stamped.vector.x        = Ib_b_(0);
+     861       22958 :     Ib_b_stamped.vector.y        = Ib_b_(1);
+     862       22958 :     Ib_b_stamped.vector.z        = 0;
+     863             : 
+     864       45916 :     auto res = common_handlers_->transformer->transformSingle(Ib_b_stamped, uav_state_.header.frame_id);
+     865             : 
+     866       22958 :     if (res) {
+     867       22958 :       Ib_w[0] = res.value().vector.x;
+     868       22958 :       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       22958 :   double total_mass = _uav_mass_ + uav_mass_difference_;
+     877             : 
+     878       22958 :   Eigen::Vector3d feed_forward      = total_mass * (Eigen::Vector3d(0, 0, common_handlers_->g) + Ra);
+     879       22958 :   Eigen::Vector3d position_feedback = Kp * Ep.array();
+     880       22958 :   Eigen::Vector3d velocity_feedback = Kv * Ev.array();
+     881       22958 :   Eigen::Vector3d integral_feedback;
+     882             :   {
+     883       22958 :     std::scoped_lock lock(mutex_integrals_);
+     884             : 
+     885       22958 :     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       45916 :     std::scoped_lock lock(mutex_gains_, mutex_integrals_);
+     900             : 
+     901       22958 :     Eigen::Vector3d integration_switch(1, 1, 0);
+     902             : 
+     903             :     // integrate the world error
+     904       22958 :     if (tracker_command.use_position_horizontal) {
+     905       22958 :       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       22958 :     bool world_integral_saturated = false;
+     912       22958 :     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       22958 :     } else if (Iw_w_[0] > gains.kiwxy_lim) {
+     916           0 :       Iw_w_[0]                 = gains.kiwxy_lim;
+     917           0 :       world_integral_saturated = true;
+     918       22958 :     } 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       22958 :     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       22958 :     world_integral_saturated = false;
+     929       22958 :     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       22958 :     } else if (Iw_w_[1] > gains.kiwxy_lim) {
+     933           0 :       Iw_w_[1]                 = gains.kiwxy_lim;
+     934           0 :       world_integral_saturated = true;
+     935       22958 :     } 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       22958 :     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       45916 :     std::scoped_lock lock(mutex_gains_);
+     955             : 
+     956       22958 :     Eigen::Vector2d Ep_fcu_untilted = Eigen::Vector2d(0, 0);  // position error in the untilted frame of the UAV
+     957       22958 :     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       45916 :       geometry_msgs::Vector3Stamped Ep_stamped;
+     963             : 
+     964       22958 :       Ep_stamped.header.stamp    = ros::Time::now();
+     965       22958 :       Ep_stamped.header.frame_id = uav_state_.header.frame_id;
+     966       22958 :       Ep_stamped.vector.x        = Ep(0);
+     967       22958 :       Ep_stamped.vector.y        = Ep(1);
+     968       22958 :       Ep_stamped.vector.z        = Ep(2);
+     969             : 
+     970       68874 :       auto res = common_handlers_->transformer->transformSingle(Ep_stamped, "fcu_untilted");
+     971             : 
+     972       22958 :       if (res) {
+     973       22958 :         Ep_fcu_untilted[0] = res.value().vector.x;
+     974       22958 :         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       45916 :       geometry_msgs::Vector3Stamped Ev_stamped;
+     983             : 
+     984       22958 :       Ev_stamped.header.stamp    = ros::Time::now();
+     985       22958 :       Ev_stamped.header.frame_id = uav_state_.header.frame_id;
+     986       22958 :       Ev_stamped.vector.x        = Ev(0);
+     987       22958 :       Ev_stamped.vector.y        = Ev(1);
+     988       22958 :       Ev_stamped.vector.z        = Ev(2);
+     989             : 
+     990       68874 :       auto res = common_handlers_->transformer->transformSingle(Ev_stamped, "fcu_untilted");
+     991             : 
+     992       22958 :       if (res) {
+     993       22958 :         Ev_fcu_untilted[0] = res.value().vector.x;
+     994       22958 :         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       22958 :     if (tracker_command.use_position_horizontal) {
+    1002       22958 :       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       22958 :     bool body_integral_saturated = false;
+    1009       22958 :     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       22958 :     } else if (Ib_b_[0] > gains.kibxy_lim) {
+    1013           0 :       Ib_b_[0]                = gains.kibxy_lim;
+    1014           0 :       body_integral_saturated = true;
+    1015       22958 :     } 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       22958 :     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       22958 :     body_integral_saturated = false;
+    1026       22958 :     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       22958 :     } else if (Ib_b_[1] > gains.kibxy_lim) {
+    1030           0 :       Ib_b_[1]                = gains.kibxy_lim;
+    1031           0 :       body_integral_saturated = true;
+    1032       22958 :     } 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       22958 :     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       22958 :   if (output_modality == common::ACCELERATION_HDG || output_modality == common::ACCELERATION_HDG_RATE) {
+    1045             : 
+    1046        1067 :     Eigen::Vector3d des_acc = (position_feedback + velocity_feedback + integral_feedback) / total_mass + Ra;
+    1047             : 
+    1048        1067 :     if (output_modality == common::ACCELERATION_HDG) {
+    1049             : 
+    1050        1100 :       mrs_msgs::HwApiAccelerationHdgCmd cmd;
+    1051             : 
+    1052         550 :       cmd.acceleration.x = des_acc[0];
+    1053         550 :       cmd.acceleration.y = des_acc[1];
+    1054         550 :       cmd.acceleration.z = des_acc[2];
+    1055             : 
+    1056         550 :       cmd.heading = tracker_command.heading;
+    1057             : 
+    1058         550 :       last_control_output_.control_output = cmd;
+    1059             : 
+    1060             :     } else {
+    1061             : 
+    1062         517 :       double des_hdg_ff = 0;
+    1063             : 
+    1064         517 :       if (tracker_command.use_heading_rate) {
+    1065         517 :         des_hdg_ff = tracker_command.heading_rate;
+    1066             :       }
+    1067             : 
+    1068        1034 :       mrs_msgs::HwApiAccelerationHdgRateCmd cmd;
+    1069             : 
+    1070         517 :       cmd.acceleration.x = des_acc[0];
+    1071         517 :       cmd.acceleration.y = des_acc[1];
+    1072         517 :       cmd.acceleration.z = des_acc[2];
+    1073             : 
+    1074         517 :       position_pid_heading_.setSaturation(constraints.heading_speed);
+    1075             : 
+    1076         517 :       double hdg_err = mrs_lib::geometry::sradians::diff(tracker_command.heading, uav_heading);
+    1077             : 
+    1078         517 :       double des_hdg_rate = position_pid_heading_.update(hdg_err, dt) + des_hdg_ff;
+    1079             : 
+    1080         517 :       cmd.heading_rate = des_hdg_rate;
+    1081             : 
+    1082         517 :       last_control_output_.desired_heading_rate = des_hdg_rate;
+    1083             : 
+    1084         517 :       last_control_output_.control_output = cmd;
+    1085             :     }
+    1086             : 
+    1087             :     // | -------------- unbiased desired acceleration ------------- |
+    1088             : 
+    1089        1067 :     Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1090             : 
+    1091             :     {
+    1092             : 
+    1093        1067 :       Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1094             : 
+    1095        2134 :       geometry_msgs::Vector3Stamped world_accel;
+    1096             : 
+    1097        1067 :       world_accel.header.stamp    = ros::Time::now();
+    1098        1067 :       world_accel.header.frame_id = uav_state.header.frame_id;
+    1099        1067 :       world_accel.vector.x        = unbiased_des_acc_world[0];
+    1100        1067 :       world_accel.vector.y        = unbiased_des_acc_world[1];
+    1101        1067 :       world_accel.vector.z        = unbiased_des_acc_world[2];
+    1102             : 
+    1103        3201 :       auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1104             : 
+    1105        1067 :       if (res) {
+    1106        1067 :         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        1067 :     last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1112             : 
+    1113             :     // | ----------------- fill in the diagnostics ---------------- |
+    1114             : 
+    1115        1067 :     last_control_output_.diagnostics.ramping_up = false;
+    1116             : 
+    1117        1067 :     last_control_output_.diagnostics.mass_estimator  = false;
+    1118        1067 :     last_control_output_.diagnostics.mass_difference = 0;
+    1119        1067 :     last_control_output_.diagnostics.total_mass      = total_mass;
+    1120             : 
+    1121        1067 :     last_control_output_.diagnostics.disturbance_estimator = true;
+    1122             : 
+    1123        1067 :     last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1124        1067 :     last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1125             : 
+    1126        1067 :     last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1127        1067 :     last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1128             : 
+    1129        1067 :     last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1130        1067 :     last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1131             : 
+    1132        1067 :     last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1133             : 
+    1134        1067 :     last_control_output_.diagnostics.controller = "Se3Controller";
+    1135             : 
+    1136        1067 :     return;
+    1137             :   }
+    1138             : 
+    1139             :   /* mass estimatior //{ */
+    1140             : 
+    1141             :   // --------------------------------------------------------------
+    1142             :   // |                integrate the mass difference               |
+    1143             :   // --------------------------------------------------------------
+    1144             : 
+    1145             :   {
+    1146       43782 :     std::scoped_lock lock(mutex_gains_);
+    1147             : 
+    1148       21891 :     if (tracker_command.use_position_vertical && !rampup_active_) {
+    1149       21877 :       uav_mass_difference_ += gains.km * Ep[2] * dt;
+    1150             :     }
+    1151             : 
+    1152             :     // saturate the mass estimator
+    1153       21891 :     bool uav_mass_saturated = false;
+    1154       21891 :     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       21891 :     } else if (uav_mass_difference_ > gains.km_lim) {
+    1158           0 :       uav_mass_difference_ = gains.km_lim;
+    1159           0 :       uav_mass_saturated   = true;
+    1160       21891 :     } 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       21891 :     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       21891 :   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       21891 :   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       21891 :   double tilt_safety_limit = _tilt_angle_failsafe_enabled_ ? _tilt_angle_failsafe_ : std::numeric_limits<double>::max();
+    1188             : 
+    1189       21891 :   auto f_normed_sanitized = common::sanitizeDesiredForce(f.normalized(), tilt_safety_limit, constraints.tilt, "Se3Controller");
+    1190             : 
+    1191       21891 :   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       21891 :   Eigen::Vector3d f_normed = f_normed_sanitized.value();
+    1205             : 
+    1206             :   // --------------------------------------------------------------
+    1207             :   // |               desired orientation + throttle               |
+    1208             :   // --------------------------------------------------------------
+    1209             : 
+    1210             :   // | ------------------- desired orientation ------------------ |
+    1211             : 
+    1212       21891 :   Eigen::Matrix3d Rd;
+    1213             : 
+    1214       21891 :   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       21891 :     Eigen::Vector3d bxd;  // desired heading vector
+    1231             : 
+    1232       21891 :     if (tracker_command.use_heading) {
+    1233       21891 :       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       21891 :     Rd = common::so3transform(f_normed, bxd, drs_params.rotation_type == 1);
+    1240             :   }
+    1241             : 
+    1242             :   // | -------------------- desired throttle -------------------- |
+    1243             : 
+    1244       21891 :   double desired_thrust_force = f.dot(R.col(2));
+    1245       21891 :   double throttle             = 0;
+    1246             : 
+    1247       21891 :   if (tracker_command.use_throttle) {
+    1248             : 
+    1249             :     // the throttle is overriden from the tracker command
+    1250           0 :     throttle = tracker_command.throttle;
+    1251             : 
+    1252       21891 :   } else if (rampup_active_) {
+    1253             : 
+    1254             :     // deactivate the rampup when the times up
+    1255          14 :     if (fabs((ros::Time::now() - rampup_start_time_).toSec()) >= rampup_duration_) {
+    1256             : 
+    1257          13 :       rampup_active_ = false;
+    1258             : 
+    1259          13 :       ROS_INFO("[Se3Controller]: rampup finished");
+    1260             : 
+    1261             :     } else {
+    1262             : 
+    1263           1 :       double rampup_dt = (ros::Time::now() - rampup_last_time_).toSec();
+    1264             : 
+    1265           1 :       rampup_throttle_ += double(rampup_direction_) * _rampup_speed_ * rampup_dt;
+    1266             : 
+    1267           1 :       rampup_last_time_ = ros::Time::now();
+    1268             : 
+    1269           1 :       throttle = rampup_throttle_;
+    1270             : 
+    1271           1 :       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
+    1272             :     }
+    1273             : 
+    1274             :   } else {
+    1275             : 
+    1276       21877 :     if (desired_thrust_force >= 0) {
+    1277       21877 :       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       21891 :   bool throttle_saturated = false;
+    1286             : 
+    1287       21891 :   if (!std::isfinite(throttle)) {
+    1288             : 
+    1289           0 :     ROS_ERROR("[Se3Controller]: NaN detected in variable 'throttle'!!!");
+    1290           0 :     return;
+    1291             : 
+    1292       21891 :   } 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       21891 :   } 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       21891 :   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       21891 :   Eigen::Vector3d unbiased_des_acc(0, 0, 0);
+    1321             : 
+    1322             :   {
+    1323       21891 :     Eigen::Vector3d unbiased_des_acc_world = (position_feedback + velocity_feedback) / total_mass + Ra;
+    1324             : 
+    1325       43782 :     geometry_msgs::Vector3Stamped world_accel;
+    1326             : 
+    1327       21891 :     world_accel.header.stamp    = ros::Time::now();
+    1328       21891 :     world_accel.header.frame_id = uav_state.header.frame_id;
+    1329       21891 :     world_accel.vector.x        = unbiased_des_acc_world[0];
+    1330       21891 :     world_accel.vector.y        = unbiased_des_acc_world[1];
+    1331       21891 :     world_accel.vector.z        = unbiased_des_acc_world[2];
+    1332             : 
+    1333       65673 :     auto res = common_handlers_->transformer->transformSingle(world_accel, "fcu");
+    1334             : 
+    1335       21891 :     if (res) {
+    1336       21891 :       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       21891 :   last_control_output_.desired_orientation = mrs_lib::AttitudeConverter(Rd);
+    1344             : 
+    1345             :   // fill the unbiased desired accelerations
+    1346       21891 :   last_control_output_.desired_unbiased_acceleration = unbiased_des_acc;
+    1347             : 
+    1348             :   // | ----------------- fill in the diagnostics ---------------- |
+    1349             : 
+    1350       21891 :   last_control_output_.diagnostics.ramping_up = rampup_active_;
+    1351             : 
+    1352       21891 :   last_control_output_.diagnostics.mass_estimator  = true;
+    1353       21891 :   last_control_output_.diagnostics.mass_difference = uav_mass_difference_;
+    1354       21891 :   last_control_output_.diagnostics.total_mass      = total_mass;
+    1355             : 
+    1356       21891 :   last_control_output_.diagnostics.disturbance_estimator = true;
+    1357             : 
+    1358       21891 :   last_control_output_.diagnostics.disturbance_bx_b = -Ib_b_[0];
+    1359       21891 :   last_control_output_.diagnostics.disturbance_by_b = -Ib_b_[1];
+    1360             : 
+    1361       21891 :   last_control_output_.diagnostics.disturbance_bx_w = -Ib_w[0];
+    1362       21891 :   last_control_output_.diagnostics.disturbance_by_w = -Ib_w[1];
+    1363             : 
+    1364       21891 :   last_control_output_.diagnostics.disturbance_wx_w = -Iw_w_[0];
+    1365       21891 :   last_control_output_.diagnostics.disturbance_wy_w = -Iw_w_[1];
+    1366             : 
+    1367       21891 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1368             : 
+    1369       21891 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1370             : 
+    1371             :   // | ------------ construct the attitude reference ------------ |
+    1372             : 
+    1373       21891 :   mrs_msgs::HwApiAttitudeCmd attitude_cmd;
+    1374             : 
+    1375       21891 :   attitude_cmd.stamp       = ros::Time::now();
+    1376       21891 :   attitude_cmd.orientation = mrs_lib::AttitudeConverter(Rd);
+    1377       21891 :   attitude_cmd.throttle    = throttle;
+    1378             : 
+    1379       21891 :   if (output_modality == common::ATTITUDE) {
+    1380             : 
+    1381        1122 :     last_control_output_.control_output = attitude_cmd;
+    1382             : 
+    1383        1122 :     return;
+    1384             :   }
+    1385             : 
+    1386             :   // --------------------------------------------------------------
+    1387             :   // |                      attitude control                      |
+    1388             :   // --------------------------------------------------------------
+    1389             : 
+    1390       20769 :   Eigen::Vector3d rate_feedforward = Eigen::Vector3d::Zero(3);
+    1391             : 
+    1392       20769 :   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       20769 :   } else if (tracker_command.use_heading_rate) {
+    1397             : 
+    1398             :     // to fill in the feed forward yaw rate
+    1399       20769 :     double desired_yaw_rate = 0;
+    1400             : 
+    1401             :     try {
+    1402       20769 :       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       20769 :     rate_feedforward << 0, 0, desired_yaw_rate;
+    1409             :   }
+    1410             : 
+    1411             :   // | ------------ jerk feedforward -> angular rate ------------ |
+    1412             : 
+    1413       20769 :   Eigen::Vector3d jerk_feedforward = Eigen::Vector3d(0, 0, 0);
+    1414             : 
+    1415       20769 :   if (tracker_command.use_jerk && drs_params.jerk_feedforward) {
+    1416             : 
+    1417       20762 :     ROS_DEBUG_THROTTLE(1.0, "[Se3Controller]: using jerk feedforward");
+    1418             : 
+    1419       20762 :     Eigen::Matrix3d I;
+    1420       20762 :     I << 0, 1, 0, -1, 0, 0, 0, 0, 0;
+    1421       20762 :     Eigen::Vector3d desired_jerk = Eigen::Vector3d(tracker_command.jerk.x, tracker_command.jerk.y, tracker_command.jerk.z);
+    1422       20762 :     jerk_feedforward             = (I.transpose() * Rd.transpose() * desired_jerk) / (desired_thrust_force / total_mass);
+    1423             :   }
+    1424             : 
+    1425             :   // | --------------- run the attitude controller -------------- |
+    1426             : 
+    1427       20769 :   Eigen::Vector3d attitude_rate_saturation(constraints.roll_rate, constraints.pitch_rate, constraints.yaw_rate);
+    1428             : 
+    1429       20769 :   auto attitude_rate_command = common::attitudeController(uav_state, attitude_cmd, jerk_feedforward + rate_feedforward, attitude_rate_saturation, Kq,
+    1430       41538 :                                                           drs_params.pitch_roll_heading_rate_compensation);
+    1431             : 
+    1432       20769 :   if (!attitude_rate_command) {
+    1433           0 :     return;
+    1434             :   }
+    1435             : 
+    1436             :   // | --------- fill in the already known attitude rate -------- |
+    1437             : 
+    1438             :   {
+    1439             :     try {
+    1440       20769 :       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       20769 :   if (output_modality == common::ATTITUDE_RATE) {
+    1449             : 
+    1450       19546 :     last_control_output_.control_output = attitude_rate_command;
+    1451             : 
+    1452       19546 :     return;
+    1453             :   }
+    1454             : 
+    1455             :   // --------------------------------------------------------------
+    1456             :   // |                    Attitude rate control                   |
+    1457             :   // --------------------------------------------------------------
+    1458             : 
+    1459        1223 :   Kw = common_handlers_->detailed_model_params->inertia.diagonal().array() * Kw;
+    1460             : 
+    1461        1223 :   auto control_group_command = common::attitudeRateController(uav_state, attitude_rate_command.value(), Kw);
+    1462             : 
+    1463        1223 :   if (!control_group_command) {
+    1464           0 :     return;
+    1465             :   }
+    1466             : 
+    1467        1223 :   if (output_modality == common::CONTROL_GROUP) {
+    1468             : 
+    1469        1223 :     last_control_output_.control_output = control_group_command;
+    1470             : 
+    1471        1223 :     return;
+    1472             :   }
+    1473             : 
+    1474             :   // --------------------------------------------------------------
+    1475             :   // |                        output mixer                        |
+    1476             :   // --------------------------------------------------------------
+    1477             : 
+    1478           0 :   mrs_msgs::HwApiActuatorCmd actuator_cmd = common::actuatorMixer(control_group_command.value(), common_handlers_->detailed_model_params->control_group_mixer);
+    1479             : 
+    1480           0 :   last_control_output_.control_output = actuator_cmd;
+    1481             : 
+    1482           0 :   return;
+    1483             : }
+    1484             : 
+    1485             : //}
+    1486             : 
+    1487             : /* positionPassthrough() //{ */
+    1488             : 
+    1489         247 : void Se3Controller::positionPassthrough(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1490             : 
+    1491         247 :   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         494 :   mrs_msgs::HwApiPositionCmd cmd;
+    1497             : 
+    1498         247 :   cmd.header.frame_id = uav_state.header.frame_id;
+    1499         247 :   cmd.header.stamp    = ros::Time::now();
+    1500             : 
+    1501         247 :   cmd.position = tracker_command.position;
+    1502         247 :   cmd.heading  = tracker_command.heading;
+    1503             : 
+    1504         247 :   last_control_output_.control_output = cmd;
+    1505             : 
+    1506             :   // fill the unbiased desired accelerations
+    1507         247 :   last_control_output_.desired_unbiased_acceleration = {};
+    1508         247 :   last_control_output_.desired_orientation           = {};
+    1509         247 :   last_control_output_.desired_heading_rate          = {};
+    1510             : 
+    1511             :   // | ----------------- fill in the diagnostics ---------------- |
+    1512             : 
+    1513         247 :   last_control_output_.diagnostics.ramping_up = false;
+    1514             : 
+    1515         247 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1516         247 :   last_control_output_.diagnostics.mass_difference = 0;
+    1517             : 
+    1518         247 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1519             : 
+    1520         247 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1521         247 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1522             : 
+    1523         247 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1524         247 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1525             : 
+    1526         247 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1527         247 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1528             : 
+    1529         247 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1530             : 
+    1531         247 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1532             : }
+    1533             : 
+    1534             : //}
+    1535             : 
+    1536             : /* PIDVelocityOutput() //{ */
+    1537             : 
+    1538        2746 : 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        2746 :   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        2746 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1547        2746 :   auto gains       = mrs_lib::get_mutexed(mutex_gains_, gains_);
+    1548             : 
+    1549        2746 :   Eigen::Vector3d pos_ref = Eigen::Vector3d(tracker_command.position.x, tracker_command.position.y, tracker_command.position.z);
+    1550        2746 :   Eigen::Vector3d pos     = Eigen::Vector3d(uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z);
+    1551             : 
+    1552        2746 :   double hdg_ref = tracker_command.heading;
+    1553        2746 :   double hdg     = getHeadingSafely(uav_state, tracker_command);
+    1554             : 
+    1555             :   // | ------------------ velocity feedforward ------------------ |
+    1556             : 
+    1557        2746 :   Eigen::Vector3d vel_ff(0, 0, 0);
+    1558             : 
+    1559        2746 :   if (tracker_command.use_velocity_horizontal && tracker_command.use_velocity_vertical) {
+    1560        2746 :     vel_ff = Eigen::Vector3d(tracker_command.velocity.x, tracker_command.velocity.y, tracker_command.velocity.z);
+    1561             :   }
+    1562             : 
+    1563             :   // | -------------------------- gains ------------------------- |
+    1564             : 
+    1565        2746 :   Eigen::Vector3d Kp;
+    1566             : 
+    1567             :   {
+    1568        2746 :     std::scoped_lock lock(mutex_gains_);
+    1569             : 
+    1570        2746 :     Kp << gains.kpxy, gains.kpxy, gains.kpz;
+    1571             :   }
+    1572             : 
+    1573             :   // | --------------------- control errors --------------------- |
+    1574             : 
+    1575        2746 :   Eigen::Vector3d Ep = pos_ref - pos;
+    1576             : 
+    1577             :   // | --------------------------- pid -------------------------- |
+    1578             : 
+    1579        2746 :   position_pid_x_.setSaturation(constraints.horizontal_speed);
+    1580        2746 :   position_pid_y_.setSaturation(constraints.horizontal_speed);
+    1581        2746 :   position_pid_z_.setSaturation(std::min(constraints.vertical_ascending_speed, constraints.vertical_descending_speed));
+    1582             : 
+    1583        2746 :   double des_vel_x = position_pid_x_.update(Ep[0], dt);
+    1584        2746 :   double des_vel_y = position_pid_y_.update(Ep[1], dt);
+    1585        2746 :   double des_vel_z = position_pid_z_.update(Ep[2], dt);
+    1586             : 
+    1587             :   // | -------------------- position feedback ------------------- |
+    1588             : 
+    1589        2746 :   Eigen::Vector3d des_vel = Eigen::Vector3d(des_vel_x, des_vel_y, des_vel_z) + vel_ff;
+    1590             : 
+    1591        2746 :   if (control_output == common::VELOCITY_HDG) {
+    1592             : 
+    1593             :     // | --------------------- fill the output -------------------- |
+    1594             : 
+    1595        1882 :     mrs_msgs::HwApiVelocityHdgCmd cmd;
+    1596             : 
+    1597         941 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1598         941 :     cmd.header.stamp    = ros::Time::now();
+    1599             : 
+    1600         941 :     cmd.velocity.x = des_vel[0];
+    1601         941 :     cmd.velocity.y = des_vel[1];
+    1602         941 :     cmd.velocity.z = des_vel[2];
+    1603             : 
+    1604         941 :     cmd.heading = tracker_command.heading;
+    1605             : 
+    1606         941 :     last_control_output_.control_output = cmd;
+    1607             : 
+    1608        1805 :   } else if (control_output == common::VELOCITY_HDG_RATE) {
+    1609             : 
+    1610        1805 :     position_pid_heading_.setSaturation(constraints.heading_speed);
+    1611             : 
+    1612        1805 :     double hdg_err = mrs_lib::geometry::sradians::diff(hdg_ref, hdg);
+    1613             : 
+    1614        1805 :     double des_hdg_rate = position_pid_heading_.update(hdg_err, dt);
+    1615             : 
+    1616             :     // | --------------------------- ff --------------------------- |
+    1617             : 
+    1618        1805 :     double des_hdg_ff = 0;
+    1619             : 
+    1620        1805 :     if (tracker_command.use_heading_rate) {
+    1621        1805 :       des_hdg_ff = tracker_command.heading_rate;
+    1622             :     }
+    1623             : 
+    1624             :     // | --------------------- fill the output -------------------- |
+    1625             : 
+    1626        3610 :     mrs_msgs::HwApiVelocityHdgRateCmd cmd;
+    1627             : 
+    1628        1805 :     cmd.header.frame_id = uav_state.header.frame_id;
+    1629        1805 :     cmd.header.stamp    = ros::Time::now();
+    1630             : 
+    1631        1805 :     cmd.velocity.x = des_vel[0];
+    1632        1805 :     cmd.velocity.y = des_vel[1];
+    1633        1805 :     cmd.velocity.z = des_vel[2];
+    1634             : 
+    1635        1805 :     cmd.heading_rate = des_hdg_rate + des_hdg_ff;
+    1636             : 
+    1637        1805 :     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        2746 :   last_control_output_.desired_unbiased_acceleration = {};
+    1646        2746 :   last_control_output_.desired_orientation           = {};
+    1647        2746 :   last_control_output_.desired_heading_rate          = {};
+    1648             : 
+    1649             :   // | ----------------- fill in the diagnostics ---------------- |
+    1650             : 
+    1651        2746 :   last_control_output_.diagnostics.ramping_up = false;
+    1652             : 
+    1653        2746 :   last_control_output_.diagnostics.mass_estimator  = false;
+    1654        2746 :   last_control_output_.diagnostics.mass_difference = 0;
+    1655             : 
+    1656        2746 :   last_control_output_.diagnostics.disturbance_estimator = false;
+    1657             : 
+    1658        2746 :   last_control_output_.diagnostics.disturbance_bx_b = 0;
+    1659        2746 :   last_control_output_.diagnostics.disturbance_by_b = 0;
+    1660             : 
+    1661        2746 :   last_control_output_.diagnostics.disturbance_bx_w = 0;
+    1662        2746 :   last_control_output_.diagnostics.disturbance_by_w = 0;
+    1663             : 
+    1664        2746 :   last_control_output_.diagnostics.disturbance_wx_w = 0;
+    1665        2746 :   last_control_output_.diagnostics.disturbance_wy_w = 0;
+    1666             : 
+    1667        2746 :   last_control_output_.diagnostics.controller_enforcing_constraints = false;
+    1668             : 
+    1669        2746 :   last_control_output_.diagnostics.controller = "Se3Controller";
+    1670             : }
+    1671             : 
+    1672             : //}
+    1673             : 
+    1674             : // --------------------------------------------------------------
+    1675             : // |                          callbacks                         |
+    1676             : 
+    1677             : 
+    1678             : /* //{ callbackDrs() */
+    1679             : 
+    1680         162 : void Se3Controller::callbackDrs(mrs_uav_controllers::se3_controllerConfig& config, [[maybe_unused]] uint32_t level) {
+    1681             : 
+    1682         162 :   mrs_lib::set_mutexed(mutex_drs_params_, config, drs_params_);
+    1683             : 
+    1684         162 :   ROS_INFO("[Se3Controller]: DRS updated gains");
+    1685         162 : }
+    1686             : 
+    1687             : //}
+    1688             : 
+    1689             : // --------------------------------------------------------------
+    1690             : // |                           timers                           |
+    1691             : // --------------------------------------------------------------
+    1692             : 
+    1693             : /* timerGains() //{ */
+    1694             : 
+    1695        4239 : void Se3Controller::timerGains(const ros::TimerEvent& event) {
+    1696             : 
+    1697       12717 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
+    1698             :   mrs_lib::ScopeTimer timer =
+    1699       12717 :       mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1700             : 
+    1701        8478 :   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    1702        4239 :   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        4239 :   bool   bypass_filter = (mute_gains_ || mute_gains_by_tracker_);
+    1707        4239 :   double gain_coeff    = (mute_gains_ || mute_gains_by_tracker_) ? _gain_mute_coefficient_ : 1.0;
+    1708             : 
+    1709        4239 :   mute_gains_ = false;
+    1710             : 
+    1711        4239 :   const double dt = (event.current_real - event.last_real).toSec();
+    1712             : 
+    1713        4239 :   bool updated = false;
+    1714             : 
+    1715        4239 :   gains.kpxy          = calculateGainChange(dt, gains.kpxy, drs_params.kpxy * gain_coeff, bypass_filter, "kpxy", updated);
+    1716        4239 :   gains.kvxy          = calculateGainChange(dt, gains.kvxy, drs_params.kvxy * gain_coeff, bypass_filter, "kvxy", updated);
+    1717        4239 :   gains.kaxy          = calculateGainChange(dt, gains.kaxy, drs_params.kaxy * gain_coeff, bypass_filter, "kaxy", updated);
+    1718        4239 :   gains.kiwxy         = calculateGainChange(dt, gains.kiwxy, drs_params.kiwxy * gain_coeff, bypass_filter, "kiwxy", updated);
+    1719        4239 :   gains.kibxy         = calculateGainChange(dt, gains.kibxy, drs_params.kibxy * gain_coeff, bypass_filter, "kibxy", updated);
+    1720        4239 :   gains.kpz           = calculateGainChange(dt, gains.kpz, drs_params.kpz * gain_coeff, bypass_filter, "kpz", updated);
+    1721        4239 :   gains.kvz           = calculateGainChange(dt, gains.kvz, drs_params.kvz * gain_coeff, bypass_filter, "kvz", updated);
+    1722        4239 :   gains.kaz           = calculateGainChange(dt, gains.kaz, drs_params.kaz * gain_coeff, bypass_filter, "kaz", updated);
+    1723        4239 :   gains.kq_roll_pitch = calculateGainChange(dt, gains.kq_roll_pitch, drs_params.kq_roll_pitch * gain_coeff, bypass_filter, "kq_roll_pitch", updated);
+    1724        4239 :   gains.kq_yaw        = calculateGainChange(dt, gains.kq_yaw, drs_params.kq_yaw * gain_coeff, bypass_filter, "kq_yaw", updated);
+    1725        4239 :   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        4239 :   gains.kiwxy_lim = calculateGainChange(dt, gains.kiwxy_lim, drs_params.kiwxy_lim, false, "kiwxy_lim", updated);
+    1729        4239 :   gains.kibxy_lim = calculateGainChange(dt, gains.kibxy_lim, drs_params.kibxy_lim, false, "kibxy_lim", updated);
+    1730        4239 :   gains.km_lim    = calculateGainChange(dt, gains.km_lim, drs_params.km_lim, false, "km_lim", updated);
+    1731             : 
+    1732        4239 :   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        4239 :   if (updated) {
+    1737             : 
+    1738         234 :     drs_params.kpxy          = gains.kpxy;
+    1739         234 :     drs_params.kvxy          = gains.kvxy;
+    1740         234 :     drs_params.kaxy          = gains.kaxy;
+    1741         234 :     drs_params.kiwxy         = gains.kiwxy;
+    1742         234 :     drs_params.kibxy         = gains.kibxy;
+    1743         234 :     drs_params.kpz           = gains.kpz;
+    1744         234 :     drs_params.kvz           = gains.kvz;
+    1745         234 :     drs_params.kaz           = gains.kaz;
+    1746         234 :     drs_params.kq_roll_pitch = gains.kq_roll_pitch;
+    1747         234 :     drs_params.kq_yaw        = gains.kq_yaw;
+    1748         234 :     drs_params.kiwxy_lim     = gains.kiwxy_lim;
+    1749         234 :     drs_params.kibxy_lim     = gains.kibxy_lim;
+    1750         234 :     drs_params.km            = gains.km;
+    1751         234 :     drs_params.km_lim        = gains.km_lim;
+    1752             : 
+    1753         234 :     drs_->updateConfig(drs_params);
+    1754             : 
+    1755         234 :     ROS_INFO_THROTTLE(10.0, "[Se3Controller]: gains have been updated");
+    1756             :   }
+    1757        4239 : }
+    1758             : 
+    1759             : //}
+    1760             : 
+    1761             : // --------------------------------------------------------------
+    1762             : // |                       other routines                       |
+    1763             : // --------------------------------------------------------------
+    1764             : 
+    1765             : /* calculateGainChange() //{ */
+    1766             : 
+    1767       59346 : 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       59346 :   double change = desired_value - current_value;
+    1771             : 
+    1772       59346 :   double gains_filter_max_change = _gains_filter_change_rate_ * dt;
+    1773       59346 :   double gains_filter_min_change = _gains_filter_min_change_rate_ * dt;
+    1774             : 
+    1775       59346 :   if (!bypass_rate) {
+    1776             : 
+    1777             :     // if current value is near 0...
+    1778             :     double change_in_perc;
+    1779             :     double saturated_change;
+    1780             : 
+    1781       59060 :     if (fabs(current_value) < 1e-6) {
+    1782           0 :       change *= gains_filter_max_change;
+    1783             :     } else {
+    1784             : 
+    1785       59060 :       saturated_change = change;
+    1786             : 
+    1787       59060 :       change_in_perc = (current_value + saturated_change) / current_value - 1.0;
+    1788             : 
+    1789       59060 :       if (change_in_perc > gains_filter_max_change) {
+    1790        2002 :         saturated_change = current_value * gains_filter_max_change;
+    1791       57058 :       } else if (change_in_perc < -gains_filter_max_change) {
+    1792          25 :         saturated_change = current_value * -gains_filter_max_change;
+    1793             :       }
+    1794             : 
+    1795       59060 :       if (fabs(saturated_change) < fabs(change) * gains_filter_min_change) {
+    1796          20 :         change *= gains_filter_min_change;
+    1797             :       } else {
+    1798       59040 :         change = saturated_change;
+    1799             :       }
+    1800             :     }
+    1801             :   }
+    1802             : 
+    1803       59346 :   if (fabs(change) > 1e-3) {
+    1804        2593 :     ROS_DEBUG("[Se3Controller]: changing gain '%s' from %.2f to %.2f", name.c_str(), current_value, desired_value);
+    1805        2593 :     updated = true;
+    1806             :   }
+    1807             : 
+    1808       59346 :   return current_value + change;
+    1809             : }
+    1810             : 
+    1811             : //}
+    1812             : 
+    1813             : /* getHeadingSafely() //{ */
+    1814             : 
+    1815       25704 : double Se3Controller::getHeadingSafely(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
+    1816             : 
+    1817             :   try {
+    1818       25704 :     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          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_controllers::se3_controller::Se3Controller, mrs_uav_managers::Controller)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_controllers/src/se3_controller.cpp.gcov.overview.html b/mrs_uav_controllers/src/se3_controller.cpp.gcov.overview.html new file mode 100644 index 0000000000..363703df5f --- /dev/null +++ b/mrs_uav_controllers/src/se3_controller.cpp.gcov.overview.html @@ -0,0 +1,481 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_controllers/src/se3_controller.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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LCOV - code coverage report
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
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LCOV - code coverage report
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Test:MRS UAV System - Test coverage reportLines:44100.0 %
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LCOV - code coverage report
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
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output_publisher.h +
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/control_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:1010100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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output_publisher.h +
100.0%
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func-sort-c.html new file mode 100644 index 0000000000..8cde5523ec --- /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:2024-02-24 08:13:25Functions: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&)470
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1196
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)79626
mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::PublisherVisitor(mrs_uav_managers::control_manager::OutputPublisher*)99998
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.func.html b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html new file mode 100644 index 0000000000..f8bf19b524 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions: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*)99998
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > >(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiPositionCmd_<std::allocator<void> > >(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1196
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)79626
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > >(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
void mrs_uav_managers::control_manager::OutputPublisher::PublisherVisitor::operator()<mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > >(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html new file mode 100644 index 0000000000..137c10c3db --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html new file mode 100644 index 0000000000..cac370edc4 --- /dev/null +++ b/mrs_uav_managers/include/control_manager/output_publisher.h.gcov.html @@ -0,0 +1,146 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/control_manager/output_publisher.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/control_manager - output_publisher.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions: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       99998 :     PublisherVisitor(OutputPublisher* obj) : obj_(obj){};
+      48             : 
+      49             :     OutputPublisher* obj_;
+      50             : 
+      51             :     template <class T>
+      52       99998 :     void operator()(const T& msg) {
+      53       99998 :       obj_->publish(msg);
+      54       99998 :     }
+      55             :   };
+      56             : };
+      57             : 
+      58             : }  // namespace control_manager
+      59             : 
+      60             : }  // namespace mrs_uav_managers
+      61             : 
+      62             : #endif  //  CONTROL_MANAGER_OUTPUT_PUBLISHER
+
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/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 + + +
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+ + 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 + + + + + + + + + + + + + + +
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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:2024-02-24 08:13:25Functions: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&)60
mrs_uav_managers::AglEstimator::~AglEstimator().260
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Date:2024-02-24 08:13:25Functions: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&)60
mrs_uav_managers::AglEstimator::~AglEstimator()0
mrs_uav_managers::AglEstimator::~AglEstimator().260
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Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+       2             : #define MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <Eigen/Dense>
+       9             : 
+      10             : #include <nav_msgs/Odometry.h>
+      11             : 
+      12             : #include <mrs_msgs/UavState.h>
+      13             : #include <mrs_msgs/Float64Stamped.h>
+      14             : #include <mrs_msgs/Float64ArrayStamped.h>
+      15             : #include <mrs_msgs/HwApiCapabilities.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+      18             : #include <mrs_uav_managers/estimation_manager/support.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_managers
+      23             : {
+      24             : 
+      25             : namespace agl
+      26             : {
+      27             : const char type[] = "AGL";
+      28             : }
+      29             : 
+      30             : using namespace estimation_manager;
+      31             : 
+      32             : class AglEstimator : public Estimator {
+      33             : 
+      34             : protected:
+      35             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      36             : 
+      37             :   ros::NodeHandle nh_;
+      38             : 
+      39             :   mrs_msgs::Float64Stamped agl_height_;
+      40             :   mrs_msgs::Float64Stamped agl_height_init_;
+      41             :   mutable std::mutex       mtx_agl_height_;
+      42             : 
+      43             :   mrs_msgs::Float64ArrayStamped agl_height_cov_;
+      44             :   mrs_msgs::Float64ArrayStamped agl_height_cov_init_;
+      45             :   mutable std::mutex            mtx_agl_height_cov_;
+      46             : 
+      47             :   bool is_override_frame_id_ = false;
+      48             : 
+      49             : protected:
+      50             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>      ph_agl_height_;
+      51             :   mutable mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped> ph_agl_height_cov_;
+      52             : 
+      53             : public:
+      54          60 :   AglEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      55          60 :       : Estimator(agl::type, name, frame_id), package_name_(package_name) {
+      56          60 :   }
+      57             : 
+      58          60 :   virtual ~AglEstimator(void) {
+      59          60 :   }
+      60             : 
+      61             :   // virtual methods
+      62             :   virtual mrs_msgs::Float64Stamped getUavAglHeight() const     = 0;
+      63             :   virtual std::vector<double>      getHeightCovariance() const = 0;
+      64             : 
+      65             :   // implemented methods
+      66             :   void publishAglHeight() const;
+      67             :   void publishCovariance() const;
+      68             :   bool isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      69             : };
+      70             : 
+      71             : }  // namespace mrs_uav_managers
+      72             : 
+      73             : #endif  // MRS_UAV_MANAGERS_AGL_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..21f3af39aa --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.overview.html @@ -0,0 +1,39 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png b/mrs_uav_managers/include/mrs_uav_managers/agl_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d88c3428e27de2da87a77f1e9b45246bce5c1009 GIT binary patch literal 397 zcmeAS@N?(olHy`uVBq!ia0vp^0YL1@!VDxMp6xjcq$C1-LR|m<|Gx?dmcNgUef6J# zVHHpuOr7)IycEdhEbxddW?X?_wfUqO7#O8JT^vI^I**2N^Bq>;m@551^bPNq zf9122k3Q-bES1dkxxB~jU(@G%i}R249^oF@8-^V(Ynvcr7WJ?T*XcTjST)6V%To!AaM zVduIYRMU7w<@9e;50Qhsq7K!Y7H0fOOAcJ-FL2X1>-ZLKhy8pP p#LM#zrZ}!(zhtL;GxNsIIKPIdz%zeOxB$bB!PC{xWt~$(697r3r%?a^ literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html b/mrs_uav_managers/include/mrs_uav_managers/control_manager/common.h.func-sort-c.html new file mode 100644 index 0000000000..3099bd7875 --- /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:2024-02-24 08:13:25Functions: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&)470
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
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&)1019
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
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&)1074
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
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&)1196
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1196
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&)2291
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2418
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&)2606
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&)3844
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)3999
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5236
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&)7872
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13405
mrs_uav_managers::control_manager::HwApiInitializeVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, mrs_msgs::UavState_<std::allocator<void> > const&, double const&, double const&)14039
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&)65590
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)82234
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+
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Generated by: LCOV version 1.14
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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:2024-02-24 08:13:25Functions:192770.4 %
Legend: Lines: + hit + not hit +
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+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::HwApiValidateVisitor::operator()(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&, mrs_uav_managers::control_manager::ControlOutputModalities_t const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)2606
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&)7872
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&)470
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&)1196
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&)65590
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&)3844
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&)1019
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&)2291
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&)1074
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&)14039
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&)3999
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)13405
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1196
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)82234
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)5236
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2418
mrs_uav_managers::control_manager::HwApiCmdExtractThrottleVisitor::operator()(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
+
+
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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..30a93e5982 --- /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:2024-02-24 08:13:25Functions: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        3999 :   std::optional<double> operator()(const mrs_msgs::HwApiActuatorCmd& msg) {
+      82             : 
+      83        3999 :     if (msg.motors.size() == 0) {
+      84           0 :       return std::nullopt;
+      85             :     }
+      86             : 
+      87        3999 :     double throttle = 0;
+      88             : 
+      89       19995 :     for (size_t i = 0; i < msg.motors.size(); i++) {
+      90       15996 :       throttle += msg.motors[i];
+      91             :     };
+      92             : 
+      93        3999 :     throttle /= msg.motors.size();
+      94             : 
+      95        3999 :     return throttle;
+      96             :   }
+      97        5236 :   std::optional<double> operator()(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      98        5236 :     return msg.throttle;
+      99             :   }
+     100       13405 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeCmd& msg) {
+     101       13405 :     return msg.throttle;
+     102             :   }
+     103       82234 :   std::optional<double> operator()(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+     104       82234 :     return msg.throttle;
+     105             :   }
+     106        1074 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+     107        1074 :     return std::nullopt;
+     108             :   }
+     109        1019 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+     110        1019 :     return std::nullopt;
+     111             :   }
+     112        2418 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+     113        2418 :     return std::nullopt;
+     114             :   }
+     115        1196 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+     116        1196 :     return std::nullopt;
+     117             :   }
+     118         470 :   std::optional<double> operator()([[maybe_unused]] const mrs_msgs::HwApiPositionCmd& msg) {
+     119         470 :     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        2606 :   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        2606 :     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        2606 :     return validateHwApiActuatorCmd(msg, node_name, var_name);
+     152             :   }
+     153        3844 :   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        3844 :     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        3844 :     return validateHwApiControlGroupCmd(msg, node_name, var_name);
+     162             :   }
+     163        7872 :   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        7872 :     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        7872 :     return validateHwApiAttitudeCmd(msg, node_name, var_name);
+     172             :   }
+     173       65590 :   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       65590 :     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       65590 :     return validateHwApiAttitudeRateCmd(msg, node_name, var_name);
+     182             :   }
+     183        1074 :   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        1074 :     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        1074 :     return validateHwApiAccelerationHdgRateCmd(msg, node_name, var_name);
+     192             :   }
+     193        1019 :   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        1019 :     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        1019 :     return validateHwApiAccelerationHdgCmd(msg, node_name, var_name);
+     202             :   }
+     203        2291 :   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        2291 :     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        2291 :     return validateHwApiVelocityHdgRateCmd(msg, node_name, var_name);
+     212             :   }
+     213        1196 :   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        1196 :     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        1196 :     return validateHwApiVelocityHdgCmd(msg, node_name, var_name);
+     222             :   }
+     223         470 :   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         470 :     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         470 :     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       14039 :   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       14039 :     initializeHwApiCmd(msg, min_throttle);
+     267       14039 :   }
+     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         405 :   virtual ~Controller() = default;
+     144             : };
+     145             : 
+     146             : }  // namespace mrs_uav_managers
+     147             : 
+     148             : #endif
+
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mrs_uav_managers::Estimator::~Estimator()0
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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&)457
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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         457 :   Estimator(const std::string &type, const std::string &name, const std::string &frame_id) : type_(type), name_(name), frame_id_(frame_id) {
+      64         457 :   }
+      65             : 
+      66         457 :   virtual ~Estimator(void) {
+      67         457 :   }
+      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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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-02-24 08:13:25Functions: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
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index-sort-l.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index-sort-l.html new file mode 100644 index 0000000000..250239c7c4 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-02-24 08:13:25Functions: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
support.h +
97.1%97.1%
+ 		97.1 %102 / 105100.0 %15 / 15
estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index.html new file mode 100644 index 0000000000..0a5b820c6c --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/index.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_managerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10610997.2 %
Date:2024-02-24 08:13:25Functions: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
+
+
+ + + + +
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-sort-c.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func-sort-c.html new file mode 100644 index 0000000000..371b386886 --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func-sort-c.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
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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:2024-02-24 08:13:25Functions:1515100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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&)253
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)324
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1809
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)141309
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)244451
mrs_uav_managers::estimation_manager::Support::msgFromTf2(tf2::Transform const&)296108
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)306620
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)307584
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::Quaternion_<std::allocator<void> > const&)327263
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)616387
mrs_uav_managers::estimation_manager::Support::poseFromTf2(tf2::Transform const&)631983
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)928806
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1068103
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.func.html new file mode 100644 index 0000000000..337b9e4841 --- /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:2024-02-24 08:13:25Functions: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&)296108
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&)631983
mrs_uav_managers::estimation_manager::Support::tf2FromPose(geometry_msgs::Pose_<std::allocator<void> > const&)928806
mrs_uav_managers::estimation_manager::Support::toLowercase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)324
mrs_uav_managers::estimation_manager::Support::toSnakeCase(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)1809
mrs_uav_managers::estimation_manager::Support::rotateVector(geometry_msgs::Vector3_<std::allocator<void> > const&, geometry_msgs::Quaternion_<std::allocator<void> > const&)307584
mrs_uav_managers::estimation_manager::Support::applyPoseDiff(geometry_msgs::Pose_<std::allocator<void> > const&, geometry_msgs::Pose_<std::allocator<void> > const&)141309
mrs_uav_managers::estimation_manager::Support::pointToVector3(geometry_msgs::Point_<std::allocator<void> > const&)616387
mrs_uav_managers::estimation_manager::Support::rotateVecByHdg(geometry_msgs::Vector3_<std::allocator<void> > const&, double)244451
mrs_uav_managers::estimation_manager::Support::uavStateToOdom(mrs_msgs::UavState_<std::allocator<void> > const&)306620
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&)253
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&)327263
mrs_uav_managers::estimation_manager::Support::noNans(geometry_msgs::TransformStamped_<std::allocator<void> > const&)1068103
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.frameset.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.frameset.html new file mode 100644 index 0000000000..e8f1cf866e --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.html b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.html new file mode 100644 index 0000000000..3f158ba5fa --- /dev/null +++ b/mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h.gcov.html @@ -0,0 +1,405 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/mrs_uav_managers/estimation_manager/support.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/mrs_uav_managers/estimation_manager - support.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:10210597.1 %
Date:2024-02-24 08:13:25Functions: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        1809 :   static std::string toSnakeCase(const std::string& str_in) {
+      39             : 
+      40        1809 :     std::string str(1, tolower(str_in[0]));
+      41             : 
+      42       28419 :     for (auto it = str_in.begin() + 1; it != str_in.end(); ++it) {
+      43       26610 :       if (isupper(*it) && *(it - 1) != '_' && islower(*(it - 1))) {
+      44        1495 :         str += "_";
+      45             :       }
+      46       26610 :       str += *it;
+      47             :     }
+      48             : 
+      49        1809 :     std::transform(str.begin(), str.end(), str.begin(), ::tolower);
+      50             : 
+      51        1809 :     return str;
+      52             :   }
+      53             :   /*//}*/
+      54             : 
+      55             : /* toLowercase() //{ */
+      56             : 
+      57         324 : static std::string toLowercase(const std::string str_in) {
+      58         324 :   std::string str_out = str_in;
+      59         324 :   std::transform(str_out.begin(), str_out.end(), str_out.begin(), ::tolower);
+      60         324 :   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      244451 :   static tf2::Vector3 rotateVecByHdg(const geometry_msgs::Vector3& vec_in, const double hdg_in) {
+      99             : 
+     100      244451 :     const tf2::Quaternion q_hdg = mrs_lib::AttitudeConverter(0, 0, 0).setHeading(hdg_in);
+     101             : 
+     102      241511 :     const tf2::Vector3 vec_tf2(vec_in.x, vec_in.y, vec_in.z);
+     103             : 
+     104      241351 :     const tf2::Vector3 vec_rotated = tf2::quatRotate(q_hdg, vec_tf2);
+     105             : 
+     106      480852 :     return vec_rotated;
+     107             :   }
+     108             :   //}
+     109             : 
+     110             :   /* noNans() //{ */
+     111     1068103 :   static bool noNans(const geometry_msgs::TransformStamped& tf) {
+     112             : 
+     113     3201527 :     return (std::isfinite(tf.transform.rotation.x) && std::isfinite(tf.transform.rotation.y) && std::isfinite(tf.transform.rotation.z) &&
+     114     4267202 :             std::isfinite(tf.transform.rotation.w) && std::isfinite(tf.transform.translation.x) && std::isfinite(tf.transform.translation.y) &&
+     115     2134360 :             std::isfinite(tf.transform.translation.z));
+     116             :   }
+     117             :   //}
+     118             : 
+     119             :   /* noNans() //{ */
+     120      327263 :   static bool noNans(const geometry_msgs::Quaternion& q) {
+     121             : 
+     122      327263 :     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      928806 :   static tf2::Transform tf2FromPose(const geometry_msgs::Pose& pose_in) {
+     136             : 
+     137      928806 :     tf2::Vector3 position(pose_in.position.x, pose_in.position.y, pose_in.position.z);
+     138             : 
+     139      928434 :     tf2::Quaternion q;
+     140      928507 :     tf2::fromMsg(pose_in.orientation, q);
+     141             : 
+     142      928297 :     tf2::Transform tf_out(q, position);
+     143             : 
+     144     1853120 :     return tf_out;
+     145             :   }
+     146             : 
+     147             :   //}
+     148             : 
+     149             :   /* poseFromTf2() //{ */
+     150             : 
+     151      631983 :   static geometry_msgs::Pose poseFromTf2(const tf2::Transform& tf_in) {
+     152             : 
+     153      631983 :     geometry_msgs::Pose pose_out;
+     154      630971 :     pose_out.position.x = tf_in.getOrigin().getX();
+     155      631160 :     pose_out.position.y = tf_in.getOrigin().getY();
+     156      631297 :     pose_out.position.z = tf_in.getOrigin().getZ();
+     157             : 
+     158      632104 :     pose_out.orientation = tf2::toMsg(tf_in.getRotation());
+     159             : 
+     160      631981 :     return pose_out;
+     161             :   }
+     162             : 
+     163             :   //}
+     164             : 
+     165             :   /* msgFromTf2() //{ */
+     166      296108 :   static geometry_msgs::Transform msgFromTf2(const tf2::Transform& tf_in) {
+     167             : 
+     168      296108 :     geometry_msgs::Transform tf_out;
+     169      296108 :     tf_out.translation.x = tf_in.getOrigin().getX();
+     170      296108 :     tf_out.translation.y = tf_in.getOrigin().getY();
+     171      296108 :     tf_out.translation.z = tf_in.getOrigin().getZ();
+     172      296108 :     tf_out.rotation = tf2::toMsg(tf_in.getRotation());
+     173             : 
+     174      296108 :     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      616387 :   static geometry_msgs::Vector3 pointToVector3(const geometry_msgs::Point& point_in) {
+     194             : 
+     195      616387 :     geometry_msgs::Vector3 vec_out;
+     196      616180 :     vec_out.x = point_in.x;
+     197      616180 :     vec_out.y = point_in.y;
+     198      616180 :     vec_out.z = point_in.z;
+     199             : 
+     200      616180 :     return vec_out;
+     201             :   }
+     202             : 
+     203             :   //}
+     204             : 
+     205             :   /*//{ rotateVector() */
+     206      307584 :   static geometry_msgs::Vector3 rotateVector(const geometry_msgs::Vector3& vec_in, const geometry_msgs::Quaternion& q_in) {
+     207             : 
+     208             :     try {
+     209      307584 :       Eigen::Matrix3d        R = mrs_lib::AttitudeConverter(q_in);
+     210      307582 :       Eigen::Vector3d        vec_in_eigen(vec_in.x, vec_in.y, vec_in.z);
+     211      307185 :       Eigen::Vector3d        vec_eigen_rotated = R * vec_in_eigen;
+     212      307383 :       geometry_msgs::Vector3 vec_out;
+     213      306608 :       vec_out.x = vec_eigen_rotated[0];
+     214      306619 :       vec_out.y = vec_eigen_rotated[1];
+     215      306864 :       vec_out.z = vec_eigen_rotated[2];
+     216      306996 :       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      306620 :   static nav_msgs::Odometry uavStateToOdom(const mrs_msgs::UavState& uav_state) {
+     227      306620 :     nav_msgs::Odometry odom;
+     228      306567 :     odom.header              = uav_state.header;
+     229      306540 :     odom.child_frame_id      = uav_state.child_frame_id;
+     230      306472 :     odom.pose.pose           = uav_state.pose;
+     231      306472 :     odom.twist.twist.angular = uav_state.velocity.angular;
+     232             : 
+     233      306472 :     tf2::Quaternion q;
+     234      306545 :     tf2::fromMsg(odom.pose.pose.orientation, q);
+     235      306500 :     odom.twist.twist.linear = Support::rotateVector(uav_state.velocity.linear, mrs_lib::AttitudeConverter(q.inverse()));
+     236             : 
+     237      612184 :     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      141309 :   static geometry_msgs::Pose applyPoseDiff(const geometry_msgs::Pose& pose_in, const geometry_msgs::Pose& pose_diff) {
+     265             : 
+     266      141309 :     tf2::Vector3    pos_in;
+     267      141309 :     tf2::Quaternion q_in;
+     268      141309 :     tf2::fromMsg(pose_in.position, pos_in);
+     269      141309 :     tf2::fromMsg(pose_in.orientation, q_in);
+     270             : 
+     271      141309 :     tf2::Vector3    pos_diff;
+     272      141309 :     tf2::Quaternion q_diff;
+     273      141309 :     tf2::fromMsg(pose_diff.position, pos_diff);
+     274      141309 :     tf2::fromMsg(pose_diff.orientation, q_diff);
+     275             : 
+     276      141309 :     const tf2::Vector3    pos_out = tf2::quatRotate(q_diff.inverse(), (pos_in - pos_diff));
+     277      141309 :     const tf2::Quaternion q_out   = q_diff.inverse() * q_in;
+     278             : 
+     279      141309 :     geometry_msgs::Pose pose_out;
+     280      141309 :     tf2::toMsg(pos_out, pose_out.position);
+     281      141309 :     pose_out.orientation = tf2::toMsg(q_out);
+     282             : 
+     283      282618 :     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         253 :   static bool isStringInVector(const std::string& value, const std::vector<std::string>& str_vec) {
+     300         253 :     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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Date:2024-02-24 08:13:25Functions:2366.7 %
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mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::StateEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)85
mrs_uav_managers::StateEstimator::~StateEstimator().285
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Date:2024-02-24 08:13:25Functions:2366.7 %
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mrs_uav_managers::StateEstimator::~StateEstimator()0
mrs_uav_managers::StateEstimator::~StateEstimator().285
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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          85 :   StateEstimator(const std::string &name, const std::string &frame_id, const std::string &package_name)
+      62          85 :       : Estimator(state::type, name, frame_id), package_name_(package_name) {
+      63          85 :   }
+      64             : 
+      65          85 :   virtual ~StateEstimator(void) {
+      66          85 :   }
+      67             : 
+      68             :   virtual bool setUavState(const mrs_msgs::UavState &uav_state) = 0;
+      69             : 
+      70             :   // implemented methods
+      71             :   std::optional<mrs_msgs::UavState>        getUavState();
+      72             :   nav_msgs::Odometry                       getInnovation() const;
+      73             :   std::vector<double>                      getPoseCovariance() const;
+      74             :   std::vector<double>                      getTwistCovariance() const;
+      75             :   void                                     publishUavState() const;
+      76             :   void                                     publishOdom() const;
+      77             :   void                                     publishCovariance() const;
+      78             :   void                                     publishInnovation() const;
+      79             :   std::optional<geometry_msgs::Quaternion> rotateQuaternionByHeading(const geometry_msgs::Quaternion &q, const double hdg) const;
+      80             :   bool                                     isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr &hw_api_capabilities) const;
+      81             : };
+      82             : 
+      83             : }  // namespace mrs_uav_managers
+      84             : 
+      85             : #endif  // MRS_UAV_MANAGERS_STATE_ESTIMATOR_H
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mrs_uav_managers::Tracker::~Tracker()0
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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         487 :   virtual ~Tracker() = default;
+     208             : };
+     209             : 
+     210             : }  // namespace mrs_uav_managers
+     211             : 
+     212             : #endif
+
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mrs_uav_managers::TfMappingOrigin::getPrintName[abi:cxx11]()0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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mrs_uav_managers::TfMappingOrigin::getPrintName[abi:cxx11]()0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomAlt(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomLat(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::callbackMappingOdomRot(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)0
mrs_uav_managers::TfMappingOrigin::TfMappingOrigin(ros::NodeHandle, std::shared_ptr<mrs_lib::ParamLoader>, std::shared_ptr<mrs_lib::TransformBroadcaster> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t>)0
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef TF_MAPPING_ORIGIN_H
+       3             : #define TF_MAPPING_ORIGIN_H
+       4             : 
+       5             : #include <ros/ros.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : #include <mrs_lib/subscribe_handler.h>
+       9             : #include <mrs_lib/transform_broadcaster.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/publisher_handler.h>
+      12             : 
+      13             : #include <nav_msgs/Odometry.h>
+      14             : #include <geometry_msgs/QuaternionStamped.h>
+      15             : #include <geometry_msgs/TransformStamped.h>
+      16             : 
+      17             : #include <mrs_uav_managers/estimation_manager/support.h>
+      18             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      19             : 
+      20             : namespace mrs_uav_managers
+      21             : {
+      22             : 
+      23             : /*//{ class TfMappingOrigin */
+      24             : class TfMappingOrigin {
+      25             : 
+      26             :   using Support = estimation_manager::Support;
+      27             : 
+      28             : public:
+      29             :   /*//{ constructor */
+      30           0 :   TfMappingOrigin(ros::NodeHandle nh, std::shared_ptr<mrs_lib::ParamLoader> param_loader, const std::shared_ptr<mrs_lib::TransformBroadcaster>& broadcaster,
+      31             :                   const std::shared_ptr<estimation_manager::CommonHandlers_t> ch)
+      32           0 :       : nh_(nh), broadcaster_(broadcaster), ch_(ch) {
+      33             : 
+      34           0 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      35             : 
+      36           0 :     const std::string yaml_prefix = "mrs_uav_managers/transform_manager/mapping_origin_tf/";
+      37             : 
+      38             :     /*//{ load mapping origin parameters */
+      39           0 :     param_loader->loadParam(yaml_prefix + "debug_prints", debug_prints_);
+      40           0 :     param_loader->loadParam(yaml_prefix + "lateral_topic", lateral_topic_);
+      41           0 :     param_loader->loadParam(yaml_prefix + "altitude_topic", altitude_topic_);
+      42           0 :     param_loader->loadParam(yaml_prefix + "orientation_topic", orientation_topic_);
+      43           0 :     param_loader->loadParam(yaml_prefix + "inverted", tf_inverted_);
+      44           0 :     param_loader->loadParam(yaml_prefix + "custom_frame_id/enabled", custom_frame_id_enabled_);
+      45             : 
+      46           0 :     if (custom_frame_id_enabled_) {
+      47           0 :       param_loader->loadParam(yaml_prefix + "custom_frame_id/frame_id", custom_frame_id_);
+      48             :     }
+      49             : 
+      50           0 :     if (!param_loader->loadedSuccessfully()) {
+      51           0 :       ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      52           0 :       ros::shutdown();
+      53             :     }
+      54             : 
+      55             :     /*//}*/
+      56             : 
+      57             :     /*//{ initialize subscribers */
+      58           0 :     mrs_lib::SubscribeHandlerOptions shopts;
+      59           0 :     shopts.nh                 = nh_;
+      60           0 :     shopts.node_name          = getPrintName();
+      61           0 :     shopts.no_message_timeout = mrs_lib::no_timeout;
+      62           0 :     shopts.threadsafe         = true;
+      63           0 :     shopts.autostart          = true;
+      64           0 :     shopts.queue_size         = 10;
+      65           0 :     shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      66             : 
+      67             :     sh_mapping_odom_lat_ =
+      68           0 :         mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + lateral_topic_, &TfMappingOrigin::callbackMappingOdomLat, this);
+      69             : 
+      70           0 :     if (orientation_topic_ != lateral_topic_) {
+      71           0 :       sh_mapping_odom_rot_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orientation_topic_.c_str(),
+      72           0 :                                                                                          &TfMappingOrigin::callbackMappingOdomRot, this);
+      73             :     }
+      74             : 
+      75           0 :     if (altitude_topic_ != lateral_topic_) {
+      76           0 :       sh_mapping_odom_alt_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "/" + ch_->uav_name + "/" + altitude_topic_.c_str(),
+      77           0 :                                                                            &TfMappingOrigin::callbackMappingOdomAlt, this);
+      78             :     }
+      79             :     /*//}*/
+      80             : 
+      81           0 :     ph_map_delay_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "map_delay_out", 10);
+      82             : 
+      83           0 :     is_initialized_ = true;
+      84           0 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+      85           0 :   }
+      86             :   /*//}*/
+      87             : 
+      88             :   /*//{ getName() */
+      89             :   std::string getName() {
+      90             :     return name_;
+      91             :   }
+      92             :   /*//}*/
+      93             : 
+      94             :   /*//{ getPrintName() */
+      95           0 :   std::string getPrintName() {
+      96           0 :     return ch_->nodelet_name + "/" + name_;
+      97             :   }
+      98             :   /*//}*/
+      99             : 
+     100             : private:
+     101             :   const std::string name_ = "TfMappingOrigin";
+     102             : 
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::atomic_bool is_initialized_ = false;
+     110             : 
+     111             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_map_delay_;
+     112             : 
+     113             :   bool        debug_prints_;
+     114             :   bool        tf_inverted_;
+     115             :   bool        custom_frame_id_enabled_;
+     116             :   std::string custom_frame_id_;
+     117             :   double      cache_duration_;
+     118             : 
+     119             :   std::string                                   lateral_topic_;
+     120             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_lat_;
+     121             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_lat_;
+     122             :   std::atomic_bool                              got_mapping_odom_lat_ = false;
+     123             :   std::atomic<double>                           timestamp_lat_;
+     124             : 
+     125             :   /*//{ callbackMappingOdomLat() */
+     126             : 
+     127           0 :   void callbackMappingOdomLat(const nav_msgs::Odometry::ConstPtr msg) {
+     128             : 
+     129           0 :     if (!is_initialized_) {
+     130           0 :       return;
+     131             :     }
+     132             : 
+     133           0 :     timestamp_lat_ = msg->header.stamp.toSec();
+     134             : 
+     135           0 :     if (!got_mapping_odom_lat_) {
+     136           0 :       got_mapping_odom_lat_ = true;
+     137             :     }
+     138             : 
+     139           0 :     if (!got_mapping_odom_rot_ && orientation_topic_ == lateral_topic_) {
+     140           0 :       got_mapping_odom_rot_ = true;
+     141             :     }
+     142             : 
+     143           0 :     if (!got_mapping_odom_alt_ && altitude_topic_ == lateral_topic_) {
+     144           0 :       got_mapping_odom_alt_ = true;
+     145             :     }
+     146             : 
+     147           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TfMappingOrigin::callbackMappingOdomLat", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     148             : 
+     149           0 :     const double hdg_mapping_old = mrs_lib::AttitudeConverter(msg->pose.pose.orientation).getHeading();
+     150             : 
+     151             :     /* publish mapping origin tf //{ */
+     152             : 
+     153           0 :     bool clear_needed = false;
+     154             : 
+     155           0 :     if (got_mapping_odom_rot_ && got_mapping_odom_alt_) {
+     156           0 :       std::scoped_lock lock(mtx_mapping_odom_rot_);
+     157             : 
+     158             :       // Copy mapping odometry
+     159           0 :       nav_msgs::Odometry mapping_odom;
+     160           0 :       mapping_odom = *msg;
+     161             : 
+     162             :       // Find corresponding orientation
+     163           0 :       geometry_msgs::QuaternionStamped rot_tmp           = *sh_mapping_odom_rot_.getMsg();  // start with newest msg
+     164           0 :       ros::Time                        dbg_timestamp_rot = rot_tmp.header.stamp;
+     165           0 :       tf2::Quaternion                  tf2_rot;
+     166             : 
+     167           0 :       for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     168           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_rot_.at(i).header.stamp) {
+     169             : 
+     170             :           // Choose an orientation with closest timestamp
+     171           0 :           double time_diff      = std::fabs(vec_mapping_odom_rot_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     172           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     173           0 :           if (i > 0) {
+     174           0 :             time_diff_prev = std::fabs(vec_mapping_odom_rot_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     175             :           }
+     176           0 :           if (time_diff_prev < time_diff && i > 0) {
+     177           0 :             i = i - 1;
+     178             :           }
+     179             : 
+     180             :           // Cache is too small if it is full and its oldest element is used
+     181           0 :           if (clear_needed && i == 0) {
+     182           0 :             ROS_WARN_THROTTLE(1.0, "[%s] Mapping orientation cache is too small.", getPrintName().c_str());
+     183             :           }
+     184           0 :           rot_tmp           = vec_mapping_odom_rot_.at(i);
+     185           0 :           dbg_timestamp_rot = vec_mapping_odom_rot_.at(i).header.stamp;
+     186           0 :           break;
+     187             :         }
+     188             :       }
+     189             : 
+     190           0 :       tf2_rot = mrs_lib::AttitudeConverter(rot_tmp.quaternion);
+     191             : 
+     192             :       // Obtain heading from orientation
+     193           0 :       double hdg = 0;
+     194             :       try {
+     195           0 :         hdg = mrs_lib::AttitudeConverter(rot_tmp.quaternion).getHeading();
+     196             :       }
+     197           0 :       catch (...) {
+     198           0 :         ROS_WARN("[%s]: failed to getHeading() from rot_tmp", getPrintName().c_str());
+     199             :       }
+     200             : 
+     201             :       // Build rotation matrix from difference between new heading and old heading
+     202           0 :       tf2::Matrix3x3 rot_mat = mrs_lib::AttitudeConverter(Eigen::AngleAxisd(hdg_mapping_old - hdg, Eigen::Vector3d::UnitZ()));
+     203             : 
+     204             :       // Transform the mavros orientation by the rotation matrix
+     205           0 :       geometry_msgs::Quaternion new_orientation = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_rot);
+     206             : 
+     207             :       // Set new orientation
+     208           0 :       mapping_odom.pose.pose.orientation = new_orientation;
+     209             : 
+     210             : 
+     211             :       // Find corresponding local odom
+     212           0 :       double    odom_alt          = msg->pose.pose.position.z;  // start with newest msg
+     213           0 :       ros::Time dbg_timestamp_alt = msg->header.stamp;
+     214           0 :       for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     215           0 :         if (mapping_odom.header.stamp < vec_mapping_odom_alt_.at(i).header.stamp) {
+     216             : 
+     217             :           // Choose orientation with closest timestamp
+     218           0 :           double time_diff      = std::fabs(vec_mapping_odom_alt_.at(i).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     219           0 :           double time_diff_prev = std::numeric_limits<double>::max();
+     220           0 :           if (i > 0) {
+     221           0 :             time_diff_prev = std::fabs(vec_mapping_odom_alt_.at(i - 1).header.stamp.toSec() - mapping_odom.header.stamp.toSec());
+     222             :           }
+     223           0 :           if (time_diff_prev < time_diff && i > 0) {
+     224           0 :             i = i - 1;
+     225             :           }
+     226             :           // Cache is too small if it is full and its oldest element is used
+     227           0 :           if (clear_needed && i == 0) {
+     228           0 :             ROS_WARN_THROTTLE(1.0, "[%s] mapping orientation cache (for mapping tf) is too small.", getPrintName().c_str());
+     229             :           }
+     230           0 :           odom_alt          = vec_mapping_odom_alt_.at(i).pose.pose.position.z;
+     231           0 :           dbg_timestamp_alt = vec_mapping_odom_alt_.at(i).header.stamp;
+     232           0 :           break;
+     233             :         }
+     234             :       }
+     235             : 
+     236             :       // Set altitude
+     237           0 :       mapping_odom.pose.pose.position.z = odom_alt;
+     238             : 
+     239             :       // Get inverse transform
+     240           0 :       tf2::Transform      tf_mapping_inv   = Support::tf2FromPose(mapping_odom.pose.pose).inverse();
+     241           0 :       geometry_msgs::Pose pose_mapping_inv = Support::poseFromTf2(tf_mapping_inv);
+     242             : 
+     243           0 :       geometry_msgs::TransformStamped tf_mapping;
+     244           0 :       tf_mapping.header.stamp    = mapping_odom.header.stamp;
+     245           0 :       tf_mapping.header.frame_id = ch_->frames.ns_fcu;
+     246           0 :       if (custom_frame_id_enabled_) {
+     247           0 :         tf_mapping.child_frame_id = ch_->uav_name + "/" + custom_frame_id_;
+     248             :       } else {
+     249           0 :         tf_mapping.child_frame_id = mapping_odom.header.frame_id;
+     250             :       }
+     251           0 :       tf_mapping.transform.translation = Support::pointToVector3(pose_mapping_inv.position);
+     252           0 :       tf_mapping.transform.rotation    = pose_mapping_inv.orientation;
+     253             : 
+     254           0 :       if (Support::noNans(tf_mapping)) {
+     255             :         try {
+     256           0 :           broadcaster_->sendTransform(tf_mapping);
+     257             :         }
+     258           0 :         catch (...) {
+     259           0 :           ROS_ERROR("[%s]: Exception caught during publishing TF: %s - %s.", getPrintName().c_str(), tf_mapping.child_frame_id.c_str(),
+     260             :                     tf_mapping.header.frame_id.c_str());
+     261             :         }
+     262             :       } else {
+     263           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_mapping.header.frame_id.c_str(),
+     264             :                           tf_mapping.child_frame_id.c_str());
+     265             :       }
+     266             : 
+     267             :       // debug timestamps: rot and alt timestamps should be as close as possible to lat_timestamp, the delay is the difference between current time and the time
+     268             :       // of acquisition of scan that was used to calculate the pose estimate
+     269           0 :       if (debug_prints_) {
+     270           0 :         ROS_INFO("[%s] lat timestamp: %.6f, rot stamp: %.6f (diff: %.6f),  alt stamp: %.6f (diff: %.6f), delay: %.6f", getPrintName().c_str(),
+     271             :                  mapping_odom.header.stamp.toSec(), dbg_timestamp_rot.toSec(), dbg_timestamp_rot.toSec() - mapping_odom.header.stamp.toSec(),
+     272             :                  dbg_timestamp_alt.toSec(), dbg_timestamp_alt.toSec() - mapping_odom.header.stamp.toSec(),
+     273             :                  ros::Time::now().toSec() - mapping_odom.header.stamp.toSec());
+     274             :       }
+     275             : 
+     276           0 :       mrs_msgs::Float64Stamped map_delay_msg;
+     277           0 :       map_delay_msg.header.stamp = ros::Time::now();
+     278           0 :       map_delay_msg.value        = ros::Time::now().toSec() - mapping_odom.header.stamp.toSec();
+     279           0 :       ph_map_delay_.publish(map_delay_msg);
+     280             :     }
+     281             : 
+     282             :     //}
+     283             :   }
+     284             :   /*//}*/
+     285             : 
+     286             :   std::string                                                 orientation_topic_;
+     287             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_mapping_odom_rot_;
+     288             :   std::vector<geometry_msgs::QuaternionStamped>               vec_mapping_odom_rot_;
+     289             :   std::mutex                                                  mtx_mapping_odom_rot_;
+     290             :   std::atomic_bool                                            got_mapping_odom_rot_ = false;
+     291             : 
+     292             :   /*//{ callbackMappingOdomRot() */
+     293           0 :   void callbackMappingOdomRot(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     294             : 
+     295           0 :     if (!is_initialized_) {
+     296           0 :       return;
+     297             :     }
+     298             : 
+     299           0 :     if (!got_mapping_odom_lat_) {
+     300           0 :       return;
+     301             :     }
+     302             : 
+     303           0 :     std::scoped_lock lock(mtx_mapping_odom_rot_);
+     304             : 
+     305             :     // Add new data
+     306           0 :     vec_mapping_odom_rot_.push_back(*msg);
+     307             : 
+     308             :     // Delete old data
+     309           0 :     size_t index_delete = 0;
+     310           0 :     bool   clear_needed = false;
+     311           0 :     for (size_t i = 0; i < vec_mapping_odom_rot_.size(); i++) {
+     312           0 :       if (timestamp_lat_ - vec_mapping_odom_rot_.at(i).header.stamp.toSec() > cache_duration_) {
+     313           0 :         index_delete = i;
+     314           0 :         clear_needed = true;
+     315             :       } else {
+     316           0 :         break;
+     317             :       }
+     318             :     }
+     319           0 :     if (clear_needed) {
+     320           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     321           0 :         vec_mapping_odom_rot_.erase(vec_mapping_odom_rot_.begin() + i);
+     322             :       }
+     323           0 :       clear_needed = false;
+     324             :     }
+     325             : 
+     326           0 :     if (!got_mapping_odom_rot_) {
+     327           0 :       got_mapping_odom_rot_ = true;
+     328             :     }
+     329             : 
+     330           0 :     if (debug_prints_) {
+     331           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom rot cache size: %lu", getPrintName().c_str(), vec_mapping_odom_rot_.size());
+     332             :     }
+     333             :   }
+     334             :   /*//}*/
+     335             : 
+     336             :   std::string                                   altitude_topic_;
+     337             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_mapping_odom_alt_;
+     338             :   std::vector<nav_msgs::Odometry>               vec_mapping_odom_alt_;
+     339             :   std::mutex                                    mtx_mapping_odom_alt_;
+     340             :   std::atomic_bool                              got_mapping_odom_alt_ = false;
+     341             : 
+     342             :   /*//{ callbackMappingOdomAlt() */
+     343           0 :   void callbackMappingOdomAlt(const nav_msgs::Odometry::ConstPtr msg) {
+     344             : 
+     345           0 :     if (!is_initialized_) {
+     346           0 :       return;
+     347             :     }
+     348             : 
+     349           0 :     if (!got_mapping_odom_lat_) {
+     350           0 :       return;
+     351             :     }
+     352             : 
+     353           0 :     std::scoped_lock lock(mtx_mapping_odom_alt_);
+     354             : 
+     355             :     // Add new data
+     356           0 :     vec_mapping_odom_alt_.push_back(*msg);
+     357             : 
+     358             :     // Delete old data
+     359           0 :     size_t index_delete = 0;
+     360           0 :     bool   clear_needed = false;
+     361           0 :     for (size_t i = 0; i < vec_mapping_odom_alt_.size(); i++) {
+     362           0 :       if (timestamp_lat_ - vec_mapping_odom_alt_.at(i).header.stamp.toSec() > cache_duration_) {
+     363           0 :         index_delete = i;
+     364           0 :         clear_needed = true;
+     365             :       } else {
+     366           0 :         break;
+     367             :       }
+     368             :     }
+     369           0 :     if (clear_needed) {
+     370           0 :       for (int i = (int)index_delete; i >= 0; i--) {
+     371           0 :         vec_mapping_odom_alt_.erase(vec_mapping_odom_alt_.begin() + i);
+     372             :       }
+     373           0 :       clear_needed = false;
+     374             :     }
+     375             : 
+     376           0 :     if (!got_mapping_odom_alt_) {
+     377           0 :       got_mapping_odom_alt_ = true;
+     378             :     }
+     379             : 
+     380           0 :     if (debug_prints_) {
+     381           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: mapping odom alt cache size: %lu", getPrintName().c_str(), vec_mapping_odom_alt_.size());
+     382             :     }
+     383             :   }
+     384             :   /*//}*/
+     385             : };
+     386             : /*//}*/
+     387             : 
+     388             : }  // namespace mrs_uav_managers
+     389             : 
+     390             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html new file mode 100644 index 0000000000..8218f6ae36 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.overview.html @@ -0,0 +1,118 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_mapping_origin.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_mapping_origin.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..e3d425e3e4319475911ce94a36b8a1ec26ea482f GIT binary patch literal 1536 zcmV+b2LJhqP)fFt&%}Y=;1N(Rt_>#|c)`|cl;5Az%*)9Km%cd5r zUFGeDo-=U20yZ*9J;hlZ%g6PN%&PDs(; zZQc_ql5}Li1&Wc7j2)Hi6v5(q4xMcKUGtTf7AM^CH`7`Hq6Oj%SYJ$l#Hs^eflJTm z6p`qXXZXg6UEq{=1lAoAtqYAy$_SbcWen$csNogxCj?gk&dhVSGAl{NP7wm29|q@Y zJs4C201!2gJu7X(j5MBlK)G+azz7s|2PmwkK%m&);SVZSo1!8DZ7cg4);@CJiEei| z@#X0H03yC>iXcB^isGE>I+Nt-zrYjN%B+1Rv4N zlHIWnIcxoG_QBZN1S=8k+u|La^#LJA-*Fo7%06O(&vKt-d2wQvr|baD(zTYWcZ@0& zP1W!{os`xbscoT+wK$x073aO#paFUR0W!q)WsE;mM%nOwSVkT#oz`@HFoZgGdiJF= z7Yv2+U}%3iS9nYnN!^h$cCCq?k^K=lkPbA+iVa1xc~1MdQV2#`S7!t7uGZCeW388E z#CoN>(6^^%oM_OURDjfKwBv1n6dPJ|uld@;H1_FdxxGX6cb)-=S)A0a$Y{1>js{mI zL)Gz4*s-1hyf*rvtm}qQ1dPNy&mvYQQ@^#7Xl5^5uId|p8ohg&dsTWvo$Go-Dzv0|7P7xJ!4NNnyJ3y7(SM_ z^0KpDSt+z2)$L?BzT?m5Z<6d&q;$uH%f1FiWfHNYEW+1yTb19^SF5b|`O^iyEt*yL zOSgNAo~ebsJDl*4Ct!cd^y71Oi?y($AuEu}=zl~RK57!!TQ?>6<6DMD6wPJ$KUdeh zxz?+zw!Nv{|5kO~AW2PUK)y{&|FoPEg2)(oe_G9(Z$1*qEu(GOW{kc?k!N763n#bLRnqN0) zx1>EhgkziLaw*D{3X&4MJaWlONLPEx0`s)C&V3E00k?sLLUCoJ=4s+YJYR$wu_qSU zaNhCJ(%yW;mV1N2g@;R@q?(7Thw2Z2Cmoh1B0tYGn@hh=eaE9kMmv7={(3|ccg5&V zlkK;X z!aARa46O0;V?gl)dc!TrW;}=UPO3YbiFpQqHxMJQGvMf)wA{LyfYvFOG2d3}jJvop z`5?wl2i-=$rVm$ajVH~;KD_ft5dnTUrBoF^bLBhSYoe!s9y~%vhu=$2EB?F=pslL2 z(tq&*mX1U%u*DJ{PNg)``koHp&pwy(?EoyS$ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19124079.6 %
Date:2024-02-24 08:13:25Functions:131492.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::publishLocalTf(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
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&)85
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)85
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)85
mrs_uav_managers::TfSource::getName[abi:cxx11]()696
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> > >&)129100
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)164094
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)164145
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)169547
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)169571
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()793263
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.func.html b/mrs_uav_managers/include/transform_manager/tf_source.h.func.html new file mode 100644 index 0000000000..1af2a97429 --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.func.html @@ -0,0 +1,136 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/include/transform_manager - tf_source.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:19124079.6 %
Date:2024-02-24 08:13:25Functions:131492.9 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::TfSource::getPrintName[abi:cxx11]()793263
mrs_uav_managers::TfSource::setUtmOrigin(geometry_msgs::Point_<std::allocator<void> > const&)85
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&)0
mrs_uav_managers::TfSource::setIsUtmSource(bool)8
mrs_uav_managers::TfSource::setWorldOrigin(geometry_msgs::Point_<std::allocator<void> > const&)85
mrs_uav_managers::TfSource::publishTfFromAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)169547
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> > >&)129100
mrs_uav_managers::TfSource::publishTfFromOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const> const&)164094
mrs_uav_managers::TfSource::callbackTfSourceAtt(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)169571
mrs_uav_managers::TfSource::callbackTfSourceOdom(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)164145
mrs_uav_managers::TfSource::getName[abi:cxx11]()696
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)85
+
+
+ + + +
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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:19124079.6 %
Date:2024-02-24 08:13:25Functions:131492.9 %
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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          85 :   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          85 :       : name_(name), nh_(nh), broadcaster_(broadcaster), ch_(ch), is_utm_source_(is_utm_source) {
+      42             : 
+      43          85 :     ROS_INFO("[%s]: initializing", getPrintName().c_str());
+      44             : 
+      45          85 :     if (name != "dummy") {
+      46             : 
+      47             :       /*//{ load parameters */
+      48             : 
+      49         170 :       const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+      50             : 
+      51         170 :       std::string odom_topic, attitude_topic, ns;
+      52             : 
+      53          85 :       param_loader->loadParam(yaml_prefix + getName() + "/odom_topic", odom_topic);
+      54          85 :       param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/enabled", custom_frame_id_enabled_, false);
+      55          85 :       if (custom_frame_id_enabled_) {
+      56           0 :         param_loader->loadParam(yaml_prefix + getName() + "/custom_frame_id/frame_id", custom_frame_id_);
+      57             :       }
+      58          85 :       param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/enabled", tf_from_attitude_enabled_);
+      59          85 :       if (tf_from_attitude_enabled_) {
+      60          84 :         param_loader->loadParam(yaml_prefix + getName() + "/tf_from_attitude/attitude_topic", attitude_topic);
+      61             :       }
+      62          85 :       param_loader->loadParam(yaml_prefix + getName() + "/namespace", ns);
+      63          85 :       full_topic_odom_     = "/" + ch_->uav_name + "/" + ns + "/" + odom_topic;
+      64          85 :       full_topic_attitude_ = "/" + ch_->uav_name + "/" + ns + "/" + attitude_topic;
+      65          85 :       param_loader->loadParam(yaml_prefix + getName() + "/inverted", is_inverted_);
+      66          85 :       param_loader->loadParam(yaml_prefix + getName() + "/republish_in_frames", republish_in_frames_);
+      67             : 
+      68             :       /* coordinate frames origins //{ */
+      69          85 :       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          85 :       if (is_utm_based_) {
+      74         168 :         std::string utm_origin_parent_frame_id;
+      75          84 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/parent", utm_origin_parent_frame_id);
+      76          84 :         ns_utm_origin_parent_frame_id_ = ch_->uav_name + "/" + utm_origin_parent_frame_id;
+      77             : 
+      78          84 :         std::string utm_origin_child_frame_id;
+      79          84 :         param_loader->loadParam(yaml_prefix + "utm_origin_tf/child", utm_origin_child_frame_id);
+      80          84 :         ns_utm_origin_child_frame_id_ = ch_->uav_name + "/" + utm_origin_child_frame_id;
+      81             :       }
+      82             :       /*//}*/
+      83             : 
+      84             :       /*//{ world source */
+      85          85 :       if (is_utm_based_) {
+      86         168 :         std::string world_origin_parent_frame_id;
+      87          84 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/parent", world_origin_parent_frame_id);
+      88          84 :         ns_world_origin_parent_frame_id_ = ch_->uav_name + "/" + world_origin_parent_frame_id;
+      89             : 
+      90          84 :         std::string world_origin_child_frame_id;
+      91          84 :         param_loader->loadParam(yaml_prefix + "world_origin_tf/child", world_origin_child_frame_id);
+      92          84 :         ns_world_origin_child_frame_id_ = ch_->uav_name + "/" + world_origin_child_frame_id;
+      93             :       }
+      94             :       /*//}*/
+      95             : 
+      96             :       //}
+      97             : 
+      98          85 :       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         170 :       mrs_lib::SubscribeHandlerOptions shopts;
+     107          85 :       shopts.nh                 = nh_;
+     108          85 :       shopts.node_name          = getPrintName();
+     109          85 :       shopts.no_message_timeout = mrs_lib::no_timeout;
+     110          85 :       shopts.threadsafe         = true;
+     111          85 :       shopts.autostart          = true;
+     112          85 :       shopts.queue_size         = 10;
+     113          85 :       shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     114             : 
+     115          85 :       sh_tf_source_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, full_topic_odom_, &TfSource::callbackTfSourceOdom, this);
+     116          85 :       if (tf_from_attitude_enabled_) {
+     117          84 :         sh_tf_source_att_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, full_topic_attitude_, &TfSource::callbackTfSourceAtt, this);
+     118             :       }
+     119             : 
+     120          85 :       if (is_utm_source_) {
+     121          80 :         sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in");
+     122             :       }
+     123             : 
+     124             :     }
+     125             :     /*//}*/
+     126             : 
+     127         150 :     for (auto frame_id : republish_in_frames_) {
+     128          65 :       republishers_.push_back(
+     129         130 :           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          85 :     is_initialized_ = true;
+     132          85 :     ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     133          85 :   }
+     134             :   /*//}*/
+     135             : 
+     136             :   /*//{ getName() */
+     137         696 :   std::string getName() {
+     138         696 :     return name_;
+     139             :   }
+     140             :   /*//}*/
+     141             : 
+     142             :   /*//{ getPrintName() */
+     143      793263 :   std::string getPrintName() {
+     144     1589424 :     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          85 :   void setUtmOrigin(const geometry_msgs::Point& pt) {
+     179             : 
+     180          85 :     if (is_utm_based_ && !is_utm_origin_set_) {
+     181          84 :       utm_origin_        = pt;
+     182          84 :       is_utm_origin_set_ = true;
+     183             :     }
+     184          85 :   }
+     185             :   /*//}*/
+     186             : 
+     187             :   /*//{ setWorldOrigin() */
+     188          85 :   void setWorldOrigin(const geometry_msgs::Point& pt) {
+     189             : 
+     190          85 :     if (is_utm_based_ && !is_world_origin_set_) {
+     191          84 :       world_origin_        = pt;
+     192          84 :       is_world_origin_set_ = true;
+     193             :     }
+     194          85 :   }
+     195             :   /*//}*/
+     196             : 
+     197             : private:
+     198             :   const std::string name_;
+     199             :   const std::string ns_fcu_frame_id_;
+     200             : 
+     201             :   ros::NodeHandle nh_;
+     202             : 
+     203             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     204             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     205             : 
+     206             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     207             : 
+     208             :   bool is_inverted_;
+     209             : 
+     210             :   bool             is_utm_based_;
+     211             :   bool             publish_local_tf_ = false;
+     212             :   bool             publish_utm_tf_   = false;
+     213             :   bool             publish_world_tf_ = false;
+     214             :   std::atomic_bool is_utm_source_    = false;
+     215             :   std::string      ns_utm_origin_parent_frame_id_;
+     216             :   std::string      ns_utm_origin_child_frame_id_;
+     217             : 
+     218             :   bool                 is_utm_origin_set_ = false;
+     219             :   geometry_msgs::Point utm_origin_;
+     220             : 
+     221             :   std::string ns_world_origin_parent_frame_id_;
+     222             :   std::string ns_world_origin_child_frame_id_;
+     223             : 
+     224             :   bool                 is_world_origin_set_ = false;
+     225             :   geometry_msgs::Point world_origin_;
+     226             : 
+     227             :   std::string full_topic_odom_;
+     228             :   std::string full_topic_attitude_;
+     229             :   bool        tf_from_attitude_enabled_ = false;
+     230             : 
+     231             :   bool        custom_frame_id_enabled_;
+     232             :   std::string custom_frame_id_;
+     233             : 
+     234             :   std::atomic_bool is_initialized_               = false;
+     235             :   std::atomic_bool is_local_static_tf_published_ = false;
+     236             :   std::atomic_bool is_utm_static_tf_published_   = false;
+     237             :   std::atomic_bool is_world_static_tf_published_ = false;
+     238             : 
+     239             :   std::vector<std::string> republish_in_frames_;
+     240             : 
+     241             :   std::vector<std::pair<std::string, mrs_lib::PublisherHandler<nav_msgs::Odometry>>> republishers_;
+     242             : 
+     243             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry>               sh_tf_source_odom_;
+     244             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_tf_source_att_;
+     245             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>          sh_altitude_amsl_;
+     246             :   nav_msgs::OdometryConstPtr                                  first_msg_;
+     247             :   bool                                                        got_first_msg_ = false;
+     248             : 
+     249             : 
+     250             :   /*//{ callbackTfSourceOdom()*/
+     251      164145 :   void callbackTfSourceOdom(const nav_msgs::Odometry::ConstPtr msg) {
+     252             : 
+     253      164145 :     if (!is_initialized_) {
+     254           0 :       return;
+     255             :     }
+     256             : 
+     257      492395 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     258             : 
+     259      164106 :     scope_timer.checkpoint("get msg");
+     260             : 
+     261      164163 :     if (!got_first_msg_) {
+     262          85 :       first_msg_     = msg;
+     263          85 :       got_first_msg_ = true;
+     264             :     }
+     265             : 
+     266      164163 :     publishTfFromOdom(msg);
+     267      164176 :     scope_timer.checkpoint("pub tf");
+     268             : 
+     269      164167 :     if (publish_local_tf_ && !is_local_static_tf_published_) {
+     270           0 :       publishLocalTf(msg->header.frame_id);
+     271           0 :       scope_timer.checkpoint("pub local tf");
+     272             :     }
+     273             : 
+     274             :     /* if (publish_utm_tf_ && is_utm_based_ && is_utm_origin_set_ && !is_utm_static_tf_published_) { */
+     275             :     /*   publishUtmTf(msg->header.frame_id); */
+     276             :     /*   scope_timer.checkpoint("pub utm tf"); */
+     277             :     /* } */
+     278             : 
+     279             :     /* if (publish_world_tf_ && is_utm_based_ && is_world_origin_set_ && !is_world_static_tf_published_) { */
+     280             :     /*   publishWorldTf(msg->header.frame_id); */
+     281             :     /*   scope_timer.checkpoint("pub world tf"); */
+     282             :     /* } */
+     283             : 
+     284      293267 :     for (auto republisher : republishers_) {
+     285      129100 :       republishInFrame(msg, ch_->uav_name + "/" + republisher.first, republisher.second);
+     286             :     }
+     287             :   }
+     288             :   /*//}*/
+     289             : 
+     290             :   /*//{ callbackTfSourceAtt()*/
+     291      169571 :   void callbackTfSourceAtt(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     292             : 
+     293      169571 :     if (!is_initialized_) {
+     294           0 :       return;
+     295             :     }
+     296             : 
+     297      508669 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::callbackTfSourceAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     298             : 
+     299      169536 :     scope_timer.checkpoint("get msg");
+     300      169557 :     publishTfFromAtt(msg);
+     301             :   }
+     302             :   /*//}*/
+     303             : 
+     304             :   /* publishTfFromOdom() //{*/
+     305      164094 :   void publishTfFromOdom(const nav_msgs::OdometryConstPtr& odom) {
+     306             : 
+     307      328251 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromOdom", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     308             : 
+     309      164151 :     const tf2::Transform      tf       = Support::tf2FromPose(odom->pose.pose);
+     310      164153 :     const tf2::Transform      tf_inv   = tf.inverse();
+     311      164155 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     312             : 
+     313             :     /*//{ tf source origin */
+     314      164141 :     geometry_msgs::TransformStamped tf_msg;
+     315      164086 :     tf_msg.header.stamp         = odom->header.stamp;
+     316      164100 :     std::string origin_frame_id = custom_frame_id_enabled_ ? ch_->uav_name + "/" + custom_frame_id_ : odom->header.frame_id;
+     317      164098 :     if (is_inverted_) {
+     318             : 
+     319      164098 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     320      164123 :       tf_msg.child_frame_id        = origin_frame_id;
+     321      164091 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     322      164155 :       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      164155 :     if (Support::noNans(tf_msg)) {
+     332             :       try {
+     333      164092 :         broadcaster_->sendTransform(tf_msg);
+     334             :       }
+     335           0 :       catch (...) {
+     336           0 :         ROS_ERROR("exception caught ");
+     337             :       }
+     338             : 
+     339      164177 :       if (tf_from_attitude_enabled_) {
+     340      163140 :         if (is_inverted_) {
+     341      163140 :           tf_msg.child_frame_id += "_att_only";
+     342             :         } else {
+     343           0 :           tf_msg.header.frame_id += "_att_only";
+     344             :         }
+     345             :         try {
+     346      163139 :           broadcaster_->sendTransform(tf_msg);
+     347             :         }
+     348           0 :         catch (...) {
+     349           0 :           ROS_ERROR("exception caught ");
+     350             :         }
+     351             :       }
+     352             :       /*//}*/
+     353             : 
+     354             :       /*//{ tf utm origin */
+     355             : 
+     356      164177 :       geometry_msgs::TransformStamped tf_utm_msg;
+     357      164177 :       if (is_utm_source_) {
+     358             :         
+     359      148054 :         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      148054 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     365      148054 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     366      148054 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     367             : 
+     368      148054 :         if (sh_altitude_amsl_.hasMsg()) {
+     369      148054 :           pose_utm.position.z = sh_altitude_amsl_.getMsg()->amsl;
+     370             :         } else {
+     371           0 :           ROS_WARN_THROTTLE(5.0, "[%s]: AMSL altitude not available.", getPrintName().c_str());
+     372             :         }
+     373             : 
+     374      148054 :         tf_utm_msg.header.stamp    = odom->header.stamp;
+     375      148054 :         tf_utm_msg.header.frame_id = ns_utm_origin_parent_frame_id_;
+     376      148054 :         tf_utm_msg.child_frame_id  = ns_utm_origin_child_frame_id_;
+     377             : 
+     378      148054 :         tf2::Transform tf_utm;
+     379      148054 :         if (is_inverted_) {
+     380      148054 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     381             :         } else {
+     382           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     383             :         }
+     384      148054 :         tf_utm_msg.transform = Support::msgFromTf2(tf_utm);
+     385             : 
+     386             :         try {
+     387      148054 :           broadcaster_->sendTransform(tf_utm_msg);
+     388      148054 :           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      164176 :       if (is_utm_source_) {
+     398      296105 :         geometry_msgs::TransformStamped tf_world_msg;
+     399      148054 :         tf_world_msg.header.stamp    = odom->header.stamp;
+     400      148054 :         tf_world_msg.header.frame_id = ns_world_origin_parent_frame_id_;
+     401      148054 :         tf_world_msg.child_frame_id  = ns_world_origin_child_frame_id_;
+     402             : 
+     403      148054 :         tf2::Transform tf_world;
+     404      148054 :         tf_world.setOrigin(tf2::Vector3(world_origin_.x, world_origin_.y, world_origin_.z));
+     405      148054 :         tf_world.setRotation(tf2::Quaternion(0, 0, 0, 1));
+     406             : 
+     407      148054 :         geometry_msgs::Pose pose_utm = odom->pose.pose;
+     408      148054 :         pose_utm.position.x += utm_origin_.x - first_msg_->pose.pose.position.x;
+     409      148054 :         pose_utm.position.y += utm_origin_.y - first_msg_->pose.pose.position.y;
+     410             : 
+     411      148054 :         tf2::Transform tf_utm;
+     412      148054 :         if (is_inverted_) {
+     413      148054 :           tf_utm = Support::tf2FromPose(pose_utm).inverse();
+     414             :         } else {
+     415           0 :           tf_utm = Support::tf2FromPose(pose_utm);
+     416             :         }
+     417             : 
+     418      148054 :         tf_world_msg.transform          = Support::msgFromTf2(tf_utm * tf_world);
+     419      148054 :         tf_world_msg.transform.rotation = pose_inv.orientation;
+     420             : 
+     421             :         try {
+     422      148054 :           broadcaster_->sendTransform(tf_world_msg);
+     423      148054 :           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      164176 :     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      169547 :   void publishTfFromAtt(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     443             : 
+     444      508690 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishTfFromAtt", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     445             : 
+     446      339137 :     geometry_msgs::TransformStamped tf_msg;
+     447      169551 :     tf_msg.header.stamp = msg->header.stamp;
+     448             : 
+     449      169533 :     geometry_msgs::Pose pose;
+     450      169543 :     pose.position.x = 0.0;
+     451      169543 :     pose.position.y = 0.0;
+     452      169543 :     pose.position.z = 0.0;
+     453      169543 :     pose.orientation = msg->quaternion;
+     454      169536 :     if (is_inverted_) {
+     455             : 
+     456      169536 :       const tf2::Transform      tf       = Support::tf2FromPose(pose);
+     457      169550 :       const tf2::Transform      tf_inv   = tf.inverse();
+     458      169549 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     459             : 
+     460      169539 :       tf_msg.header.frame_id       = ch_->frames.ns_fcu;
+     461      169529 :       tf_msg.child_frame_id        = msg->header.frame_id;
+     462      169542 :       tf_msg.transform.translation = Support::pointToVector3(pose_inv.position);
+     463      169553 :       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      169553 :     if (Support::noNans(tf_msg)) {
+     473             :       try {
+     474      169531 :         scope_timer.checkpoint("before pub");
+     475      169540 :         broadcaster_->sendTransform(tf_msg);
+     476      169578 :         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      169573 :     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      169577 :   }
+     488             :   /*//}*/
+     489             : 
+     490             :   /* publishLocalTf() //{*/
+     491           0 :   void publishLocalTf(const std::string& frame_id) {
+     492             : 
+     493           0 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     494             : 
+     495           0 :     geometry_msgs::TransformStamped tf_msg;
+     496           0 :     tf_msg.header.stamp = ros::Time::now();
+     497             : 
+     498           0 :     tf_msg.header.frame_id       = frame_id;
+     499           0 :     tf_msg.child_frame_id        = frame_id.substr(0, frame_id.find("_origin")) + "_local_origin";
+     500           0 :     tf_msg.transform.translation = Support::pointToVector3(first_msg_->pose.pose.position);
+     501           0 :     tf_msg.transform.rotation    = first_msg_->pose.pose.orientation;
+     502             : 
+     503           0 :     if (Support::noNans(tf_msg)) {
+     504             :       try {
+     505           0 :         static_broadcaster_.sendTransform(tf_msg);
+     506             :       }
+     507           0 :       catch (...) {
+     508           0 :         ROS_ERROR("exception caught ");
+     509             :       }
+     510             :     } else {
+     511           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     512             :                         tf_msg.child_frame_id.c_str());
+     513             :     }
+     514           0 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     515             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     516           0 :     is_local_static_tf_published_ = true;
+     517           0 :   }
+     518             :   /*//}*/
+     519             : 
+     520             :   /* publishUtmTf() //{*/
+     521             :   void publishUtmTf(const std::string& frame_id) {
+     522             : 
+     523             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishUtmTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     524             : 
+     525             :     geometry_msgs::TransformStamped tf_msg;
+     526             :     tf_msg.header.stamp = ros::Time::now();
+     527             : 
+     528             :     tf_msg.header.frame_id         = frame_id;
+     529             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_utm_origin";
+     530             :     tf_msg.transform.translation.x = -utm_origin_.x;  // minus because inverse tf tree
+     531             :     tf_msg.transform.translation.y = -utm_origin_.y;  // minus because inverse tf tree
+     532             :     tf_msg.transform.translation.z = -utm_origin_.z;  // minus because inverse tf tree
+     533             :     tf_msg.transform.rotation.x    = 0;
+     534             :     tf_msg.transform.rotation.y    = 0;
+     535             :     tf_msg.transform.rotation.z    = 0;
+     536             :     tf_msg.transform.rotation.w    = 1;
+     537             : 
+     538             :     if (Support::noNans(tf_msg)) {
+     539             :       try {
+     540             :         static_broadcaster_.sendTransform(tf_msg);
+     541             :       }
+     542             :       catch (...) {
+     543             :         ROS_ERROR("exception caught ");
+     544             :       }
+     545             :     } else {
+     546             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     547             :                         tf_msg.child_frame_id.c_str());
+     548             :     }
+     549             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     550             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     551             :     is_utm_static_tf_published_ = true;
+     552             :   }
+     553             :   /*//}*/
+     554             : 
+     555             :   /* publishWorldTf() //{*/
+     556             :   void publishWorldTf(const std::string& frame_id) {
+     557             : 
+     558             :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishWorldTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     559             : 
+     560             :     geometry_msgs::TransformStamped tf_msg;
+     561             :     tf_msg.header.stamp = ros::Time::now();
+     562             : 
+     563             :     tf_msg.header.frame_id         = frame_id;
+     564             :     tf_msg.child_frame_id          = frame_id.substr(0, frame_id.find("_origin")) + "_world_origin";
+     565             :     tf_msg.transform.translation.x = -(utm_origin_.x - world_origin_.x);  // minus because inverse tf tree
+     566             :     tf_msg.transform.translation.y = -(utm_origin_.y - world_origin_.y);  // minus because inverse tf tree
+     567             :     /* tf_msg.transform.translation.z = -(utm_origin_.z);                    // minus because inverse tf tree */
+     568             :     tf_msg.transform.translation.z = 0;
+     569             :     tf_msg.transform.rotation.x    = 0;
+     570             :     tf_msg.transform.rotation.y    = 0;
+     571             :     tf_msg.transform.rotation.z    = 0;
+     572             :     tf_msg.transform.rotation.w    = 1;
+     573             : 
+     574             :     if (Support::noNans(tf_msg)) {
+     575             :       try {
+     576             :         static_broadcaster_.sendTransform(tf_msg);
+     577             :       }
+     578             :       catch (...) {
+     579             :         ROS_ERROR("exception caught ");
+     580             :       }
+     581             :     } else {
+     582             :       ROS_WARN_THROTTLE(1.0, "[%s]: NaN detected in transform from %s to %s. Not publishing tf.", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     583             :                         tf_msg.child_frame_id.c_str());
+     584             :     }
+     585             :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s based on first message of: %s", getPrintName().c_str(),
+     586             :                   tf_msg.header.frame_id.c_str(), tf_msg.child_frame_id.c_str(), full_topic_odom_.c_str());
+     587             :     is_world_static_tf_published_ = true;
+     588             :   }
+     589             :   /*//}*/
+     590             : 
+     591             :   /* republishInFrame() //{*/
+     592      129100 :   void republishInFrame(const nav_msgs::OdometryConstPtr& msg, const std::string& frame_id, mrs_lib::PublisherHandler<nav_msgs::Odometry>& ph) {
+     593             : 
+     594      258200 :     mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::republishInFrame", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     595             : 
+     596      129100 :     nav_msgs::Odometry msg_out = *msg;
+     597      129100 :     msg_out.header.frame_id    = frame_id;
+     598             : 
+     599      129100 :     geometry_msgs::PoseStamped pose;
+     600      129100 :     pose.header = msg->header;
+     601      129100 :     pose.pose   = msg->pose.pose;
+     602             : 
+     603      129100 :     auto res = ch_->transformer->transformSingle(pose, frame_id);
+     604      129100 :     if (res) {
+     605      121244 :       msg_out.pose.pose = res->pose;
+     606      121244 :       ph.publish(msg_out);
+     607             :     } else {
+     608        7856 :       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        7856 :       return;
+     610             :     }
+     611             :   }
+     612             : 
+     613             :   /*//}*/
+     614             : };
+     615             : 
+     616             : /*//}*/
+     617             : 
+     618             : }  // namespace mrs_uav_managers
+     619             : 
+     620             : #endif
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html new file mode 100644 index 0000000000..bceb06a24c --- /dev/null +++ b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.overview.html @@ -0,0 +1,175 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/include/transform_manager/tf_source.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.png b/mrs_uav_managers/include/transform_manager/tf_source.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..57eba571215fb10005746608a369fcc6556ed150 GIT binary patch literal 2210 zcmV;T2wnGyP)4->0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpg=oWMbxP^8H&i=P@m1hzX2xzCBbIUi=W9R&aya*7Y!#vN^JP-Be zfam93Ky^Ebjh5v76z4Ll6e#j=1<3bKfofqybPg10D%*vwD~j*y`jX2LidRSxidDAM zz~-*GrUv$@!5Tty`+d@;t|#C3SSB7&clSL{(^d5Wf?9uw5x3Iavbna}Ph)@lWw^3! zSkATvVBP`&M|M0tXetYQ&@<^?lTizQaa}9g0gTK;ru^R!P*3rc+0t9fKqbXsn^9vO zRa;K64UpSlUAopL^#aKykLZ?qiKYPtF^JhU*t!OcPJw;VQ0{!!kE8w2w(sfFw-dNO z6zu|!f)80eYDn5KbCbf&=@STejPG?@J;V0$zqy4JbbIk?6!*^Ks= zkNPV0Y^({r%<(P;5ft;}~+d4D0hQ~N7P#|mUciZ}2dJ7wSa{oY6 z-1Gc-{_H<{{O&*Z9|SB;aq79SNjeBVlszwYf33kbXxsfRB|!6m=- zQm=JB^-{ku)K^!{$Z+ynDoX8vZl%Kr_#sl4&An`@=Yj%b!FAOsUkD6^*1Crn71&>S5XsK-#(ZB5TQB4A9gnUAQx zLzN|pcP@qMiYQe#a<0z5bwc{l|QT3~@9ve{Ii=tQ6=$y(qA z_f4HdniD&IQg7qcJ|RVN;LFnGf!DeYS74ZMVpFMaiWHi_L!~ZM*QM@Qj zL)S>%L5h6jP+<6~1YV)oEDWLAM=YbrG27k)dw&!dP~?FDuK^Y*@{CRXQX#>3XE_QW zJ{7qPZ6UcgvZqrAnp;#_}r)TJb<60k#$wevy? zvTN%~_FA#+X<1(PC|sGIje3-K>^dHiKW2&Mq*?Eew2Fj3Il~zD^BazP7C(UfUI=1o z4U|e|=WJOf><}q%JZW&qBUIg;4@<&u()epZ7@o&W7(tr5g#m{opx}vj+$`MUa)wy_ zpdE#8I~k($j7*%)GwgwnX^gnvd8Rba09cXYJM-Zq9H<37VuvB;$!VN*>G4L(1RBTp z^OrjqHyQBw3_zJ8bN(7{XeplaF|}5$l-J^H!pRxXc9DSw0`u%OR*z5uk)3@Ym*^7ai1xY)cDzbCzCEApng#=R2*edc`2q<5VWYtP zL4bRr_=1Rw=b4gIlpPFMCbujP)YW`g^_(llitwba`FY;N-tvN4uBEALM=@Y&%|}>@ z^ChgNa-JFVh#c*?=S~~-sL_v=e4Z4O91%wJ3MWiWk|2!6E2z|>S2Rie<`v}V=A=8w z<#sWwpS2ZzX&M>|#n?kk=xq4(Tgmt*7f4l$*ESE=>X9sw_{oq0(@aiU8?Z~^k|oJ- z&6j!x0{dc*wVkWM-Khy*Xc@AmkS)XNS^ydfG*FLf%lJ;WS|wo9^ue#R2(Zb7*(#=c zZ~>`vPP-mXJKL2BDN{WKS{{wRq|YIJXRZpx$>*0!Q`gc{TpaM3>u^9R0x%Tw(Zd6? z2;g|=4gkfP57uwvon8$R(AY;eDaBSEKYNNx+Nc2kl|ZU)Ks}Lr@|bb;@gijJ-we&f znuXAeWAi^3n$_+07~YjjdB#Pa+i~vp;(R1)fGQw^VJGTQ3X*w*FZXxl{F{Ap{mg(S z$E9vgzQ1?M1SeG`+Bo6M7TVg-^zMXjrs-OaG`}7j{EgMVOE8}S0sGP zxp)C6thI`YF-~6;c<1ZU$6G#gK-L#t${rpJ@m?#6cf5ACc1nfP=drxg^Hn$t{)-l zRe(4=BI)-`7~#zBXQ-UnMai0kK{TE+@KKEtv1^ul2B?b^k8hAFca1v!@$R*UgtzPZ z=Q)V|mfg$^9Db*%n}r{PuDYkG$}U#T*ET>i+R*qqmTPaAn=wK9YPs1}c6U)sbmf;% zl1?w~|3J6r*KrJ2GH^;jpw>u((S`djpNe(AuLqt_#YoC|BT(IN1%An4RY|U#%g`8H zLjvL)ff_gv#lCt=!fCr!hGx{W@7iAZ_cxpu=i#<=hcjm%i}|BXq0dm?WgS@VH#Zdi ze>wVnLI$Z8o8dDiH^pW`?;Dy6-U9+@x?^xdK@X%43^KyoP?%Btz|gD)s@pe)7uz?6 zmxA~w#PAEJ04`4gUKFXze7y1$VBHE&R?$bGR_R#0`v5|GrYqK7ds%A~jrcB?J|0&- z6TQM7e2%nw*v!3wr4Fo}RA`R5vkbf0ybG>Q8e=clEoRv3DYoGS&-my^p>kZ`_ws|* kp7m{t!CIWK8k?5Le~K&MN-hp_ivR!s07*qoM6N<$f}cz^EdT%j literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..38fc599f30 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:15223265.5 %
Date:2024-02-24 08:13:25Functions: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()81
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)81
mrs_uav_managers::constraint_manager::ConstraintManager::onInit()81
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)1901
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&)2179
mrs_uav_managers::constraint_manager::ConstraintManager::timerConstraintManagement(ros::TimerEvent const&)19389
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.func.html b/mrs_uav_managers/src/constraint_manager.cpp.func.html new file mode 100644 index 0000000000..d7f92804ff --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:15223265.5 %
Date:2024-02-24 08:13:25Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::constraint_manager::ConstraintManager::setConstraints(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)81
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&)2179
mrs_uav_managers::constraint_manager::ConstraintManager::timerDiagnostics(ros::TimerEvent const&)1901
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&)19389
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()81
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0360404b95 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html new file mode 100644 index 0000000000..b958c54f88 --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.html @@ -0,0 +1,716 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - constraint_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:15223265.5 %
Date:2024-02-24 08:13:25Functions:6875.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/ConstraintManagerDiagnostics.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/DynamicsConstraintsSrv.h>
+      11             : #include <mrs_msgs/DynamicsConstraintsSrvRequest.h>
+      12             : #include <mrs_msgs/String.h>
+      13             : #include <mrs_msgs/ConstraintsOverride.h>
+      14             : 
+      15             : #include <mrs_lib/profiler.h>
+      16             : #include <mrs_lib/scope_timer.h>
+      17             : #include <mrs_lib/param_loader.h>
+      18             : #include <mrs_lib/mutex.h>
+      19             : #include <mrs_lib/publisher_handler.h>
+      20             : #include <mrs_lib/service_client_handler.h>
+      21             : #include <mrs_lib/subscribe_handler.h>
+      22             : 
+      23             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      24             : #include <dynamic_reconfigure/Reconfigure.h>
+      25             : #include <dynamic_reconfigure/Config.h>
+      26             : 
+      27             : //}
+      28             : 
+      29             : namespace mrs_uav_managers
+      30             : {
+      31             : 
+      32             : namespace constraint_manager
+      33             : {
+      34             : 
+      35             : /* //{ class ConstraintManager */
+      36             : 
+      37             : class ConstraintManager : public nodelet::Nodelet {
+      38             : 
+      39             : public:
+      40             :   virtual void onInit();
+      41             : 
+      42             : private:
+      43             :   ros::NodeHandle nh_;
+      44             : 
+      45             :   std::atomic<bool> is_initialized_ = false;
+      46             : 
+      47             :   // | ----------------------- parameters ----------------------- |
+      48             : 
+      49             :   std::vector<std::string> _estimator_type_names_;
+      50             : 
+      51             :   std::vector<std::string>                                       _constraint_names_;
+      52             :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest> _constraints_;
+      53             : 
+      54             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_constraints_;
+      55             :   std::map<std::string, std::string>              _map_type_default_constraints_;
+      56             : 
+      57             :   // | --------------------- service clients -------------------- |
+      58             : 
+      59             :   mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv> sc_set_constraints_;
+      60             : 
+      61             :   // | ----------------------- subscribers ---------------------- |
+      62             : 
+      63             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+      64             : 
+      65             :   // | ------------- constraint management ------------- |
+      66             : 
+      67             :   bool setConstraints(std::string constraints_names);
+      68             : 
+      69             :   ros::ServiceServer service_server_set_constraints_;
+      70             :   bool               callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      71             : 
+      72             :   std::string last_estimator_name_;
+      73             :   std::mutex  mutex_last_estimator_name_;
+      74             : 
+      75             :   void       timerConstraintManagement(const ros::TimerEvent& event);
+      76             :   ros::Timer timer_constraint_management_;
+      77             :   double     _constraint_management_rate_;
+      78             : 
+      79             :   std::string current_constraints_;
+      80             :   std::mutex  mutex_current_constraints_;
+      81             : 
+      82             :   // | ------------------ constraints override ------------------ |
+      83             : 
+      84             :   ros::ServiceServer service_server_constraints_override_;
+      85             :   bool               callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res);
+      86             : 
+      87             :   std::atomic<bool>                    override_constraints_         = false;
+      88             :   std::atomic<bool>                    constraints_override_updated_ = false;
+      89             :   std::mutex                           mutex_constraints_override_;
+      90             :   mrs_msgs::ConstraintsOverrideRequest constraints_override_;
+      91             : 
+      92             :   // | ------------------ diagnostics publisher ----------------- |
+      93             : 
+      94             :   mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics> ph_diagnostics_;
+      95             : 
+      96             :   void       timerDiagnostics(const ros::TimerEvent& event);
+      97             :   ros::Timer timer_diagnostics_;
+      98             :   double     _diagnostics_rate_;
+      99             : 
+     100             :   // | ------------------------ profiler ------------------------ |
+     101             : 
+     102             :   mrs_lib::Profiler profiler_;
+     103             :   bool              _profiler_enabled_ = false;
+     104             : 
+     105             :   // | ------------------- scope timer logger ------------------- |
+     106             : 
+     107             :   bool                                       scope_timer_enabled_ = false;
+     108             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     109             : 
+     110             :   // | ------------------------- helpers ------------------------ |
+     111             : 
+     112             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     113             : };
+     114             : 
+     115             : //}
+     116             : 
+     117             : /* //{ onInit() */
+     118             : 
+     119          81 : void ConstraintManager::onInit() {
+     120             : 
+     121          81 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     122             : 
+     123          81 :   ros::Time::waitForValid();
+     124             : 
+     125          81 :   ROS_INFO("[ConstraintManager]: initializing");
+     126             : 
+     127             :   // | ------------------------- params ------------------------- |
+     128             : 
+     129         162 :   mrs_lib::ParamLoader param_loader(nh_, "ConstraintManager");
+     130             : 
+     131         162 :   std::string custom_config_path;
+     132         162 :   std::string platform_config_path;
+     133             : 
+     134          81 :   param_loader.loadParam("custom_config", custom_config_path);
+     135          81 :   param_loader.loadParam("platform_config", platform_config_path);
+     136             : 
+     137          81 :   if (custom_config_path != "") {
+     138          81 :     param_loader.addYamlFile(custom_config_path);
+     139             :   }
+     140             : 
+     141          81 :   if (platform_config_path != "") {
+     142          81 :     param_loader.addYamlFile(platform_config_path);
+     143             :   }
+     144             : 
+     145          81 :   param_loader.addYamlFileFromParam("private_config");
+     146          81 :   param_loader.addYamlFileFromParam("public_config");
+     147          81 :   param_loader.addYamlFileFromParam("public_constraints");
+     148             : 
+     149         162 :   const std::string yaml_prefix = "mrs_uav_managers/constraint_manager/";
+     150             : 
+     151             :   // params passed from the launch file are not prefixed
+     152          81 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154          81 :   param_loader.loadParam(yaml_prefix + "constraints", _constraint_names_);
+     155             : 
+     156          81 :   param_loader.loadParam(yaml_prefix + "estimator_types", _estimator_type_names_);
+     157             : 
+     158          81 :   param_loader.loadParam(yaml_prefix + "rate", _constraint_management_rate_);
+     159          81 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     160             : 
+     161          81 :   std::vector<std::string>::iterator it;
+     162             : 
+     163             :   // loading constraint names
+     164         324 :   for (it = _constraint_names_.begin(); it != _constraint_names_.end(); ++it) {
+     165             : 
+     166         243 :     ROS_INFO_STREAM("[ConstraintManager]: loading constraints '" << *it << "'");
+     167             : 
+     168         243 :     mrs_msgs::DynamicsConstraintsSrvRequest new_constraints;
+     169             : 
+     170         243 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/speed", new_constraints.constraints.horizontal_speed);
+     171         243 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/acceleration", new_constraints.constraints.horizontal_acceleration);
+     172         243 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/jerk", new_constraints.constraints.horizontal_jerk);
+     173         243 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/snap", new_constraints.constraints.horizontal_snap);
+     174             : 
+     175         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/speed", new_constraints.constraints.vertical_ascending_speed);
+     176         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/acceleration", new_constraints.constraints.vertical_ascending_acceleration);
+     177         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/jerk", new_constraints.constraints.vertical_ascending_jerk);
+     178         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ascending/snap", new_constraints.constraints.vertical_ascending_snap);
+     179             : 
+     180         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/speed", new_constraints.constraints.vertical_descending_speed);
+     181         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/acceleration", new_constraints.constraints.vertical_descending_acceleration);
+     182         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/jerk", new_constraints.constraints.vertical_descending_jerk);
+     183         243 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/descending/snap", new_constraints.constraints.vertical_descending_snap);
+     184             : 
+     185         243 :     param_loader.loadParam(yaml_prefix + *it + "/heading/speed", new_constraints.constraints.heading_speed);
+     186         243 :     param_loader.loadParam(yaml_prefix + *it + "/heading/acceleration", new_constraints.constraints.heading_acceleration);
+     187         243 :     param_loader.loadParam(yaml_prefix + *it + "/heading/jerk", new_constraints.constraints.heading_jerk);
+     188         243 :     param_loader.loadParam(yaml_prefix + *it + "/heading/snap", new_constraints.constraints.heading_snap);
+     189             : 
+     190         243 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/roll", new_constraints.constraints.roll_rate);
+     191         243 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/pitch", new_constraints.constraints.pitch_rate);
+     192         243 :     param_loader.loadParam(yaml_prefix + *it + "/angular_speed/yaw", new_constraints.constraints.yaw_rate);
+     193             : 
+     194             :     double tilt_deg;
+     195             : 
+     196         243 :     param_loader.loadParam(yaml_prefix + *it + "/tilt", tilt_deg);
+     197             : 
+     198         243 :     new_constraints.constraints.tilt = M_PI * (tilt_deg / 180.0);
+     199             : 
+     200         243 :     _constraints_.insert(std::pair<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>(*it, new_constraints));
+     201             :   }
+     202             : 
+     203             :   // loading the allowed constraints lists
+     204         648 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     205             : 
+     206         567 :     std::vector<std::string> temp_vector;
+     207         567 :     param_loader.loadParam(yaml_prefix + "allowed_constraints/" + *it, temp_vector);
+     208             : 
+     209         567 :     std::vector<std::string>::iterator it2;
+     210        2094 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     211        1527 :       if (!stringInVector(*it2, _constraint_names_)) {
+     212           0 :         ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", it2->c_str(), it->c_str());
+     213           0 :         ros::shutdown();
+     214             :       }
+     215             :     }
+     216             : 
+     217         567 :     _map_type_allowed_constraints_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     218             :   }
+     219             : 
+     220             :   // loading the default constraints
+     221         648 :   for (it = _estimator_type_names_.begin(); it != _estimator_type_names_.end(); ++it) {
+     222             : 
+     223         567 :     std::string temp_str;
+     224         567 :     param_loader.loadParam(yaml_prefix + "default_constraints/" + *it, temp_str);
+     225             : 
+     226         567 :     if (!stringInVector(temp_str, _map_type_allowed_constraints_.at(*it))) {
+     227           0 :       ROS_ERROR("[ConstraintManager]: the element '%s' of %s/allowed_constraints is not a valid constraint!", temp_str.c_str(), it->c_str());
+     228           0 :       ros::shutdown();
+     229             :     }
+     230             : 
+     231         567 :     _map_type_default_constraints_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     232             :   }
+     233             : 
+     234          81 :   ROS_INFO("[ConstraintManager]: done loading dynamic params");
+     235             : 
+     236          81 :   current_constraints_ = "";
+     237          81 :   last_estimator_name_ = "";
+     238             : 
+     239             :   // | ------------------------ services ------------------------ |
+     240             : 
+     241          81 :   service_server_set_constraints_ = nh_.advertiseService("set_constraints_in", &ConstraintManager::callbackSetConstraints, this);
+     242             : 
+     243          81 :   service_server_constraints_override_ = nh_.advertiseService("constraints_override_in", &ConstraintManager::callbackConstraintsOverride, this);
+     244             : 
+     245          81 :   sc_set_constraints_ = mrs_lib::ServiceClientHandler<mrs_msgs::DynamicsConstraintsSrv>(nh_, "set_constraints_out");
+     246             : 
+     247             :   // | ----------------------- subscribers ---------------------- |
+     248             : 
+     249         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     250          81 :   shopts.nh                 = nh_;
+     251          81 :   shopts.node_name          = "ConstraintManager";
+     252          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     253          81 :   shopts.threadsafe         = true;
+     254          81 :   shopts.autostart          = true;
+     255          81 :   shopts.queue_size         = 10;
+     256          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     257             : 
+     258          81 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     259             : 
+     260             :   // | ----------------------- publishers ----------------------- |
+     261             : 
+     262          81 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::ConstraintManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     263             : 
+     264             :   // | ------------------------- timers ------------------------- |
+     265             : 
+     266          81 :   timer_constraint_management_ = nh_.createTimer(ros::Rate(_constraint_management_rate_), &ConstraintManager::timerConstraintManagement, this);
+     267          81 :   timer_diagnostics_           = nh_.createTimer(ros::Rate(_diagnostics_rate_), &ConstraintManager::timerDiagnostics, this);
+     268             : 
+     269             :   // | ------------------------ profiler ------------------------ |
+     270             : 
+     271          81 :   profiler_ = mrs_lib::Profiler(nh_, "ConstraintManager", _profiler_enabled_);
+     272             : 
+     273             :   // | ------------------- scope timer logger ------------------- |
+     274             : 
+     275          81 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     276         243 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     277          81 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     278             : 
+     279             :   // | ----------------------- finish init ---------------------- |
+     280             : 
+     281          81 :   if (!param_loader.loadedSuccessfully()) {
+     282           0 :     ROS_ERROR("[ConstraintManager]: Could not load all parameters!");
+     283           0 :     ros::shutdown();
+     284             :   }
+     285             : 
+     286          81 :   is_initialized_ = true;
+     287             : 
+     288          81 :   ROS_INFO("[ConstraintManager]: initialized");
+     289             : 
+     290          81 :   ROS_DEBUG("[ConstraintManager]: debug output is enabled");
+     291          81 : }
+     292             : 
+     293             : //}
+     294             : 
+     295             : // --------------------------------------------------------------
+     296             : // |                           methods                          |
+     297             : // --------------------------------------------------------------
+     298             : 
+     299             : /* setConstraints() //{ */
+     300             : 
+     301          81 : bool ConstraintManager::setConstraints(std::string constraints_name) {
+     302             : 
+     303          81 :   std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     304          81 :   it = _constraints_.find(constraints_name);
+     305             : 
+     306          81 :   if (it == _constraints_.end()) {
+     307           0 :     ROS_ERROR("[ConstraintManager]: could not setConstraints(), the constraint name '%s' is not on the list", constraints_name.c_str());
+     308           0 :     return false;
+     309             :   }
+     310             : 
+     311         162 :   mrs_msgs::DynamicsConstraintsSrv srv_call;
+     312             : 
+     313          81 :   srv_call.request = it->second;
+     314             : 
+     315          81 :   if (override_constraints_) {
+     316             : 
+     317           0 :     auto constraints_override = mrs_lib::get_mutexed(mutex_constraints_override_, constraints_override_);
+     318             : 
+     319           0 :     if (constraints_override.acceleration_horizontal > 0 &&
+     320           0 :         constraints_override.acceleration_horizontal <= srv_call.request.constraints.horizontal_acceleration) {
+     321           0 :       srv_call.request.constraints.horizontal_acceleration = constraints_override.acceleration_horizontal;
+     322             :     } else {
+     323           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required horizontal acceleration override is out of bounds");
+     324             :     }
+     325             : 
+     326           0 :     if (constraints_override.acceleration_vertical > 0 &&
+     327           0 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_ascending_acceleration &&
+     328           0 :         constraints_override.acceleration_vertical <= srv_call.request.constraints.vertical_descending_acceleration) {
+     329           0 :       srv_call.request.constraints.vertical_ascending_acceleration  = constraints_override.acceleration_vertical;
+     330           0 :       srv_call.request.constraints.vertical_descending_acceleration = constraints_override.acceleration_vertical;
+     331             :     } else {
+     332           0 :       ROS_ERROR_THROTTLE(1.0, "[ConstraintManager]: required vertical acceleration override is out of bounds");
+     333             :     }
+     334             :   }
+     335             : 
+     336          81 :   bool res = sc_set_constraints_.call(srv_call);
+     337             : 
+     338          81 :   if (!res) {
+     339             : 
+     340           0 :     ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the service for setting constraints has failed!");
+     341           0 :     return false;
+     342             : 
+     343             :   } else {
+     344             : 
+     345          81 :     if (srv_call.response.success) {
+     346             : 
+     347          81 :       mrs_lib::set_mutexed(mutex_current_constraints_, constraints_name, current_constraints_);
+     348          81 :       return true;
+     349             : 
+     350             :     } else {
+     351             : 
+     352           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: set service for setting constraints returned: '%s'", srv_call.response.message.c_str());
+     353           0 :       return false;
+     354             :     }
+     355             :   }
+     356             : }
+     357             : 
+     358             : //}
+     359             : 
+     360             : // --------------------------------------------------------------
+     361             : // |                          callbacks                         |
+     362             : // --------------------------------------------------------------
+     363             : 
+     364             : // | -------------------- service callbacks ------------------- |
+     365             : 
+     366             : /* //{ callbackSetConstraints() */
+     367             : 
+     368           0 : bool ConstraintManager::callbackSetConstraints(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     369             : 
+     370           0 :   if (!is_initialized_) {
+     371           0 :     return false;
+     372             :   }
+     373             : 
+     374           0 :   std::stringstream ss;
+     375             : 
+     376           0 :   if (!sh_estimation_diag_.hasMsg()) {
+     377             : 
+     378           0 :     ss << "missing odometry diagnostics";
+     379             : 
+     380           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     381             : 
+     382           0 :     res.message = ss.str();
+     383           0 :     res.success = false;
+     384           0 :     return true;
+     385             :   }
+     386             : 
+     387           0 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     388             : 
+     389           0 :   if (!stringInVector(req.value, _constraint_names_)) {
+     390             : 
+     391           0 :     ss << "the constraints '" << req.value.c_str() << "' do not exist (in the ConstraintManager's config)";
+     392             : 
+     393           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     394             : 
+     395           0 :     res.message = ss.str();
+     396           0 :     res.success = false;
+     397           0 :     return true;
+     398             :   }
+     399             : 
+     400           0 :   if (!stringInVector(req.value, _map_type_allowed_constraints_.at(estimation_diagnostics->current_state_estimator))) {
+     401             : 
+     402           0 :     ss << "the constraints '" << req.value.c_str() << "' are not allowed given the current odometry type";
+     403             : 
+     404           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     405             : 
+     406           0 :     res.message = ss.str();
+     407           0 :     res.success = false;
+     408           0 :     return true;
+     409             :   }
+     410             : 
+     411           0 :   override_constraints_ = false;
+     412             : 
+     413             :   // try to set the constraints
+     414           0 :   if (!setConstraints(req.value)) {
+     415             : 
+     416           0 :     ss << "the ControlManager could not set the constraints";
+     417             : 
+     418           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     419             : 
+     420           0 :     res.message = ss.str();
+     421           0 :     res.success = false;
+     422           0 :     return true;
+     423             : 
+     424             :   } else {
+     425             : 
+     426           0 :     ss << "the constraints '" << req.value.c_str() << "' were set";
+     427             : 
+     428           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ConstraintManager]: " << ss.str());
+     429             : 
+     430           0 :     res.message = ss.str();
+     431           0 :     res.success = true;
+     432           0 :     return true;
+     433             :   }
+     434             : }
+     435             : 
+     436             : //}
+     437             : 
+     438             : /* callackConstraintsOverride() //{ */
+     439             : 
+     440           0 : bool ConstraintManager::callbackConstraintsOverride(mrs_msgs::ConstraintsOverride::Request& req, mrs_msgs::ConstraintsOverride::Response& res) {
+     441             : 
+     442           0 :   if (!is_initialized_) {
+     443           0 :     return false;
+     444             :   }
+     445             : 
+     446             :   {
+     447           0 :     std::scoped_lock lock(mutex_constraints_override_);
+     448             : 
+     449           0 :     constraints_override_ = req;
+     450             :   }
+     451             : 
+     452           0 :   override_constraints_         = true;
+     453           0 :   constraints_override_updated_ = true;
+     454             : 
+     455           0 :   ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: setting constraints override");
+     456             : 
+     457           0 :   res.message = "override set";
+     458           0 :   res.success = true;
+     459             : 
+     460           0 :   return true;
+     461             : }
+     462             : 
+     463             : //}
+     464             : 
+     465             : // --------------------------------------------------------------
+     466             : // |                           timers                           |
+     467             : // --------------------------------------------------------------
+     468             : 
+     469             : /* timerConstraintManagement() //{ */
+     470             : 
+     471       19389 : void ConstraintManager::timerConstraintManagement(const ros::TimerEvent& event) {
+     472             : 
+     473       19389 :   if (!is_initialized_) {
+     474        4163 :     return;
+     475             :   }
+     476             : 
+     477       38778 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerConstraintManagement", _constraint_management_rate_, 0.01, event);
+     478       38778 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerConstraintManagement", scope_timer_logger_, scope_timer_enabled_);
+     479             : 
+     480       19389 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     481       19389 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     482             : 
+     483       19389 :   if (!sh_estimation_diag_.hasMsg()) {
+     484        4163 :     return;
+     485             :   }
+     486             : 
+     487       15226 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     488             : 
+     489             :   // | --- automatically set constraints when the state estimator changes -- |
+     490       15226 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name_) {
+     491             : 
+     492          85 :     ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     493             :                       estimation_diagnostics->current_state_estimator.c_str());
+     494             : 
+     495          85 :     std::map<std::string, std::string>::iterator it;
+     496          85 :     it = _map_type_default_constraints_.find(estimation_diagnostics->current_state_estimator);
+     497             : 
+     498          85 :     if (it == _map_type_default_constraints_.end()) {
+     499             : 
+     500           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator type '%s' was not specified in the constraint_manager's config!",
+     501             :                         estimation_diagnostics->current_state_estimator.c_str());
+     502             : 
+     503             :     } else {
+     504             : 
+     505             :       // if the current constraints are within the allowed state estimator types, do nothing
+     506          85 :       if (stringInVector(current_constraints, _map_type_allowed_constraints_.at(estimation_diagnostics->current_state_estimator))) {
+     507             : 
+     508           4 :         last_estimator_name = estimation_diagnostics->current_state_estimator;
+     509             : 
+     510             :         // else, try to set the initial constraints
+     511             :       } else {
+     512             : 
+     513          81 :         ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the current constraints '%s' are not within the allowed constraints for '%s'", current_constraints.c_str(),
+     514             :                           estimation_diagnostics->current_state_estimator.c_str());
+     515             : 
+     516          81 :         if (setConstraints(it->second)) {
+     517             : 
+     518          81 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     519             : 
+     520          81 :           ROS_INFO_THROTTLE(1.0, "[ConstraintManager]: constraints set to initial: '%s'", it->second.c_str());
+     521             : 
+     522             :         } else {
+     523             : 
+     524           0 :           ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not set constraints!");
+     525             :         }
+     526             :       }
+     527             :     }
+     528             :   }
+     529             : 
+     530       15226 :   if (constraints_override_updated_) {
+     531             : 
+     532           0 :     std::map<std::string, std::string>::iterator it;
+     533           0 :     it = _map_type_default_constraints_.find(last_estimator_name_);
+     534             : 
+     535           0 :     ROS_INFO_THROTTLE(0.1, "[ConstraintManager]: re-setting constraints with user value override");
+     536             : 
+     537           0 :     if (setConstraints(it->second)) {
+     538           0 :       constraints_override_updated_ = false;
+     539             :     } else {
+     540           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: could not re-set the constraints!");
+     541             :     }
+     542             :   }
+     543             : 
+     544       15226 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     545             : }
+     546             : 
+     547             : //}
+     548             : 
+     549             : /* timerDiagnostics() //{ */
+     550             : 
+     551        1901 : void ConstraintManager::timerDiagnostics(const ros::TimerEvent& event) {
+     552             : 
+     553        1901 :   if (!is_initialized_) {
+     554         404 :     return;
+     555             :   }
+     556             : 
+     557        3802 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     558        3802 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ContraintManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     559             : 
+     560        1901 :   if (!sh_estimation_diag_.hasMsg()) {
+     561         401 :     ROS_WARN_THROTTLE(10.0, "[ConstraintManager]: can not do constraint management, missing estimation diagnostics!");
+     562         401 :     return;
+     563             :   }
+     564             : 
+     565        1500 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     566             : 
+     567        1500 :   auto current_constraints = mrs_lib::get_mutexed(mutex_current_constraints_, current_constraints_);
+     568             : 
+     569        1500 :   if (current_constraints == "") {  // this could happend just before timerConstraintManagement() finishes
+     570           3 :     return;
+     571             :   }
+     572             : 
+     573        1497 :   mrs_msgs::ConstraintManagerDiagnostics diagnostics;
+     574             : 
+     575        1497 :   diagnostics.stamp        = ros::Time::now();
+     576        1497 :   diagnostics.current_name = current_constraints;
+     577        1497 :   diagnostics.loaded       = _constraint_names_;
+     578             : 
+     579             :   // get the available constraints
+     580             :   {
+     581        1497 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     582        1497 :     it = _map_type_allowed_constraints_.find(estimation_diagnostics->current_state_estimator);
+     583             : 
+     584        1497 :     if (it == _map_type_allowed_constraints_.end()) {
+     585           0 :       ROS_WARN_THROTTLE(1.0, "[ConstraintManager]: the state estimator '%s' was not specified in the constraint_manager's config!",
+     586             :                         estimation_diagnostics->current_state_estimator.c_str());
+     587             :     } else {
+     588        1497 :       diagnostics.available = it->second;
+     589             :     }
+     590             :   }
+     591             : 
+     592             :   // get the current constraint values
+     593             :   {
+     594        1497 :     std::map<std::string, mrs_msgs::DynamicsConstraintsSrvRequest>::iterator it;
+     595        1497 :     it = _constraints_.find(current_constraints);
+     596             : 
+     597        1497 :     if (it == _constraints_.end()) {
+     598           0 :       ROS_ERROR("[ConstraintManager]: current constraints '%s' not found in the constraint list!", current_constraints.c_str());
+     599           0 :       return;
+     600             :     }
+     601             : 
+     602        1497 :     diagnostics.current_values = it->second.constraints;
+     603             :   }
+     604             : 
+     605        1497 :   ph_diagnostics_.publish(diagnostics);
+     606             : }
+     607             : 
+     608             : //}
+     609             : 
+     610             : // --------------------------------------------------------------
+     611             : // |                          routines                          |
+     612             : // --------------------------------------------------------------
+     613             : 
+     614             : /* stringInVector() //{ */
+     615             : 
+     616        2179 : bool ConstraintManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     617             : 
+     618        2179 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     619          81 :     return false;
+     620             :   } else {
+     621        2098 :     return true;
+     622             :   }
+     623             : }
+     624             : 
+     625             : //}
+     626             : 
+     627             : }  // namespace constraint_manager
+     628             : 
+     629             : }  // namespace mrs_uav_managers
+     630             : 
+     631             : #include <pluginlib/class_list_macros.h>
+     632          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::constraint_manager::ConstraintManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..38d8adfdaf --- /dev/null +++ b/mrs_uav_managers/src/constraint_manager.cpp.gcov.overview.html @@ -0,0 +1,178 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/constraint_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/constraint_manager.cpp.gcov.png b/mrs_uav_managers/src/constraint_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..fb99dc48e5d6bae7020eb57f2095848a48244a28 GIT binary patch literal 2202 zcmV;L2xa$)P)6Ks=d}Xs~sM&KoqJ=9uL(6oQN=PFH$;rjo zBIxFuM1*oYGh_R-F4!|6NLU*HKBXFt#|*KR$M2~p4z4MF#&->ai}0R=&^@qjrd4gO zlM&;b!cKRD7w?b|^??ZkK+g9_P-z-%84%;>5pNn^RAh()(n#QLOmGs76nTV*Y8eSc zw0vOqZqws*$6~%fd%vn}P?*vGH?;{vyo3>e7m;)sQQ9jJW==zoN?`y)0d-0PtD)aM zPw2USUO2j4scwktYF60Hi*5t+o*-P8Wu@9uj|f|dunsZmpdOKMTP zPod;vOc=XdqCZx3?fNJBJ_#4pn_K&$fs7|aaWl{g&SHo6(LT8C$Itos+4lGn5xxuU zB-~2`fw2EMDVqWyqyCWNay&lexOT(~2$4pb9TzQU8BzruU+ zO&1^GVyjlA0EQ0!)r8Wn`)?tq>S1=#Ow*=I9_p=i=^n$K8nORLZXPMD+;eo1YK9G67(Vw5i7<8AjE5M6``pAe17W3g4nx_7BqrnY!&9zR?)lw(W>8a|=(1 z*dVfD1PTeyHATcDMBJ0dEj&GtHnZx%+9{|9Yv-dPBo5Oz~|L=-B#`-1d3 zhdePwHV#*|OrUnSM*G6Y4SZgD{0JvfVLKFFU2V)MJPjb32~D%X#%@ZXQy)iYN;N>r zuKVlfEi|?xyf^j(gX@8-JAX`|nT3px2Aa6E5Le??6)TQ7?`{uYKis;GXZB4IDn!J+ z4zF0Thx( z&9S?Br+_heBDECJI)w!~o&w_ey!#An*G2aKoTB6uoC$I3WWpE#XlC5RgfJ3!_`4(2 zA^t5UgzDf~P(;n=Ivnae3z0$UJ=}s=={<40XY0fNbpnv`*gx?pkLx{X;HL@6ARE&0&l3vUz-~T-iR=1Q zBf1%-;6#IPMp1Sxn0nrW(1HpR{y7^O+3nDuI61RzZ2t}x_T&tldl}`uk5~(OUkNBU zQ+=}3?UkM;;RXu^Jg@B~THsm)r~GAA5X!qwQRuDVFIy(521U|B9;IEMyMW=FK70Y& z6mA&Xjlq#Fyzokf<@=Q-)#wI*alf0eaqb(#g5^V@N9F)Kt**R|3)m?DG-W+*T1tHJ zk=`$qBEE}z_M3g$lh}-j->xRt;{$oh>5)_1j}G@1UDftz9du61=Luu#E%TBT1FFtv z?4ktHaW*CItVkqGKD^uulc=ZU;kvGqD^$!a4TWVSrm00t^y9R&s1W+0_xZkDPeHe&epgI+9xAAAZEysdw;Iws+1koYzPB>kN=kR=2Ad3cukHc^Z>~(C&!sJjP&RF0;ul c1j#h>AL*NPx#07*qoM6N<$f;FKKT>t<8 literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/control_manager/common/common.cpp.func-sort-c.html b/mrs_uav_managers/src/control_manager/common/common.cpp.func-sort-c.html new file mode 100644 index 0000000000..1eff7e9e94 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.func-sort-c.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-02-24 08:13:25Functions: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&)81
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&)470
mrs_uav_managers::control_manager::validateVelocityReference(mrs_msgs::VelocityReference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)471
mrs_uav_managers::control_manager::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&)1019
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&)1074
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&)1196
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&)1260
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)2196
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&)2291
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&)2606
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&)3844
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&)10175
mrs_uav_managers::control_manager::initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> >&, double const&)14039
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&)14039
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)14451
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&)65590
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&)76252
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&)85962
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&)93831
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&)122016
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)131907
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+
+ + + +
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..ac35c445f0 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-02-24 08:13:25Functions: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&)1260
mrs_uav_managers::control_manager::getLowestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)14451
mrs_uav_managers::control_manager::extractThrottle(mrs_uav_managers::Controller::ControlOutput const&)131907
mrs_uav_managers::control_manager::getHighestOuput(mrs_uav_managers::control_manager::ControlOutputModalities_t const&)0
mrs_uav_managers::control_manager::RCChannelToRange(double, double, double)2196
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&)122016
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&)10175
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&)14039
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&)85962
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&)76252
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&)14039
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&)2606
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&)93831
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&)470
mrs_uav_managers::control_manager::validateVelocityReference(mrs_msgs::VelocityReference_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)471
mrs_uav_managers::control_manager::loadDetailedUavModelParams(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
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&)1196
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&)65590
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&)3844
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&)1019
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&)2291
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&)1074
+
+
+ + + +
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..504340a1f5 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.html @@ -0,0 +1,1312 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/control_manager/common - common.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:23456741.3 %
Date:2024-02-24 08:13:25Functions: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        1260 : std::optional<unsigned int> idxInVector(const std::string& str, const std::vector<std::string>& vec) {
+      12             : 
+      13        3530 :   for (unsigned int i = 0; i < vec.size(); i++) {
+      14        3528 :     if (str == vec[i]) {
+      15        1258 :       return {i};
+      16             :     }
+      17             :   }
+      18             : 
+      19           2 :   return {};
+      20             : }
+      21             : 
+      22             : //}
+      23             : 
+      24             : /* validateTrackerCommand() //{ */
+      25             : 
+      26       76252 : bool validateTrackerCommand(const std::optional<mrs_msgs::TrackerCommand>& msg, const std::string& node_name, const std::string& var_name) {
+      27             : 
+      28       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   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       76252 :   return true;
+     165             : }
+     166             : 
+     167             : //}
+     168             : 
+     169             : /* validateOdometry() //{ */
+     170             : 
+     171           0 : bool validateOdometry(const nav_msgs::Odometry& msg, const std::string& node_name, const std::string& var_name) {
+     172             : 
+     173             :   // check position
+     174             : 
+     175           0 :   if (!std::isfinite(msg.pose.pose.position.x)) {
+     176           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.x'!!!", node_name.c_str(), var_name.c_str());
+     177           0 :     return false;
+     178             :   }
+     179             : 
+     180           0 :   if (!std::isfinite(msg.pose.pose.position.y)) {
+     181           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.y'!!!", node_name.c_str(), var_name.c_str());
+     182           0 :     return false;
+     183             :   }
+     184             : 
+     185           0 :   if (!std::isfinite(msg.pose.pose.position.z)) {
+     186           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.position.z'!!!", node_name.c_str(), var_name.c_str());
+     187           0 :     return false;
+     188             :   }
+     189             : 
+     190             :   // check orientation
+     191             : 
+     192           0 :   if (!std::isfinite(msg.pose.pose.orientation.x)) {
+     193           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     194           0 :     return false;
+     195             :   }
+     196             : 
+     197           0 :   if (!std::isfinite(msg.pose.pose.orientation.y)) {
+     198           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     199           0 :     return false;
+     200             :   }
+     201             : 
+     202           0 :   if (!std::isfinite(msg.pose.pose.orientation.z)) {
+     203           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     204           0 :     return false;
+     205             :   }
+     206             : 
+     207           0 :   if (!std::isfinite(msg.pose.pose.orientation.w)) {
+     208           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pose.pose.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     209           0 :     return false;
+     210             :   }
+     211             : 
+     212             :   // check velocity
+     213             : 
+     214           0 :   if (!std::isfinite(msg.twist.twist.linear.x)) {
+     215           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.x'!!!", node_name.c_str(), var_name.c_str());
+     216           0 :     return false;
+     217             :   }
+     218             : 
+     219           0 :   if (!std::isfinite(msg.twist.twist.linear.y)) {
+     220           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.y'!!!", node_name.c_str(), var_name.c_str());
+     221           0 :     return false;
+     222             :   }
+     223             : 
+     224           0 :   if (!std::isfinite(msg.twist.twist.linear.z)) {
+     225           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.twist.twist.linear.z'!!!", node_name.c_str(), var_name.c_str());
+     226           0 :     return false;
+     227             :   }
+     228             : 
+     229           0 :   return true;
+     230             : }
+     231             : 
+     232             : //}
+     233             : 
+     234             : /* validateVelocityReference() //{ */
+     235             : 
+     236         471 : bool validateVelocityReference(const mrs_msgs::VelocityReference& msg, const std::string& node_name, const std::string& var_name) {
+     237             : 
+     238             :   // check velocity
+     239             : 
+     240         471 :   if (!std::isfinite(msg.velocity.x)) {
+     241           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     242           0 :     return false;
+     243             :   }
+     244             : 
+     245         471 :   if (!std::isfinite(msg.velocity.y)) {
+     246           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     247           0 :     return false;
+     248             :   }
+     249             : 
+     250         471 :   if (!std::isfinite(msg.velocity.z)) {
+     251           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     252           0 :     return false;
+     253             :   }
+     254             : 
+     255         471 :   if (!std::isfinite(msg.altitude)) {
+     256           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.altitude'!!!", node_name.c_str(), var_name.c_str());
+     257           0 :     return false;
+     258             :   }
+     259             : 
+     260         471 :   if (!std::isfinite(msg.heading)) {
+     261           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     262           0 :     return false;
+     263             :   }
+     264             : 
+     265         471 :   if (!std::isfinite(msg.heading_rate)) {
+     266           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     267           0 :     return false;
+     268             :   }
+     269             : 
+     270         471 :   return true;
+     271             : }
+     272             : 
+     273             : //}
+     274             : 
+     275             : /* validateReference() //{ */
+     276             : 
+     277       10175 : bool validateReference(const mrs_msgs::Reference& msg, const std::string& node_name, const std::string& var_name) {
+     278             : 
+     279             :   // check position
+     280             : 
+     281       10175 :   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       10175 :   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       10175 :   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       10175 :   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       10175 :   return true;
+     304             : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* validateUavState() //{ */
+     309             : 
+     310      122016 : bool validateUavState(const mrs_msgs::UavState& msg, const std::string& node_name, const std::string& var_name) {
+     311             : 
+     312             :   // check position
+     313             : 
+     314      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   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      122016 :   return true;
+     454             : }
+     455             : 
+     456             : //}
+     457             : 
+     458             : /* RCChannelToRange() //{ */
+     459             : 
+     460        2196 : double RCChannelToRange(double rc_value, double range, double deadband) {
+     461             : 
+     462        2196 :   double tmp_neg1_to_1 = (rc_value - 0.5) * 2.0;
+     463             : 
+     464        2196 :   if (tmp_neg1_to_1 > 1.0) {
+     465           0 :     tmp_neg1_to_1 = 1.0;
+     466        2196 :   } else if (tmp_neg1_to_1 < -1.0) {
+     467           0 :     tmp_neg1_to_1 = -1.0;
+     468             :   }
+     469             : 
+     470             :   // check the deadband
+     471        2196 :   if (tmp_neg1_to_1 < deadband && tmp_neg1_to_1 > -deadband) {
+     472        1725 :     return 0.0;
+     473             :   }
+     474             : 
+     475         471 :   if (tmp_neg1_to_1 > 0) {
+     476             : 
+     477         261 :     double tmp = (tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     478             : 
+     479         261 :     return range * tmp;
+     480             : 
+     481             :   } else {
+     482             : 
+     483         210 :     double tmp = (-tmp_neg1_to_1 - deadband) / (1.0 - deadband);
+     484             : 
+     485         210 :     return -range * tmp;
+     486             :   }
+     487             : 
+     488             :   return 0.0;
+     489             : }
+     490             : 
+     491             : //}
+     492             : 
+     493             : /* loadDetailedUavModelParams() //{ */
+     494             : 
+     495          81 : 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         162 :   mrs_lib::ParamLoader param_loader(nh, node_name);
+     499             : 
+     500          81 :   if (custom_config != "") {
+     501          81 :     param_loader.addYamlFile(custom_config);
+     502             :   }
+     503             : 
+     504          81 :   if (platform_config != "") {
+     505          81 :     param_loader.addYamlFile(platform_config);
+     506             :   }
+     507             : 
+     508             :   double mass;
+     509             :   double arm_length;
+     510             :   double body_height;
+     511             :   double force_constant;
+     512             :   double torque_constant;
+     513             :   double prop_radius;
+     514             :   double rpm_min;
+     515             :   double rpm_max;
+     516             : 
+     517          81 :   bool detailed_loaded = true;
+     518             : 
+     519          81 :   detailed_loaded *= param_loader.loadParam("uav_mass", mass, 0.0);
+     520             : 
+     521          81 :   detailed_loaded *= param_loader.loadParam("model_params/arm_length", arm_length, 0.0);
+     522          81 :   detailed_loaded *= param_loader.loadParam("model_params/body_height", body_height, 0.0);
+     523             : 
+     524          81 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/force_constant", force_constant, 0.0);
+     525          81 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/torque_constant", torque_constant, 0.0);
+     526          81 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/prop_radius", prop_radius, 0.0);
+     527          81 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/min", rpm_min, 0.0);
+     528          81 :   detailed_loaded *= param_loader.loadParam("model_params/propulsion/rpm/max", rpm_max, 0.0);
+     529             : 
+     530         162 :   Eigen::MatrixXd allocation_matrix;
+     531             : 
+     532          81 :   detailed_loaded *= param_loader.loadMatrixDynamic("model_params/propulsion/allocation_matrix", allocation_matrix, Eigen::Matrix4d::Identity(), 4, -1);
+     533             : 
+     534          81 :   if (!detailed_loaded) {
+     535           0 :     ROS_WARN(
+     536             :         "[%s]: detailed UAV model params not loaded, missing some parameters. This will not permit operations when ACTUATORS or CONTROL_GROUP control "
+     537             :         "outputs would be possible.",
+     538             :         node_name.c_str());
+     539           0 :     return {};
+     540             :   } else {
+     541          81 :     ROS_INFO("[%s]: detailed UAV model params successfully loaded.", node_name.c_str());
+     542             :   }
+     543             : 
+     544          81 :   int n_motors = allocation_matrix.cols();
+     545             : 
+     546         162 :   DetailedModelParams_t model_params;
+     547             : 
+     548          81 :   model_params.arm_length  = arm_length;
+     549          81 :   model_params.body_height = body_height;
+     550          81 :   model_params.prop_radius = prop_radius;
+     551             : 
+     552          81 :   Eigen::Matrix3d inertia_matrix;
+     553             : 
+     554          81 :   bool inertia_loaded = param_loader.loadMatrixStatic("model_params/inertia_matrix", inertia_matrix, Eigen::Matrix3d::Identity());
+     555             : 
+     556          81 :   if (inertia_loaded) {
+     557             : 
+     558           0 :     model_params.inertia = inertia_matrix;
+     559           0 :     ROS_INFO("[%s]: inertia matrix loaded from config file:", node_name.c_str());
+     560           0 :     ROS_INFO_STREAM(model_params.inertia);
+     561             : 
+     562             :   } else {
+     563             : 
+     564          81 :     ROS_INFO("[%s]: inertia matrix missing in the config file, computing it from the other params.", node_name.c_str());
+     565             : 
+     566             :     // create the inertia matrix
+     567          81 :     model_params.inertia       = Eigen::Matrix3d::Zero();
+     568          81 :     model_params.inertia(0, 0) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     569          81 :     model_params.inertia(1, 1) = mass * (3.0 * arm_length * arm_length + body_height * body_height) / 12.0;
+     570          81 :     model_params.inertia(2, 2) = (mass * arm_length * arm_length) / 2.0;
+     571             : 
+     572          81 :     ROS_INFO("[%s]: inertia computed form parameters:", node_name.c_str());
+     573          81 :     ROS_INFO_STREAM(model_params.inertia);
+     574             :   }
+     575             : 
+     576             :   // create the force-torque allocation matrix
+     577          81 :   model_params.force_torque_mixer = allocation_matrix;
+     578          81 :   model_params.force_torque_mixer.row(0) *= arm_length * force_constant;
+     579          81 :   model_params.force_torque_mixer.row(1) *= arm_length * force_constant;
+     580          81 :   model_params.force_torque_mixer.row(2) *= torque_constant * (3.0 * prop_radius) * force_constant;
+     581          81 :   model_params.force_torque_mixer.row(3) *= force_constant;
+     582             : 
+     583             :   // | ------- create the control group allocation matrix ------- |
+     584             : 
+     585             :   // pseudoinverse of the force-torque matrix (maximum norm)
+     586             :   Eigen::MatrixXd alloc_tmp =
+     587         162 :       model_params.force_torque_mixer.transpose() * (model_params.force_torque_mixer * model_params.force_torque_mixer.transpose()).inverse();
+     588             : 
+     589             :   // | ------------- normalize the allocation matrix ------------ |
+     590             :   // this will make it match the PX4 control group mixing
+     591             : 
+     592             :   // the first two columns (roll, pitch)
+     593         411 :   for (int i = 0; i < n_motors; i++) {
+     594         330 :     alloc_tmp.block(i, 0, 1, 2).normalize();
+     595             :   }
+     596             : 
+     597             :   // the 3rd column (yaw)
+     598         411 :   for (int i = 0; i < n_motors; i++) {
+     599         330 :     if (alloc_tmp(i, 2) > 1e-2) {
+     600         165 :       alloc_tmp(i, 2) = 1.0;
+     601         165 :     } else if (alloc_tmp(i, 2) < -1e-2) {
+     602         165 :       alloc_tmp(i, 2) = -1.0;
+     603             :     } else {
+     604           0 :       alloc_tmp(i, 2) = 0.0;
+     605             :     }
+     606             :   }
+     607             : 
+     608             :   // the 4th column (throttle)
+     609         411 :   for (int i = 0; i < n_motors; i++) {
+     610         330 :     alloc_tmp(i, 3) = 1.0;
+     611             :   }
+     612             : 
+     613          81 :   model_params.control_group_mixer = alloc_tmp;
+     614             : 
+     615          81 :   return model_params;
+     616             : }
+     617             : 
+     618             : //}
+     619             : 
+     620             : /* getLowestOutput() //{ */
+     621             : 
+     622       14451 : CONTROL_OUTPUT getLowestOuput(const ControlOutputModalities_t& outputs) {
+     623             : 
+     624       14451 :   if (outputs.actuators) {
+     625          11 :     return ACTUATORS_CMD;
+     626             :   }
+     627             : 
+     628       14440 :   if (outputs.control_group) {
+     629          16 :     return CONTROL_GROUP;
+     630             :   }
+     631             : 
+     632       14424 :   if (outputs.attitude_rate) {
+     633       14318 :     return ATTITUDE_RATE;
+     634             :   }
+     635             : 
+     636         106 :   if (outputs.attitude) {
+     637          16 :     return ATTITUDE;
+     638             :   }
+     639             : 
+     640          90 :   if (outputs.acceleration_hdg_rate) {
+     641          10 :     return ACCELERATION_HDG_RATE;
+     642             :   }
+     643             : 
+     644          80 :   if (outputs.acceleration_hdg) {
+     645          10 :     return ACCELERATION_HDG;
+     646             :   }
+     647             : 
+     648          70 :   if (outputs.velocity_hdg_rate) {
+     649          40 :     return VELOCITY_HDG_RATE;
+     650             :   }
+     651             : 
+     652          30 :   if (outputs.velocity_hdg) {
+     653          20 :     return VELOCITY_HDG;
+     654             :   }
+     655             : 
+     656          10 :   return POSITION;
+     657             : }
+     658             : 
+     659             : //}
+     660             : 
+     661             : /* getHighestOutput() //{ */
+     662             : 
+     663           0 : CONTROL_OUTPUT getHighestOuput(const ControlOutputModalities_t& outputs) {
+     664             : 
+     665           0 :   if (outputs.position) {
+     666           0 :     return POSITION;
+     667             :   }
+     668             : 
+     669           0 :   if (outputs.velocity_hdg) {
+     670           0 :     return VELOCITY_HDG;
+     671             :   }
+     672             : 
+     673           0 :   if (outputs.velocity_hdg_rate) {
+     674           0 :     return VELOCITY_HDG_RATE;
+     675             :   }
+     676             : 
+     677           0 :   if (outputs.acceleration_hdg) {
+     678           0 :     return ACCELERATION_HDG;
+     679             :   }
+     680             : 
+     681           0 :   if (outputs.acceleration_hdg_rate) {
+     682           0 :     return ACCELERATION_HDG_RATE;
+     683             :   }
+     684             : 
+     685           0 :   if (outputs.attitude) {
+     686           0 :     return ATTITUDE;
+     687             :   }
+     688             : 
+     689           0 :   if (outputs.attitude_rate) {
+     690           0 :     return ATTITUDE_RATE;
+     691             :   }
+     692             : 
+     693           0 :   if (outputs.control_group) {
+     694           0 :     return CONTROL_GROUP;
+     695             :   }
+     696             : 
+     697           0 :   return ACTUATORS_CMD;
+     698             : }
+     699             : 
+     700             : //}
+     701             : 
+     702             : // | -------- extraction of throttle out of hw api cmds ------- |
+     703             : 
+     704             : /* extractThrottle() //{ */
+     705             : 
+     706      131907 : std::optional<double> extractThrottle(const Controller::ControlOutput& control_output) {
+     707             : 
+     708      131907 :   if (!control_output.control_output) {
+     709       20856 :     return {};
+     710             :   }
+     711             : 
+     712      222102 :   return std::visit(HwApiCmdExtractThrottleVisitor(), control_output.control_output.value());
+     713             : }
+     714             : 
+     715             : //}
+     716             : 
+     717             : // | -------------- validation of HW api commands ------------- |
+     718             : 
+     719             : /* validateControlOutput() //{ */
+     720             : 
+     721       85962 : bool validateControlOutput(const Controller::ControlOutput& control_output, const ControlOutputModalities_t& output_modalities, const std::string& node_name,
+     722             :                            const std::string& var_name) {
+     723             : 
+     724       85962 :   if (!control_output.control_output) {
+     725           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: the optional variable '%s' is not set!!!", node_name.c_str(), var_name.c_str());
+     726           0 :     return false;
+     727             :   }
+     728             : 
+     729       85962 :   std::variant<ControlOutputModalities_t> output_modalities_var{output_modalities};
+     730      171924 :   std::variant<std::string>               node_name_var{node_name};
+     731       85962 :   std::variant<std::string>               var_name_var{var_name};
+     732             : 
+     733       85962 :   return std::visit(HwApiValidateVisitor(), control_output.control_output.value(), output_modalities_var, node_name_var, var_name_var);
+     734             : }
+     735             : 
+     736             : //}
+     737             : 
+     738             : /* validateHwApiActuatorCmd() //{ */
+     739             : 
+     740        2606 : bool validateHwApiActuatorCmd(const mrs_msgs::HwApiActuatorCmd& msg, const std::string& node_name, const std::string& var_name) {
+     741             : 
+     742       13030 :   for (size_t i = 0; i < msg.motors.size(); i++) {
+     743       10424 :     if (!std::isfinite(msg.motors[i])) {
+     744           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.motors[%d]'!!!", node_name.c_str(), var_name.c_str(), int(i));
+     745           0 :       return false;
+     746             :     }
+     747             :   }
+     748             : 
+     749        2606 :   return true;
+     750             : }
+     751             : 
+     752             : //}
+     753             : 
+     754             : /* validateHwApiControlGroupCmd() //{ */
+     755             : 
+     756        3844 : bool validateHwApiControlGroupCmd(const mrs_msgs::HwApiControlGroupCmd& msg, const std::string& node_name, const std::string& var_name) {
+     757             : 
+     758        3844 :   if (!std::isfinite(msg.roll)) {
+     759           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.roll'!!!", node_name.c_str(), var_name.c_str());
+     760           0 :     return false;
+     761             :   }
+     762             : 
+     763        3844 :   if (!std::isfinite(msg.pitch)) {
+     764           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.pitch'!!!", node_name.c_str(), var_name.c_str());
+     765           0 :     return false;
+     766             :   }
+     767             : 
+     768        3844 :   if (!std::isfinite(msg.yaw)) {
+     769           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.yaw'!!!", node_name.c_str(), var_name.c_str());
+     770           0 :     return false;
+     771             :   }
+     772             : 
+     773        3844 :   if (!std::isfinite(msg.throttle)) {
+     774           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     775           0 :     return false;
+     776             :   }
+     777             : 
+     778        3844 :   return true;
+     779             : }
+     780             : 
+     781             : //}
+     782             : 
+     783             : /* validateHwApiAttitudeCmd() //{ */
+     784             : 
+     785       93831 : bool validateHwApiAttitudeCmd(const mrs_msgs::HwApiAttitudeCmd& msg, const std::string& node_name, const std::string& var_name) {
+     786             : 
+     787             :   // check the orientation
+     788             : 
+     789       93831 :   if (!std::isfinite(msg.orientation.x)) {
+     790           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.x'!!!", node_name.c_str(), var_name.c_str());
+     791           0 :     return false;
+     792             :   }
+     793             : 
+     794       93831 :   if (!std::isfinite(msg.orientation.y)) {
+     795           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.y'!!!", node_name.c_str(), var_name.c_str());
+     796           0 :     return false;
+     797             :   }
+     798             : 
+     799       93831 :   if (!std::isfinite(msg.orientation.z)) {
+     800           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.z'!!!", node_name.c_str(), var_name.c_str());
+     801           0 :     return false;
+     802             :   }
+     803             : 
+     804       93831 :   if (!std::isfinite(msg.orientation.w)) {
+     805           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.orientation.w'!!!", node_name.c_str(), var_name.c_str());
+     806           0 :     return false;
+     807             :   }
+     808             : 
+     809             :   // check the throttle
+     810             : 
+     811       93831 :   if (!std::isfinite(msg.throttle)) {
+     812           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     813           0 :     return false;
+     814             :   }
+     815             : 
+     816       93831 :   return true;
+     817             : }
+     818             : 
+     819             : //}
+     820             : 
+     821             : /* validateHwApiAttitudeRateCmd() //{ */
+     822             : 
+     823       65590 : bool validateHwApiAttitudeRateCmd(const mrs_msgs::HwApiAttitudeRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     824             : 
+     825             :   // check the body rate
+     826             : 
+     827       65590 :   if (!std::isfinite(msg.body_rate.x)) {
+     828           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.x'!!!", node_name.c_str(), var_name.c_str());
+     829           0 :     return false;
+     830             :   }
+     831             : 
+     832       65590 :   if (!std::isfinite(msg.body_rate.y)) {
+     833           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.y'!!!", node_name.c_str(), var_name.c_str());
+     834           0 :     return false;
+     835             :   }
+     836             : 
+     837       65590 :   if (!std::isfinite(msg.body_rate.z)) {
+     838           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.body_rate.z'!!!", node_name.c_str(), var_name.c_str());
+     839           0 :     return false;
+     840             :   }
+     841             : 
+     842             :   // check the throttle
+     843             : 
+     844       65590 :   if (!std::isfinite(msg.throttle)) {
+     845           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.throttle'!!!", node_name.c_str(), var_name.c_str());
+     846           0 :     return false;
+     847             :   }
+     848             : 
+     849       65590 :   return true;
+     850             : }
+     851             : 
+     852             : //}
+     853             : 
+     854             : /* validateHwApiAccelerationHdgRateCmd() //{ */
+     855             : 
+     856        1074 : bool validateHwApiAccelerationHdgRateCmd(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     857             : 
+     858             :   // | ----------------- check the acceleration ----------------- |
+     859             : 
+     860        1074 :   if (!std::isfinite(msg.acceleration.x)) {
+     861           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     862           0 :     return false;
+     863             :   }
+     864             : 
+     865        1074 :   if (!std::isfinite(msg.acceleration.y)) {
+     866           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     867           0 :     return false;
+     868             :   }
+     869             : 
+     870        1074 :   if (!std::isfinite(msg.acceleration.z)) {
+     871           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     872           0 :     return false;
+     873             :   }
+     874             : 
+     875             :   // check the heading rate
+     876             : 
+     877        1074 :   if (!std::isfinite(msg.heading_rate)) {
+     878           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     879           0 :     return false;
+     880             :   }
+     881             : 
+     882        1074 :   return true;
+     883             : }
+     884             : 
+     885             : //}
+     886             : 
+     887             : /* validateHwApiAccelerationHdgCmd() //{ */
+     888             : 
+     889        1019 : bool validateHwApiAccelerationHdgCmd(const mrs_msgs::HwApiAccelerationHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     890             : 
+     891             :   // | ----------------- check the acceleration ----------------- |
+     892             : 
+     893        1019 :   if (!std::isfinite(msg.acceleration.x)) {
+     894           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.x'!!!", node_name.c_str(), var_name.c_str());
+     895           0 :     return false;
+     896             :   }
+     897             : 
+     898        1019 :   if (!std::isfinite(msg.acceleration.y)) {
+     899           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.y'!!!", node_name.c_str(), var_name.c_str());
+     900           0 :     return false;
+     901             :   }
+     902             : 
+     903        1019 :   if (!std::isfinite(msg.acceleration.z)) {
+     904           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.acceleration.z'!!!", node_name.c_str(), var_name.c_str());
+     905           0 :     return false;
+     906             :   }
+     907             : 
+     908             :   // check the heading
+     909             : 
+     910        1019 :   if (!std::isfinite(msg.heading)) {
+     911           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     912           0 :     return false;
+     913             :   }
+     914             : 
+     915        1019 :   return true;
+     916             : }
+     917             : 
+     918             : //}
+     919             : 
+     920             : /* validateHwApiVelocityHdgRateCmd() //{ */
+     921             : 
+     922        2291 : bool validateHwApiVelocityHdgRateCmd(const mrs_msgs::HwApiVelocityHdgRateCmd& msg, const std::string& node_name, const std::string& var_name) {
+     923             : 
+     924             :   // | ----------------- check the velocity ----------------- |
+     925             : 
+     926        2291 :   if (!std::isfinite(msg.velocity.x)) {
+     927           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     928           0 :     return false;
+     929             :   }
+     930             : 
+     931        2291 :   if (!std::isfinite(msg.velocity.y)) {
+     932           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     933           0 :     return false;
+     934             :   }
+     935             : 
+     936        2291 :   if (!std::isfinite(msg.velocity.z)) {
+     937           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     938           0 :     return false;
+     939             :   }
+     940             : 
+     941             :   // check the heading rate
+     942             : 
+     943        2291 :   if (!std::isfinite(msg.heading_rate)) {
+     944           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading_rate'!!!", node_name.c_str(), var_name.c_str());
+     945           0 :     return false;
+     946             :   }
+     947             : 
+     948        2291 :   return true;
+     949             : }
+     950             : 
+     951             : //}
+     952             : 
+     953             : /* validateHwApiVelocityHdgCmd() //{ */
+     954             : 
+     955        1196 : bool validateHwApiVelocityHdgCmd(const mrs_msgs::HwApiVelocityHdgCmd& msg, const std::string& node_name, const std::string& var_name) {
+     956             : 
+     957             :   // | ----------------- check the velocity ----------------- |
+     958             : 
+     959        1196 :   if (!std::isfinite(msg.velocity.x)) {
+     960           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.x'!!!", node_name.c_str(), var_name.c_str());
+     961           0 :     return false;
+     962             :   }
+     963             : 
+     964        1196 :   if (!std::isfinite(msg.velocity.y)) {
+     965           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.y'!!!", node_name.c_str(), var_name.c_str());
+     966           0 :     return false;
+     967             :   }
+     968             : 
+     969        1196 :   if (!std::isfinite(msg.velocity.z)) {
+     970           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.velocity.z'!!!", node_name.c_str(), var_name.c_str());
+     971           0 :     return false;
+     972             :   }
+     973             : 
+     974             :   // check the heading
+     975             : 
+     976        1196 :   if (!std::isfinite(msg.heading)) {
+     977           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+     978           0 :     return false;
+     979             :   }
+     980             : 
+     981        1196 :   return true;
+     982             : }
+     983             : 
+     984             : //}
+     985             : 
+     986             : /* validateHwApiPositionHdgCmd() //{ */
+     987             : 
+     988         470 : bool validateHwApiPositionCmd(const mrs_msgs::HwApiPositionCmd& msg, const std::string& node_name, const std::string& var_name) {
+     989             : 
+     990             :   // | ----------------- check the position ----------------- |
+     991             : 
+     992         470 :   if (!std::isfinite(msg.position.x)) {
+     993           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.x'!!!", node_name.c_str(), var_name.c_str());
+     994           0 :     return false;
+     995             :   }
+     996             : 
+     997         470 :   if (!std::isfinite(msg.position.y)) {
+     998           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.y'!!!", node_name.c_str(), var_name.c_str());
+     999           0 :     return false;
+    1000             :   }
+    1001             : 
+    1002         470 :   if (!std::isfinite(msg.position.z)) {
+    1003           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.position.z'!!!", node_name.c_str(), var_name.c_str());
+    1004           0 :     return false;
+    1005             :   }
+    1006             : 
+    1007             :   // check the heading
+    1008             : 
+    1009         470 :   if (!std::isfinite(msg.heading)) {
+    1010           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in variable '%s.heading'!!!", node_name.c_str(), var_name.c_str());
+    1011           0 :     return false;
+    1012             :   }
+    1013             : 
+    1014         470 :   return true;
+    1015             : }
+    1016             : 
+    1017             : //}
+    1018             : 
+    1019             : // | ------------ initialization of HW api commands ----------- |
+    1020             : 
+    1021             : /* initializeDefaultOutput() //{ */
+    1022             : 
+    1023       14039 : Controller::HwApiOutputVariant initializeDefaultOutput(const ControlOutputModalities_t& possible_outputs, const mrs_msgs::UavState& uav_state,
+    1024             :                                                        const double& min_throttle, const double& n_motors) {
+    1025             : 
+    1026       14039 :   CONTROL_OUTPUT lowest_output = getLowestOuput(possible_outputs);
+    1027             : 
+    1028       14039 :   Controller::HwApiOutputVariant output;
+    1029             : 
+    1030       14039 :   switch (lowest_output) {
+    1031           0 :     case ACTUATORS_CMD: {
+    1032           0 :       output = mrs_msgs::HwApiActuatorCmd();
+    1033           0 :       break;
+    1034             :     }
+    1035           0 :     case CONTROL_GROUP: {
+    1036           0 :       output = mrs_msgs::HwApiControlGroupCmd();
+    1037           0 :       break;
+    1038             :     }
+    1039       14039 :     case ATTITUDE_RATE: {
+    1040       14039 :       output = mrs_msgs::HwApiAttitudeRateCmd();
+    1041       14039 :       break;
+    1042             :     }
+    1043           0 :     case ATTITUDE: {
+    1044           0 :       output = mrs_msgs::HwApiAttitudeCmd();
+    1045           0 :       break;
+    1046             :     }
+    1047           0 :     case ACCELERATION_HDG_RATE: {
+    1048           0 :       output = mrs_msgs::HwApiAccelerationHdgRateCmd();
+    1049           0 :       break;
+    1050             :     }
+    1051           0 :     case ACCELERATION_HDG: {
+    1052           0 :       output = mrs_msgs::HwApiAccelerationHdgCmd();
+    1053           0 :       break;
+    1054             :     }
+    1055           0 :     case VELOCITY_HDG_RATE: {
+    1056           0 :       output = mrs_msgs::HwApiVelocityHdgRateCmd();
+    1057           0 :       break;
+    1058             :     }
+    1059           0 :     case VELOCITY_HDG: {
+    1060           0 :       output = mrs_msgs::HwApiVelocityHdgCmd();
+    1061           0 :       break;
+    1062             :     }
+    1063           0 :     case POSITION: {
+    1064           0 :       output = mrs_msgs::HwApiPositionCmd();
+    1065           0 :       break;
+    1066             :     }
+    1067             :   }
+    1068             : 
+    1069       28078 :   std::variant<mrs_msgs::UavState> uav_state_var{uav_state};
+    1070       14039 :   std::variant<double>             min_throttle_var{min_throttle};
+    1071       14039 :   std::variant<double>             n_motors_var{n_motors};
+    1072             : 
+    1073       14039 :   std::visit(HwApiInitializeVisitor(), output, uav_state_var, min_throttle_var, n_motors_var);
+    1074             : 
+    1075       28078 :   return output;
+    1076             : }  // namespace mrs_uav_managers
+    1077             : 
+    1078             : //}
+    1079             : 
+    1080             : /* initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg) //{ */
+    1081             : 
+    1082           0 : void initializeHwApiCmd(mrs_msgs::HwApiActuatorCmd& msg, const double& min_throttle, const double& n_motors) {
+    1083             : 
+    1084           0 :   msg.stamp = ros::Time::now();
+    1085             : 
+    1086           0 :   for (int i = 0; i < n_motors; i++) {
+    1087           0 :     msg.motors.push_back(min_throttle);
+    1088             :   }
+    1089           0 : }
+    1090             : 
+    1091             : //}
+    1092             : 
+    1093             : /* initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg) //{ */
+    1094             : 
+    1095           0 : void initializeHwApiCmd(mrs_msgs::HwApiControlGroupCmd& msg, const double& min_throttle) {
+    1096             : 
+    1097           0 :   msg.stamp = ros::Time::now();
+    1098             : 
+    1099           0 :   msg.roll     = 0;
+    1100           0 :   msg.pitch    = 0;
+    1101           0 :   msg.yaw      = 0;
+    1102           0 :   msg.throttle = min_throttle;
+    1103           0 : }
+    1104             : 
+    1105             : //}
+    1106             : 
+    1107             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg) //{ */
+    1108             : 
+    1109       14039 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeRateCmd& msg, const double& min_throttle) {
+    1110             : 
+    1111       14039 :   msg.stamp = ros::Time::now();
+    1112             : 
+    1113       14039 :   msg.body_rate.x = 0;
+    1114       14039 :   msg.body_rate.y = 0;
+    1115       14039 :   msg.body_rate.z = 0;
+    1116       14039 :   msg.throttle    = min_throttle;
+    1117       14039 : }
+    1118             : 
+    1119             : //}
+    1120             : 
+    1121             : /* initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg) //{ */
+    1122             : 
+    1123           0 : void initializeHwApiCmd(mrs_msgs::HwApiAttitudeCmd& msg, const mrs_msgs::UavState& uav_state, const double& min_throttle) {
+    1124             : 
+    1125           0 :   msg.stamp = ros::Time::now();
+    1126             : 
+    1127           0 :   msg.orientation = uav_state.pose.orientation;
+    1128           0 :   msg.throttle    = min_throttle;
+    1129           0 : }
+    1130             : 
+    1131             : //}
+    1132             : 
+    1133             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg) //{ */
+    1134             : 
+    1135           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1136             : 
+    1137           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1138           0 :   msg.header.stamp    = ros::Time::now();
+    1139             : 
+    1140           0 :   msg.acceleration.x = 0;
+    1141           0 :   msg.acceleration.y = 0;
+    1142           0 :   msg.acceleration.z = 0;
+    1143           0 :   msg.heading_rate   = 0;
+    1144           0 : }
+    1145             : 
+    1146             : //}
+    1147             : 
+    1148             : /* initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg) //{ */
+    1149             : 
+    1150           0 : void initializeHwApiCmd(mrs_msgs::HwApiAccelerationHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1151             : 
+    1152           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1153           0 :   msg.header.stamp    = ros::Time::now();
+    1154             : 
+    1155           0 :   msg.acceleration.x = 0;
+    1156           0 :   msg.acceleration.y = 0;
+    1157           0 :   msg.acceleration.z = 0;
+    1158             : 
+    1159             :   try {
+    1160           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1161             :   }
+    1162           0 :   catch (std::runtime_error& exrun) {
+    1163           0 :     msg.heading = 0;
+    1164             :   }
+    1165           0 : }
+    1166             : 
+    1167             : //}
+    1168             : 
+    1169             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg) //{ */
+    1170             : 
+    1171           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgRateCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1172             : 
+    1173           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1174           0 :   msg.header.stamp    = ros::Time::now();
+    1175             : 
+    1176           0 :   msg.velocity.x   = 0;
+    1177           0 :   msg.velocity.y   = 0;
+    1178           0 :   msg.velocity.z   = 0;
+    1179           0 :   msg.heading_rate = 0;
+    1180           0 : }
+    1181             : 
+    1182             : //}
+    1183             : 
+    1184             : /* initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg) //{ */
+    1185             : 
+    1186           0 : void initializeHwApiCmd(mrs_msgs::HwApiVelocityHdgCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1187             : 
+    1188           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1189           0 :   msg.header.stamp    = ros::Time::now();
+    1190             : 
+    1191           0 :   msg.velocity.x = 0;
+    1192           0 :   msg.velocity.y = 0;
+    1193           0 :   msg.velocity.z = 0;
+    1194             : 
+    1195             :   try {
+    1196           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1197             :   }
+    1198           0 :   catch (std::runtime_error& exrun) {
+    1199           0 :     msg.heading = 0;
+    1200             :   }
+    1201           0 : }
+    1202             : 
+    1203             : //}
+    1204             : 
+    1205             : /* initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg) //{ */
+    1206             : 
+    1207           0 : void initializeHwApiCmd(mrs_msgs::HwApiPositionCmd& msg, const mrs_msgs::UavState& uav_state) {
+    1208             : 
+    1209           0 :   msg.header.frame_id = uav_state.header.frame_id;
+    1210           0 :   msg.header.stamp    = ros::Time::now();
+    1211             : 
+    1212           0 :   msg.position.x = uav_state.pose.position.x;
+    1213           0 :   msg.position.y = uav_state.pose.position.y;
+    1214           0 :   msg.position.z = uav_state.pose.position.z;
+    1215             : 
+    1216             :   try {
+    1217           0 :     msg.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1218             :   }
+    1219           0 :   catch (std::runtime_error& exrun) {
+    1220           0 :     msg.heading = 0;
+    1221             :   }
+    1222           0 : }
+    1223             : 
+    1224             : //}
+    1225             : 
+    1226             : }  // namespace control_manager
+    1227             : 
+    1228             : }  // namespace mrs_uav_managers
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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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..96cf02a42b --- /dev/null +++ b/mrs_uav_managers/src/control_manager/common/common.cpp.gcov.overview.html @@ -0,0 +1,327 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/control_manager/common/common.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + + diff --git a/mrs_uav_managers/src/control_manager/control_manager.cpp.func-sort-c.html b/mrs_uav_managers/src/control_manager/control_manager.cpp.func-sort-c.html new file mode 100644 index 0000000000..4fe1e63aaa --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.func-sort-c.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:2319363563.8 %
Date:2024-02-24 08:13:25Functions:7611069.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::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::callbackParachute(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackPirouette(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeading(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackEnableBumper(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformPoseSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackUseSafetyArea(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceTopic(boost::shared_ptr<mrs_msgs::ReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3SrvRequest_<std::allocator<void> >&, mrs_msgs::TransformVector3SrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::resumeTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::hover[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::callbackEland(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::ehover[abi:cxx11]()2
mrs_uav_managers::control_manager::ControlManager::callbackFailsafe(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)4
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::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::eland[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::elandSrv()7
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::changeLandingState(mrs_uav_managers::control_manager::LandingStates_t)10
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)14
mrs_uav_managers::control_manager::ControlManager::isOffboard()16
mrs_uav_managers::control_manager::ControlManager::arming[abi:cxx11](bool)16
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)22
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)24
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> >)46
mrs_uav_managers::control_manager::ControlManager::ungripSrv()76
mrs_uav_managers::control_manager::ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)77
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)78
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)78
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::control_manager::ControlManager::initialize()81
mrs_uav_managers::control_manager::ControlManager::preinitialize()81
mrs_uav_managers::control_manager::ControlManager::setConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)81
mrs_uav_managers::control_manager::ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> >&, mrs_msgs::DynamicsConstraintsSrvResponse_<std::allocator<void> >&)81
mrs_uav_managers::control_manager::ControlManager::onInit()81
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)83
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)101
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)120
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)140
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()147
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)156
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)157
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()170
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)184
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)185
mrs_uav_managers::control_manager::ControlManager::setConstraintsToTrackers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)258
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()299
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)315
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)405
mrs_uav_managers::control_manager::ControlManager::getMass()419
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)424
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)471
mrs_uav_managers::control_manager::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)487
mrs_uav_managers::control_manager::ControlManager::isPathToPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&, mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)517
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1157
mrs_uav_managers::control_manager::ControlManager::timerBumper(ros::TimerEvent const&)2034
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)9549
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea2d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)9694
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9710
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10651
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)14858
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()14940
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()15245
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)19690
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)53644
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)75271
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)83862
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)111610
mrs_uav_managers::control_manager::ControlManager::updateTrackers()112063
mrs_uav_managers::control_manager::ControlManager::asyncControl()121375
mrs_uav_managers::control_manager::ControlManager::updateControllers(mrs_msgs::UavState_<std::allocator<void> > const&)121773
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)121773
mrs_uav_managers::control_manager::ControlManager::publish()121773
mrs_uav_managers::control_manager::ControlManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)142361
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)273784
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)356239
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..e8dc457302 --- /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:2319363563.8 %
Date:2024-02-24 08:13:25Functions:7611069.1 %
Legend: Lines: + hit + not hit +
+
+ +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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)487
mrs_uav_managers::control_manager::ControlManager::callbackRC(boost::shared_ptr<mrs_msgs::HwApiRcChannels_<std::allocator<void> > const>)19690
mrs_uav_managers::control_manager::ControlManager::initialize()81
mrs_uav_managers::control_manager::ControlManager::isOffboard()16
mrs_uav_managers::control_manager::ControlManager::timerEland(ros::TimerEvent const&)424
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&)2034
mrs_uav_managers::control_manager::ControlManager::timerSafety(ros::TimerEvent const&)273784
mrs_uav_managers::control_manager::ControlManager::timerStatus(ros::TimerEvent const&)14858
mrs_uav_managers::control_manager::ControlManager::asyncControl()121375
mrs_uav_managers::control_manager::ControlManager::callbackGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)83862
mrs_uav_managers::control_manager::ControlManager::callbackGoto(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)24
mrs_uav_managers::control_manager::ControlManager::parachuteSrv()0
mrs_uav_managers::control_manager::ControlManager::setCallbacks(bool)78
mrs_uav_managers::control_manager::ControlManager::setReference[abi:cxx11](mrs_msgs::ReferenceStamped_<std::allocator<void> >)46
mrs_uav_managers::control_manager::ControlManager::toggleOutput(bool const&)101
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()81
mrs_uav_managers::control_manager::ControlManager::switchTracker(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)184
mrs_uav_managers::control_manager::ControlManager::timerFailsafe(ros::TimerEvent const&)9710
mrs_uav_managers::control_manager::ControlManager::timerJoystick(ros::TimerEvent const&)53644
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&)81
mrs_uav_managers::control_manager::ControlManager::timerPirouette(ros::TimerEvent const&)0
mrs_uav_managers::control_manager::ControlManager::updateTrackers()112063
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>)142361
mrs_uav_managers::control_manager::ControlManager::isFlyingNormally()15245
mrs_uav_managers::control_manager::ControlManager::switchController(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)185
mrs_uav_managers::control_manager::ControlManager::bumperGetSectorId(double const&, double const&, double const&)120
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&)121773
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)10
mrs_uav_managers::control_manager::ControlManager::escalatingFailsafe[abi:cxx11]()147
mrs_uav_managers::control_manager::ControlManager::publishDiagnostics()14940
mrs_uav_managers::control_manager::ControlManager::callbackHwApiStatus(boost::shared_ptr<mrs_msgs::HwApiStatus_<std::allocator<void> > const>)356239
mrs_uav_managers::control_manager::ControlManager::callbackUseJoystick(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::gotoTrajectoryStart[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackEnableBumper(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoAltitude(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoRelative(mrs_msgs::Vec4Request_<std::allocator<void> >&, mrs_msgs::Vec4Response_<std::allocator<void> >&)22
mrs_uav_managers::control_manager::ControlManager::callbackToggleOutput(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)83
mrs_uav_managers::control_manager::ControlManager::odometryCallbacksSrv(bool)14
mrs_uav_managers::control_manager::ControlManager::setVelocityReference[abi:cxx11](mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::callbackSwitchTracker(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)157
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&)9694
mrs_uav_managers::control_manager::ControlManager::isPointInSafetyArea3d(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)1157
mrs_uav_managers::control_manager::ControlManager::bumperPushFromObstacle()299
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> >&)81
mrs_uav_managers::control_manager::ControlManager::setTrajectoryReference[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)4
mrs_uav_managers::control_manager::ControlManager::stopTrajectoryTracking[abi:cxx11]()0
mrs_uav_managers::control_manager::ControlManager::timerHwApiCapabilities(ros::TimerEvent const&)140
mrs_uav_managers::control_manager::ControlManager::callbackEnableCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)78
mrs_uav_managers::control_manager::ControlManager::getNextEscFailsafeState()8
mrs_uav_managers::control_manager::ControlManager::initializeControlOutput()170
mrs_uav_managers::control_manager::ControlManager::startTrajectoryTracking[abi:cxx11]()1
mrs_uav_managers::control_manager::ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackSwitchController(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)156
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&)258
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> >&)77
mrs_uav_managers::control_manager::ControlManager::callbackFailsafeEscalating(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_managers::control_manager::ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrackerResetStatic(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TransformReferenceSrvResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackGotoTrajectoryStart(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReferenceRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceResponse_<std::allocator<void> >&)9549
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&)517
mrs_uav_managers::control_manager::ControlManager::publishControlReferenceOdom(std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, mrs_uav_managers::Controller::ControlOutput const&)121773
mrs_uav_managers::control_manager::ControlManager::setConstraintsToControllers(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)315
mrs_uav_managers::control_manager::ControlManager::velocityReferenceToReference(mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const&)471
mrs_uav_managers::control_manager::ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceListRequest_<std::allocator<void> >&, mrs_msgs::ValidateReferenceListResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::enforceControllersConstraints(mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const&)111610
mrs_uav_managers::control_manager::ControlManager::callbackStopTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceTopic(boost::shared_ptr<mrs_msgs::VelocityReferenceStamped_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackStartTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)1
mrs_uav_managers::control_manager::ControlManager::callbackResumeTrajectoryTracking(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)0
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceTopic(boost::shared_ptr<mrs_msgs::TrajectoryReference_<std::allocator<void> > const>)0
mrs_uav_managers::control_manager::ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::VelocityReferenceStampedSrvResponse_<std::allocator<void> >&)471
mrs_uav_managers::control_manager::ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> >&, mrs_msgs::TrajectoryReferenceSrvResponse_<std::allocator<void> >&)4
mrs_uav_managers::control_manager::ControlManager::eland[abi:cxx11]()7
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()81
mrs_uav_managers::control_manager::ControlManager::getMass()419
mrs_uav_managers::control_manager::ControlManager::getMaxZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)10651
mrs_uav_managers::control_manager::ControlManager::getMinZ(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)75271
mrs_uav_managers::control_manager::ControlManager::publish()121773
mrs_uav_managers::control_manager::ControlManager::elandSrv()7
mrs_uav_managers::control_manager::ControlManager::failsafe[abi:cxx11]()7
mrs_uav_managers::control_manager::ControlManager::ungripSrv()76
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)405
+
+
+ + + +
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..3c63587ca3 --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.html @@ -0,0 +1,8790 @@ + + + + + + + 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:2319363563.8 %
Date:2024-02-24 08:13:25Functions:7611069.1 %
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/ControlManagerDiagnostics.h>
+      18             : #include <mrs_msgs/DynamicsConstraints.h>
+      19             : #include <mrs_msgs/ControlError.h>
+      20             : #include <mrs_msgs/GetFloat64.h>
+      21             : #include <mrs_msgs/ValidateReference.h>
+      22             : #include <mrs_msgs/ValidateReferenceList.h>
+      23             : #include <mrs_msgs/TrackerCommand.h>
+      24             : #include <mrs_msgs/EstimatorInput.h>
+      25             : 
+      26             : #include <geometry_msgs/Point32.h>
+      27             : #include <geometry_msgs/TwistStamped.h>
+      28             : #include <geometry_msgs/PoseArray.h>
+      29             : #include <geometry_msgs/Vector3Stamped.h>
+      30             : 
+      31             : #include <nav_msgs/Odometry.h>
+      32             : 
+      33             : #include <sensor_msgs/Joy.h>
+      34             : #include <sensor_msgs/NavSatFix.h>
+      35             : 
+      36             : #include <mrs_lib/safety_zone/safety_zone.h>
+      37             : #include <mrs_lib/profiler.h>
+      38             : #include <mrs_lib/param_loader.h>
+      39             : #include <mrs_lib/utils.h>
+      40             : #include <mrs_lib/mutex.h>
+      41             : #include <mrs_lib/transformer.h>
+      42             : #include <mrs_lib/geometry/misc.h>
+      43             : #include <mrs_lib/geometry/cyclic.h>
+      44             : #include <mrs_lib/attitude_converter.h>
+      45             : #include <mrs_lib/subscribe_handler.h>
+      46             : #include <mrs_lib/msg_extractor.h>
+      47             : #include <mrs_lib/quadratic_throttle_model.h>
+      48             : #include <mrs_lib/publisher_handler.h>
+      49             : #include <mrs_lib/service_client_handler.h>
+      50             : 
+      51             : #include <mrs_msgs/HwApiCapabilities.h>
+      52             : #include <mrs_msgs/HwApiStatus.h>
+      53             : #include <mrs_msgs/HwApiRcChannels.h>
+      54             : 
+      55             : #include <mrs_msgs/HwApiActuatorCmd.h>
+      56             : #include <mrs_msgs/HwApiControlGroupCmd.h>
+      57             : #include <mrs_msgs/HwApiAttitudeRateCmd.h>
+      58             : #include <mrs_msgs/HwApiAttitudeCmd.h>
+      59             : #include <mrs_msgs/HwApiAccelerationHdgRateCmd.h>
+      60             : #include <mrs_msgs/HwApiAccelerationHdgCmd.h>
+      61             : #include <mrs_msgs/HwApiVelocityHdgRateCmd.h>
+      62             : #include <mrs_msgs/HwApiVelocityHdgCmd.h>
+      63             : #include <mrs_msgs/HwApiPositionCmd.h>
+      64             : 
+      65             : #include <std_msgs/Float64.h>
+      66             : 
+      67             : #include <future>
+      68             : 
+      69             : #include <pluginlib/class_loader.h>
+      70             : 
+      71             : #include <nodelet/loader.h>
+      72             : 
+      73             : #include <eigen3/Eigen/Eigen>
+      74             : 
+      75             : #include <visualization_msgs/Marker.h>
+      76             : #include <visualization_msgs/MarkerArray.h>
+      77             : 
+      78             : #include <mrs_msgs/Reference.h>
+      79             : #include <mrs_msgs/ReferenceStamped.h>
+      80             : #include <mrs_msgs/ReferenceList.h>
+      81             : #include <mrs_msgs/TrajectoryReference.h>
+      82             : 
+      83             : #include <mrs_msgs/ReferenceStampedSrv.h>
+      84             : #include <mrs_msgs/ReferenceStampedSrvRequest.h>
+      85             : #include <mrs_msgs/ReferenceStampedSrvResponse.h>
+      86             : 
+      87             : #include <mrs_msgs/VelocityReferenceStampedSrv.h>
+      88             : #include <mrs_msgs/VelocityReferenceStampedSrvRequest.h>
+      89             : #include <mrs_msgs/VelocityReferenceStampedSrvResponse.h>
+      90             : 
+      91             : #include <mrs_msgs/TransformReferenceSrv.h>
+      92             : #include <mrs_msgs/TransformReferenceSrvRequest.h>
+      93             : #include <mrs_msgs/TransformReferenceSrvResponse.h>
+      94             : 
+      95             : #include <mrs_msgs/TransformPoseSrv.h>
+      96             : #include <mrs_msgs/TransformPoseSrvRequest.h>
+      97             : #include <mrs_msgs/TransformPoseSrvResponse.h>
+      98             : 
+      99             : #include <mrs_msgs/TransformVector3Srv.h>
+     100             : #include <mrs_msgs/TransformVector3SrvRequest.h>
+     101             : #include <mrs_msgs/TransformVector3SrvResponse.h>
+     102             : 
+     103             : #include <mrs_msgs/Float64StampedSrv.h>
+     104             : #include <mrs_msgs/Float64StampedSrvRequest.h>
+     105             : #include <mrs_msgs/Float64StampedSrvResponse.h>
+     106             : 
+     107             : #include <mrs_msgs/Vec4.h>
+     108             : #include <mrs_msgs/Vec4Request.h>
+     109             : #include <mrs_msgs/Vec4Response.h>
+     110             : 
+     111             : #include <mrs_msgs/Vec1.h>
+     112             : #include <mrs_msgs/Vec1Request.h>
+     113             : #include <mrs_msgs/Vec1Response.h>
+     114             : 
+     115             : //}
+     116             : 
+     117             : /* defines //{ */
+     118             : 
+     119             : #define TAU 2 * M_PI
+     120             : #define REF_X 0
+     121             : #define REF_Y 1
+     122             : #define REF_Z 2
+     123             : #define REF_HEADING 3
+     124             : #define ELAND_STR "eland"
+     125             : #define EHOVER_STR "ehover"
+     126             : #define ESCALATING_FAILSAFE_STR "escalating_failsafe"
+     127             : #define FAILSAFE_STR "failsafe"
+     128             : #define INPUT_UAV_STATE 0
+     129             : #define INPUT_ODOMETRY 1
+     130             : #define RC_DEADBAND 0.2
+     131             : 
+     132             : //}
+     133             : 
+     134             : /* using //{ */
+     135             : 
+     136             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+     137             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+     138             : 
+     139             : using radians  = mrs_lib::geometry::radians;
+     140             : using sradians = mrs_lib::geometry::sradians;
+     141             : 
+     142             : //}
+     143             : 
+     144             : namespace mrs_uav_managers
+     145             : {
+     146             : 
+     147             : namespace control_manager
+     148             : {
+     149             : 
+     150             : /* //{ class ControlManager */
+     151             : 
+     152             : // state machine
+     153             : typedef enum
+     154             : {
+     155             : 
+     156             :   IDLE_STATE,
+     157             :   LANDING_STATE,
+     158             : 
+     159             : } LandingStates_t;
+     160             : 
+     161             : const char* state_names[2] = {
+     162             : 
+     163             :     "IDLING", "LANDING"};
+     164             : 
+     165             : // state machine
+     166             : typedef enum
+     167             : {
+     168             : 
+     169             :   FCU_FRAME,
+     170             :   RELATIVE_FRAME,
+     171             :   ABSOLUTE_FRAME
+     172             : 
+     173             : } ReferenceFrameType_t;
+     174             : 
+     175             : // state machine
+     176             : typedef enum
+     177             : {
+     178             : 
+     179             :   ESC_NONE_STATE     = 0,
+     180             :   ESC_EHOVER_STATE   = 1,
+     181             :   ESC_ELAND_STATE    = 2,
+     182             :   ESC_FAILSAFE_STATE = 3,
+     183             :   ESC_FINISHED_STATE = 4,
+     184             : 
+     185             : } EscalatingFailsafeStates_t;
+     186             : 
+     187             : /* class ControllerParams() //{ */
+     188             : 
+     189             : class ControllerParams {
+     190             : 
+     191             : public:
+     192             :   ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold, double odometry_innovation_threshold,
+     193             :                    bool human_switchable);
+     194             : 
+     195             : public:
+     196             :   double      failsafe_threshold;
+     197             :   double      eland_threshold;
+     198             :   double      odometry_innovation_threshold;
+     199             :   std::string address;
+     200             :   std::string name_space;
+     201             :   bool        human_switchable;
+     202             : };
+     203             : 
+     204         405 : ControllerParams::ControllerParams(std::string address, std::string name_space, double eland_threshold, double failsafe_threshold,
+     205         405 :                                    double odometry_innovation_threshold, bool human_switchable) {
+     206             : 
+     207         405 :   this->eland_threshold               = eland_threshold;
+     208         405 :   this->odometry_innovation_threshold = odometry_innovation_threshold;
+     209         405 :   this->failsafe_threshold            = failsafe_threshold;
+     210         405 :   this->address                       = address;
+     211         405 :   this->name_space                    = name_space;
+     212         405 :   this->human_switchable              = human_switchable;
+     213         405 : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* class TrackerParams() //{ */
+     218             : 
+     219             : class TrackerParams {
+     220             : 
+     221             : public:
+     222             :   TrackerParams(std::string address, std::string name_space, bool human_switchable);
+     223             : 
+     224             : public:
+     225             :   std::string address;
+     226             :   std::string name_space;
+     227             :   bool        human_switchable;
+     228             : };
+     229             : 
+     230         487 : TrackerParams::TrackerParams(std::string address, std::string name_space, bool human_switchable) {
+     231             : 
+     232         487 :   this->address          = address;
+     233         487 :   this->name_space       = name_space;
+     234         487 :   this->human_switchable = human_switchable;
+     235         487 : }
+     236             : 
+     237             : //}
+     238             : 
+     239             : class ControlManager : public nodelet::Nodelet {
+     240             : 
+     241             : public:
+     242             :   virtual void onInit();
+     243             : 
+     244             : private:
+     245             :   ros::NodeHandle   nh_;
+     246             :   std::atomic<bool> is_initialized_ = false;
+     247             :   std::string       _uav_name_;
+     248             :   std::string       _body_frame_;
+     249             : 
+     250             :   std::string _custom_config_;
+     251             :   std::string _platform_config_;
+     252             :   std::string _world_config_;
+     253             :   std::string _network_config_;
+     254             : 
+     255             :   // | --------------- dynamic loading of trackers -------------- |
+     256             : 
+     257             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Tracker>> tracker_loader_;  // pluginlib loader of dynamically loaded trackers
+     258             :   std::vector<std::string>                                           _tracker_names_;  // list of tracker names
+     259             :   std::map<std::string, TrackerParams>                               trackers_;        // map between tracker names and tracker param
+     260             :   std::vector<boost::shared_ptr<mrs_uav_managers::Tracker>>          tracker_list_;    // list of trackers, routines are callable from this
+     261             :   std::mutex                                                         mutex_tracker_list_;
+     262             : 
+     263             :   // | ------------- dynamic loading of controllers ------------- |
+     264             : 
+     265             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::Controller>> controller_loader_;  // pluginlib loader of dynamically loaded controllers
+     266             :   std::vector<std::string>                                              _controller_names_;  // list of controller names
+     267             :   std::map<std::string, ControllerParams>                               controllers_;        // map between controller names and controller params
+     268             :   std::vector<boost::shared_ptr<mrs_uav_managers::Controller>>          controller_list_;    // list of controllers, routines are callable from this
+     269             :   std::mutex                                                            mutex_controller_list_;
+     270             : 
+     271             :   // | ------------------------- HW API ------------------------- |
+     272             : 
+     273             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_;
+     274             : 
+     275             :   OutputPublisher control_output_publisher_;
+     276             : 
+     277             :   ControlOutputModalities_t _hw_api_inputs_;
+     278             : 
+     279             :   double desired_uav_state_rate_ = 100.0;
+     280             : 
+     281             :   // this timer will check till we already got the hardware api diagnostics
+     282             :   // then it will trigger the initialization of the controllers and finish
+     283             :   // the initialization of the ControlManager
+     284             :   ros::Timer timer_hw_api_capabilities_;
+     285             :   void       timerHwApiCapabilities(const ros::TimerEvent& event);
+     286             : 
+     287             :   void preinitialize(void);
+     288             :   void initialize(void);
+     289             : 
+     290             :   // | ------------ tracker and controller switching ------------ |
+     291             : 
+     292             :   std::tuple<bool, std::string> switchController(const std::string& controller_name);
+     293             :   std::tuple<bool, std::string> switchTracker(const std::string& tracker_name);
+     294             : 
+     295             :   // the time of last switching of a tracker or a controller
+     296             :   ros::Time  controller_tracker_switch_time_;
+     297             :   std::mutex mutex_controller_tracker_switch_time_;
+     298             : 
+     299             :   // | -------------------- the transformer  -------------------- |
+     300             : 
+     301             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     302             : 
+     303             :   // | ------------------- scope timer logger ------------------- |
+     304             : 
+     305             :   bool                                       scope_timer_enabled_ = false;
+     306             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     307             : 
+     308             :   // | --------------------- general params --------------------- |
+     309             : 
+     310             :   // defines the type of state input: odometry or uav_state mesasge types
+     311             :   int _state_input_;
+     312             : 
+     313             :   // names of important trackers
+     314             :   std::string _null_tracker_name_;     // null tracker is active when UAV is not in the air
+     315             :   std::string _ehover_tracker_name_;   // ehover tracker is used for emergency hovering
+     316             :   std::string _landoff_tracker_name_;  // landoff is used for landing and takeoff
+     317             : 
+     318             :   // names of important controllers
+     319             :   std::string _failsafe_controller_name_;  // controller used for feed-forward failsafe
+     320             :   std::string _eland_controller_name_;     // controller used for emergancy landing
+     321             : 
+     322             :   // joystick control
+     323             :   bool        _joystick_enabled_ = false;
+     324             :   int         _joystick_mode_;
+     325             :   std::string _joystick_tracker_name_;
+     326             :   std::string _joystick_controller_name_;
+     327             :   std::string _joystick_fallback_tracker_name_;
+     328             :   std::string _joystick_fallback_controller_name_;
+     329             : 
+     330             :   // should disarm after emergancy landing?
+     331             :   bool _eland_disarm_enabled_ = false;
+     332             : 
+     333             :   // enabling the emergency handoff -> will disable eland and failsafe
+     334             :   bool _rc_emergency_handoff_ = false;
+     335             : 
+     336             :   // what throttle should be output when null tracker is active?
+     337             :   double _min_throttle_null_tracker_ = 0.0;
+     338             : 
+     339             :   // rates of all the timers
+     340             :   double _status_timer_rate_   = 0;
+     341             :   double _safety_timer_rate_   = 0;
+     342             :   double _elanding_timer_rate_ = 0;
+     343             :   double _failsafe_timer_rate_ = 0;
+     344             :   double _bumper_timer_rate_   = 0;
+     345             : 
+     346             :   bool _snap_trajectory_to_safety_area_ = false;
+     347             : 
+     348             :   // | -------------- uav_state/odometry subscriber ------------- |
+     349             : 
+     350             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_;
+     351             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     352             : 
+     353             :   mrs_msgs::UavState uav_state_;
+     354             :   mrs_msgs::UavState previous_uav_state_;
+     355             :   bool               got_uav_state_               = false;
+     356             :   double             _uav_state_max_missing_time_ = 0;  // how long should we tolerate missing state estimate?
+     357             :   double             uav_roll_                    = 0;
+     358             :   double             uav_pitch_                   = 0;
+     359             :   double             uav_yaw_                     = 0;
+     360             :   double             uav_heading_                 = 0;
+     361             :   std::mutex         mutex_uav_state_;
+     362             : 
+     363             :   // odometry hiccup detection
+     364             :   double uav_state_avg_dt_        = 1;
+     365             :   double uav_state_hiccup_factor_ = 1;
+     366             :   int    uav_state_count_         = 0;
+     367             : 
+     368             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     369             : 
+     370             :   // | -------------- safety area max z subscriber -------------- |
+     371             : 
+     372             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_max_z_;
+     373             : 
+     374             :   // | ------------- odometry innovation subscriber ------------- |
+     375             : 
+     376             :   // odometry innovation is published by the odometry node
+     377             :   // it is used to issue eland if the estimator's input is too wonky
+     378             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_odometry_innovation_;
+     379             : 
+     380             :   // | --------------------- common handlers -------------------- |
+     381             : 
+     382             :   // contains handlers that are shared with trackers and controllers
+     383             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers_;
+     384             : 
+     385             :   // | --------------- tracker and controller IDs --------------- |
+     386             : 
+     387             :   // keeping track of currently active controllers and trackers
+     388             :   unsigned int active_tracker_idx_    = 0;
+     389             :   unsigned int active_controller_idx_ = 0;
+     390             : 
+     391             :   // indeces of some notable trackers
+     392             :   unsigned int _ehover_tracker_idx_               = 0;
+     393             :   unsigned int _landoff_tracker_idx_              = 0;
+     394             :   unsigned int _joystick_tracker_idx_             = 0;
+     395             :   unsigned int _joystick_controller_idx_          = 0;
+     396             :   unsigned int _failsafe_controller_idx_          = 0;
+     397             :   unsigned int _joystick_fallback_controller_idx_ = 0;
+     398             :   unsigned int _joystick_fallback_tracker_idx_    = 0;
+     399             :   unsigned int _null_tracker_idx_                 = 0;
+     400             :   unsigned int _eland_controller_idx_             = 0;
+     401             : 
+     402             :   // | -------------- enabling the output publisher ------------- |
+     403             : 
+     404             :   void              toggleOutput(const bool& input);
+     405             :   std::atomic<bool> output_enabled_ = false;
+     406             : 
+     407             :   // | ----------------------- publishers ----------------------- |
+     408             : 
+     409             :   mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>     ph_controller_diagnostics_;
+     410             :   mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>            ph_tracker_cmd_;
+     411             :   mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>            ph_mrs_odom_input_;
+     412             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>                  ph_control_reference_odom_;
+     413             :   mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics> ph_diagnostics_;
+     414             :   mrs_lib::PublisherHandler<std_msgs::Empty>                     ph_offboard_on_;
+     415             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_tilt_error_;
+     416             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_mass_estimate_;
+     417             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_throttle_;
+     418             :   mrs_lib::PublisherHandler<std_msgs::Float64>                   ph_thrust_;
+     419             :   mrs_lib::PublisherHandler<mrs_msgs::ControlError>              ph_control_error_;
+     420             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_markers_;
+     421             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_safety_area_coordinates_markers_;
+     422             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>     ph_disturbances_markers_;
+     423             :   mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>       ph_current_constraints_;
+     424             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_heading_;
+     425             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>            ph_speed_;
+     426             : 
+     427             :   // | --------------------- service servers -------------------- |
+     428             : 
+     429             :   ros::ServiceServer service_server_switch_tracker_;
+     430             :   ros::ServiceServer service_server_switch_controller_;
+     431             :   ros::ServiceServer service_server_reset_tracker_;
+     432             :   ros::ServiceServer service_server_hover_;
+     433             :   ros::ServiceServer service_server_ehover_;
+     434             :   ros::ServiceServer service_server_failsafe_;
+     435             :   ros::ServiceServer service_server_failsafe_escalating_;
+     436             :   ros::ServiceServer service_server_toggle_output_;
+     437             :   ros::ServiceServer service_server_arm_;
+     438             :   ros::ServiceServer service_server_enable_callbacks_;
+     439             :   ros::ServiceServer service_server_set_constraints_;
+     440             :   ros::ServiceServer service_server_use_joystick_;
+     441             :   ros::ServiceServer service_server_use_safety_area_;
+     442             :   ros::ServiceServer service_server_emergency_reference_;
+     443             :   ros::ServiceServer service_server_pirouette_;
+     444             :   ros::ServiceServer service_server_eland_;
+     445             :   ros::ServiceServer service_server_parachute_;
+     446             : 
+     447             :   // human callbable services for references
+     448             :   ros::ServiceServer service_server_goto_;
+     449             :   ros::ServiceServer service_server_goto_fcu_;
+     450             :   ros::ServiceServer service_server_goto_relative_;
+     451             :   ros::ServiceServer service_server_goto_altitude_;
+     452             :   ros::ServiceServer service_server_set_heading_;
+     453             :   ros::ServiceServer service_server_set_heading_relative_;
+     454             : 
+     455             :   // the reference service and subscriber
+     456             :   ros::ServiceServer                                    service_server_reference_;
+     457             :   mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped> sh_reference_;
+     458             : 
+     459             :   // the velocity reference service and subscriber
+     460             :   ros::ServiceServer                                            service_server_velocity_reference_;
+     461             :   mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped> sh_velocity_reference_;
+     462             : 
+     463             :   // trajectory tracking
+     464             :   ros::ServiceServer                                       service_server_trajectory_reference_;
+     465             :   mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference> sh_trajectory_reference_;
+     466             :   ros::ServiceServer                                       service_server_start_trajectory_tracking_;
+     467             :   ros::ServiceServer                                       service_server_stop_trajectory_tracking_;
+     468             :   ros::ServiceServer                                       service_server_resume_trajectory_tracking_;
+     469             :   ros::ServiceServer                                       service_server_goto_trajectory_start_;
+     470             : 
+     471             :   // transform service servers
+     472             :   ros::ServiceServer service_server_transform_reference_;
+     473             :   ros::ServiceServer service_server_transform_pose_;
+     474             :   ros::ServiceServer service_server_transform_vector3_;
+     475             : 
+     476             :   // safety area services
+     477             :   ros::ServiceServer service_server_validate_reference_;
+     478             :   ros::ServiceServer service_server_validate_reference_2d_;
+     479             :   ros::ServiceServer service_server_validate_reference_list_;
+     480             : 
+     481             :   // bumper service servers
+     482             :   ros::ServiceServer service_server_bumper_enabler_;
+     483             :   ros::ServiceServer service_server_bumper_repulsion_enabler_;
+     484             : 
+     485             :   // service clients
+     486             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_arming_;
+     487             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_eland_;
+     488             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_shutdown_;
+     489             :   mrs_lib::ServiceClientHandler<std_srvs::SetBool> sch_set_odometry_callbacks_;
+     490             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_parachute_;
+     491             : 
+     492             :   // safety area min z servers
+     493             :   ros::ServiceServer service_server_set_min_z_;
+     494             :   ros::ServiceServer service_server_get_min_z_;
+     495             : 
+     496             :   // | --------- trackers' and controllers' last results -------- |
+     497             : 
+     498             :   // the last result of an active tracker
+     499             :   std::optional<mrs_msgs::TrackerCommand> last_tracker_cmd_;
+     500             :   std::mutex                              mutex_last_tracker_cmd_;
+     501             : 
+     502             :   // the last result of an active controller
+     503             :   Controller::ControlOutput last_control_output_;
+     504             :   std::mutex                mutex_last_control_output_;
+     505             : 
+     506             :   // | -------------- HW API diagnostics subscriber ------------- |
+     507             : 
+     508             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus> sh_hw_api_status_;
+     509             : 
+     510             :   bool offboard_mode_          = false;
+     511             :   bool offboard_mode_was_true_ = false;  // if it was ever true
+     512             :   bool armed_                  = false;
+     513             : 
+     514             :   // | -------------------- throttle and mass ------------------- |
+     515             : 
+     516             :   // throttle mass estimation during eland
+     517             :   double    throttle_mass_estimate_   = 0;
+     518             :   bool      throttle_under_threshold_ = false;
+     519             :   ros::Time throttle_mass_estimate_first_time_;
+     520             : 
+     521             :   // | ---------------------- safety params --------------------- |
+     522             : 
+     523             :   // failsafe when tilt error is too large
+     524             :   bool   _tilt_error_disarm_enabled_;
+     525             :   double _tilt_error_disarm_timeout_;
+     526             :   double _tilt_error_disarm_threshold_;
+     527             : 
+     528             :   ros::Time tilt_error_disarm_time_;
+     529             :   bool      tilt_error_disarm_over_thr_ = false;
+     530             : 
+     531             :   // elanding when tilt error is too large
+     532             :   bool   _tilt_limit_eland_enabled_;
+     533             :   double _tilt_limit_eland_ = 0;  // [rad]
+     534             : 
+     535             :   // disarming when tilt error is too large
+     536             :   bool   _tilt_limit_disarm_enabled_;
+     537             :   double _tilt_limit_disarm_ = 0;  // [rad]
+     538             : 
+     539             :   // elanding when yaw error is too large
+     540             :   bool   _yaw_error_eland_enabled_;
+     541             :   double _yaw_error_eland_ = 0;  // [rad]
+     542             : 
+     543             :   // keeping track of control errors
+     544             :   std::optional<double> tilt_error_ = 0;
+     545             :   std::optional<double> yaw_error_  = 0;
+     546             :   std::mutex            mutex_attitude_error_;
+     547             : 
+     548             :   std::optional<Eigen::Vector3d> position_error_;
+     549             :   std::mutex                     mutex_position_error_;
+     550             : 
+     551             :   // control error for triggering failsafe, eland, etc.
+     552             :   // this filled with the current controllers failsafe threshold
+     553             :   double _failsafe_threshold_                = 0;  // control error for triggering failsafe
+     554             :   double _eland_threshold_                   = 0;  // control error for triggering eland
+     555             :   bool   _odometry_innovation_check_enabled_ = false;
+     556             :   double _odometry_innovation_threshold_     = 0;  // innovation size for triggering eland
+     557             : 
+     558             :   bool callbacks_enabled_ = true;
+     559             : 
+     560             :   // | ------------------------ parachute ----------------------- |
+     561             : 
+     562             :   bool _parachute_enabled_ = false;
+     563             : 
+     564             :   std::tuple<bool, std::string> deployParachute(void);
+     565             :   bool                          parachuteSrv(void);
+     566             : 
+     567             :   // | ----------------------- safety area ---------------------- |
+     568             : 
+     569             :   // safety area
+     570             :   std::unique_ptr<mrs_lib::SafetyZone> safety_zone_;
+     571             : 
+     572             :   std::atomic<bool> use_safety_area_ = false;
+     573             : 
+     574             :   std::string _safety_area_horizontal_frame_;
+     575             :   std::string _safety_area_vertical_frame_;
+     576             : 
+     577             :   double _safety_area_min_z_ = 0;
+     578             :   double _safety_area_max_z_ = 0;
+     579             : 
+     580             :   // safety area routines
+     581             :   // those are passed to trackers using the common_handlers object
+     582             :   bool   isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point);
+     583             :   bool   isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point);
+     584             :   bool   isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     585             :   bool   isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& from, const mrs_msgs::ReferenceStamped& to);
+     586             :   double getMinZ(const std::string& frame_id);
+     587             :   double getMaxZ(const std::string& frame_id);
+     588             : 
+     589             :   // | ------------------------ callbacks ----------------------- |
+     590             : 
+     591             :   // topic callbacks
+     592             :   void callbackOdometry(const nav_msgs::Odometry::ConstPtr msg);
+     593             :   void callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     594             :   void callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg);
+     595             :   void callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg);
+     596             :   void callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg);
+     597             : 
+     598             :   // topic timeouts
+     599             :   void timeoutUavState(const double& missing_for);
+     600             : 
+     601             :   // switching controller and tracker services
+     602             :   bool callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     603             :   bool callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     604             :   bool callbackTrackerResetStatic(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     605             : 
+     606             :   // reference callbacks
+     607             :   void callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg);
+     608             :   void callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg);
+     609             :   void callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg);
+     610             :   bool callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     611             :   bool callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     612             :   bool callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res);
+     613             :   bool callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     614             :   bool callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     615             :   bool callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res);
+     616             :   bool callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     617             :   bool callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request& req, mrs_msgs::VelocityReferenceStampedSrv::Response& res);
+     618             :   bool callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res);
+     619             :   bool callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res);
+     620             : 
+     621             :   // safety callbacks
+     622             :   bool callbackHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     623             :   bool callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     624             :   bool callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     625             :   bool callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     626             :   bool callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     627             :   bool callbackEHover(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     628             :   bool callbackFailsafe(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     629             :   bool callbackFailsafeEscalating(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     630             :   bool callbackEland(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     631             :   bool callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     632             :   bool callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     633             :   bool callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     634             :   bool callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     635             :   bool callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     636             :   bool callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     637             : 
+     638             :   bool callbackGetMinZ(mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res);
+     639             : 
+     640             :   bool callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     641             :   bool callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res);
+     642             :   bool callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res);
+     643             : 
+     644             :   // transformation callbacks
+     645             :   bool callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res);
+     646             :   bool callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res);
+     647             :   bool callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res);
+     648             : 
+     649             :   // | ----------------------- constraints ---------------------- |
+     650             : 
+     651             :   // sets constraints to all trackers
+     652             :   bool callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res);
+     653             : 
+     654             :   // constraints management
+     655             :   bool              got_constraints_ = false;
+     656             :   std::mutex        mutex_constraints_;
+     657             :   void              setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     658             :   void              setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     659             :   void              setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     660             :   std::atomic<bool> constraints_being_enforced_ = false;
+     661             : 
+     662             :   std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> enforceControllersConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints);
+     663             : 
+     664             :   mrs_msgs::DynamicsConstraintsSrvRequest current_constraints_;
+     665             :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints_;
+     666             : 
+     667             :   // | ------------------ emergency triggered? ------------------ |
+     668             : 
+     669             :   std::atomic<bool> failsafe_triggered_ = false;
+     670             :   std::atomic<bool> eland_triggered_    = false;
+     671             : 
+     672             :   // | ------------------------- timers ------------------------- |
+     673             : 
+     674             :   // timer for regular status publishing
+     675             :   ros::Timer timer_status_;
+     676             :   void       timerStatus(const ros::TimerEvent& event);
+     677             : 
+     678             :   // timer for issuing the failsafe landing
+     679             :   ros::Timer timer_failsafe_;
+     680             :   void       timerFailsafe(const ros::TimerEvent& event);
+     681             : 
+     682             :   // oneshot timer for running controllers and trackers
+     683             :   void              asyncControl(void);
+     684             :   std::atomic<bool> running_async_control_ = false;
+     685             :   std::future<void> async_control_result_;
+     686             : 
+     687             :   // timer for issuing emergancy landing
+     688             :   ros::Timer timer_eland_;
+     689             :   void       timerEland(const ros::TimerEvent& event);
+     690             : 
+     691             :   // timer for regular checking of controller errors
+     692             :   ros::Timer        timer_safety_;
+     693             :   void              timerSafety(const ros::TimerEvent& event);
+     694             :   std::atomic<bool> running_safety_timer_        = false;
+     695             :   std::atomic<bool> odometry_switch_in_progress_ = false;
+     696             : 
+     697             :   // timer for issuing the pirouette
+     698             :   ros::Timer timer_pirouette_;
+     699             :   void       timerPirouette(const ros::TimerEvent& event);
+     700             : 
+     701             :   // | --------------------- obstacle bumper -------------------- |
+     702             : 
+     703             :   // bumper timer
+     704             :   ros::Timer timer_bumper_;
+     705             :   void       timerBumper(const ros::TimerEvent& event);
+     706             : 
+     707             :   // bumper subscriber
+     708             :   mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors> sh_bumper_;
+     709             : 
+     710             :   bool        _bumper_switch_tracker_    = false;
+     711             :   bool        _bumper_switch_controller_ = false;
+     712             :   std::string _bumper_tracker_name_;
+     713             :   std::string _bumper_controller_name_;
+     714             :   std::string bumper_previous_tracker_;
+     715             :   std::string bumper_previous_controller_;
+     716             : 
+     717             :   std::atomic<bool> bumper_enabled_   = false;
+     718             :   std::atomic<bool> bumper_repulsing_ = false;
+     719             : 
+     720             :   bool _bumper_horizontal_derive_from_dynamics_;
+     721             :   bool _bumper_vertical_derive_from_dynamics_;
+     722             : 
+     723             :   double _bumper_horizontal_distance_ = 0;
+     724             :   double _bumper_vertical_distance_   = 0;
+     725             : 
+     726             :   double _bumper_horizontal_overshoot_ = 0;
+     727             :   double _bumper_vertical_overshoot_   = 0;
+     728             : 
+     729             :   int  bumperGetSectorId(const double& x, const double& y, const double& z);
+     730             :   void bumperPushFromObstacle(void);
+     731             : 
+     732             :   // | --------------- safety checks and failsafes -------------- |
+     733             : 
+     734             :   // escalating failsafe (eland -> failsafe -> disarm)
+     735             :   bool                       _service_escalating_failsafe_enabled_ = false;
+     736             :   bool                       _rc_escalating_failsafe_enabled_      = false;
+     737             :   double                     _escalating_failsafe_timeout_         = 0;
+     738             :   ros::Time                  escalating_failsafe_time_;
+     739             :   bool                       _escalating_failsafe_ehover_   = false;
+     740             :   bool                       _escalating_failsafe_eland_    = false;
+     741             :   bool                       _escalating_failsafe_failsafe_ = false;
+     742             :   double                     _rc_escalating_failsafe_threshold_;
+     743             :   int                        _rc_escalating_failsafe_channel_  = 0;
+     744             :   bool                       rc_escalating_failsafe_triggered_ = false;
+     745             :   EscalatingFailsafeStates_t state_escalating_failsafe_        = ESC_NONE_STATE;
+     746             : 
+     747             :   std::string _tracker_error_action_;
+     748             : 
+     749             :   // emergancy landing state machine
+     750             :   LandingStates_t current_state_landing_  = IDLE_STATE;
+     751             :   LandingStates_t previous_state_landing_ = IDLE_STATE;
+     752             :   std::mutex      mutex_landing_state_machine_;
+     753             :   void            changeLandingState(LandingStates_t new_state);
+     754             :   double          _uav_mass_ = 0;
+     755             :   double          _elanding_cutoff_mass_factor_;
+     756             :   double          _elanding_cutoff_timeout_;
+     757             :   double          landing_uav_mass_ = 0;
+     758             : 
+     759             :   // initial body disturbance loaded from params
+     760             :   double _initial_body_disturbance_x_ = 0;
+     761             :   double _initial_body_disturbance_y_ = 0;
+     762             : 
+     763             :   // profiling
+     764             :   mrs_lib::Profiler profiler_;
+     765             :   bool              _profiler_enabled_ = false;
+     766             : 
+     767             :   // diagnostics publishing
+     768             :   void       publishDiagnostics(void);
+     769             :   std::mutex mutex_diagnostics_;
+     770             : 
+     771             :   void                                             ungripSrv(void);
+     772             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> sch_ungrip_;
+     773             : 
+     774             :   bool isFlyingNormally(void);
+     775             : 
+     776             :   // | ------------------------ pirouette ----------------------- |
+     777             : 
+     778             :   bool       _pirouette_enabled_ = false;
+     779             :   double     _pirouette_speed_;
+     780             :   double     _pirouette_timer_rate_;
+     781             :   std::mutex mutex_pirouette_;
+     782             :   double     pirouette_initial_heading_;
+     783             :   double     pirouette_iterator_;
+     784             :   bool       callbackPirouette(std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     785             : 
+     786             :   // | -------------------- joystick control -------------------- |
+     787             : 
+     788             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     789             : 
+     790             :   void callbackJoystick(const sensor_msgs::Joy::ConstPtr msg);
+     791             :   bool callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res);
+     792             : 
+     793             :   // joystick buttons mappings
+     794             :   int _channel_A_, _channel_B_, _channel_X_, _channel_Y_, _channel_start_, _channel_back_, _channel_LT_, _channel_RT_, _channel_L_joy_, _channel_R_joy_;
+     795             : 
+     796             :   // channel numbers and channel multipliers
+     797             :   int    _channel_pitch_, _channel_roll_, _channel_heading_, _channel_throttle_;
+     798             :   double _channel_mult_pitch_, _channel_mult_roll_, _channel_mult_heading_, _channel_mult_throttle_;
+     799             : 
+     800             :   ros::Timer timer_joystick_;
+     801             :   void       timerJoystick(const ros::TimerEvent& event);
+     802             :   double     _joystick_timer_rate_ = 0;
+     803             : 
+     804             :   double _joystick_carrot_distance_ = 0;
+     805             : 
+     806             :   ros::Time joystick_start_press_time_;
+     807             :   bool      joystick_start_pressed_ = false;
+     808             : 
+     809             :   ros::Time joystick_back_press_time_;
+     810             :   bool      joystick_back_pressed_ = false;
+     811             :   bool      joystick_goto_enabled_ = false;
+     812             : 
+     813             :   bool      joystick_failsafe_pressed_ = false;
+     814             :   ros::Time joystick_failsafe_press_time_;
+     815             : 
+     816             :   bool      joystick_eland_pressed_ = false;
+     817             :   ros::Time joystick_eland_press_time_;
+     818             : 
+     819             :   // | ------------------- RC joystick control ------------------ |
+     820             : 
+     821             :   // listening to the RC channels as told by pixhawk
+     822             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels> sh_hw_api_rc_;
+     823             : 
+     824             :   // the RC channel mapping of the main 4 control signals
+     825             :   double _rc_channel_pitch_, _rc_channel_roll_, _rc_channel_heading_, _rc_channel_throttle_;
+     826             : 
+     827             :   bool              _rc_goto_enabled_               = false;
+     828             :   std::atomic<bool> rc_goto_active_                 = false;
+     829             :   double            rc_joystick_channel_last_value_ = 0.5;
+     830             :   bool              rc_joystick_channel_was_low_    = false;
+     831             :   int               _rc_joystick_channel_           = 0;
+     832             : 
+     833             :   double _rc_horizontal_speed_ = 0;
+     834             :   double _rc_vertical_speed_   = 0;
+     835             :   double _rc_heading_rate_     = 0;
+     836             : 
+     837             :   // | ------------------- trajectory loading ------------------- |
+     838             : 
+     839             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_original_trajectory_poses_;
+     840             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_original_trajectory_markers_;
+     841             : 
+     842             :   // | --------------------- other routines --------------------- |
+     843             : 
+     844             :   // this is called to update the trackers and to receive position control command from the active one
+     845             :   void updateTrackers(void);
+     846             : 
+     847             :   // this is called to update the controllers and to receive attitude control command from the active one
+     848             :   void updateControllers(const mrs_msgs::UavState& uav_state);
+     849             : 
+     850             :   // sets the reference to the active tracker
+     851             :   std::tuple<bool, std::string> setReference(const mrs_msgs::ReferenceStamped reference_in);
+     852             : 
+     853             :   // sets the velocity reference to the active tracker
+     854             :   std::tuple<bool, std::string> setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in);
+     855             : 
+     856             :   // sets the reference trajectory to the active tracker
+     857             :   std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> setTrajectoryReference(
+     858             :       const mrs_msgs::TrajectoryReference trajectory_in);
+     859             : 
+     860             :   // publishes
+     861             :   void publish(void);
+     862             : 
+     863             :   bool loadConfigFile(const std::string& file_path, const std::string ns);
+     864             : 
+     865             :   double getMass(void);
+     866             : 
+     867             :   // publishes rviz-visualizable control reference
+     868             :   void publishControlReferenceOdom(const std::optional<mrs_msgs::TrackerCommand>& tracker_command, const Controller::ControlOutput& control_output);
+     869             : 
+     870             :   void initializeControlOutput(void);
+     871             : 
+     872             :   // tell the mrs_odometry to disable its callbacks
+     873             :   void odometryCallbacksSrv(const bool input);
+     874             : 
+     875             :   mrs_msgs::ReferenceStamped velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference);
+     876             : 
+     877             :   void                          setCallbacks(bool in);
+     878             :   bool                          isOffboard(void);
+     879             :   bool                          elandSrv(void);
+     880             :   std::tuple<bool, std::string> arming(const bool input);
+     881             : 
+     882             :   // safety functions impl
+     883             :   std::tuple<bool, std::string> ehover(void);
+     884             :   std::tuple<bool, std::string> hover(void);
+     885             :   std::tuple<bool, std::string> startTrajectoryTracking(void);
+     886             :   std::tuple<bool, std::string> stopTrajectoryTracking(void);
+     887             :   std::tuple<bool, std::string> resumeTrajectoryTracking(void);
+     888             :   std::tuple<bool, std::string> gotoTrajectoryStart(void);
+     889             :   std::tuple<bool, std::string> eland(void);
+     890             :   std::tuple<bool, std::string> failsafe(void);
+     891             :   std::tuple<bool, std::string> escalatingFailsafe(void);
+     892             : 
+     893             :   EscalatingFailsafeStates_t getNextEscFailsafeState(void);
+     894             : };
+     895             : 
+     896             : //}
+     897             : 
+     898             : /* //{ onInit() */
+     899             : 
+     900          81 : void ControlManager::onInit() {
+     901          81 :   preinitialize();
+     902          81 : }
+     903             : 
+     904             : //}
+     905             : 
+     906             : /* preinitialize() //{ */
+     907             : 
+     908          81 : void ControlManager::preinitialize(void) {
+     909             : 
+     910          81 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     911             : 
+     912          81 :   ros::Time::waitForValid();
+     913             : 
+     914          81 :   mrs_lib::SubscribeHandlerOptions shopts;
+     915          81 :   shopts.nh                 = nh_;
+     916          81 :   shopts.node_name          = "ControlManager";
+     917          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     918          81 :   shopts.threadsafe         = true;
+     919          81 :   shopts.autostart          = true;
+     920          81 :   shopts.queue_size         = 10;
+     921          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     922             : 
+     923          81 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     924             : 
+     925          81 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerHwApiCapabilities, this);
+     926          81 : }
+     927             : 
+     928             : //}
+     929             : 
+     930             : /* initialize() //{ */
+     931             : 
+     932          81 : void ControlManager::initialize(void) {
+     933             : 
+     934          81 :   joystick_start_press_time_      = ros::Time(0);
+     935          81 :   joystick_failsafe_press_time_   = ros::Time(0);
+     936          81 :   joystick_eland_press_time_      = ros::Time(0);
+     937          81 :   escalating_failsafe_time_       = ros::Time(0);
+     938          81 :   controller_tracker_switch_time_ = ros::Time(0);
+     939             : 
+     940          81 :   ROS_INFO("[ControlManager]: initializing");
+     941             : 
+     942             :   // --------------------------------------------------------------
+     943             :   // |         common handler for trackers and controllers        |
+     944             :   // --------------------------------------------------------------
+     945             : 
+     946          81 :   common_handlers_ = std::make_shared<mrs_uav_managers::control_manager::CommonHandlers_t>();
+     947             : 
+     948             :   // --------------------------------------------------------------
+     949             :   // |                           params                           |
+     950             :   // --------------------------------------------------------------
+     951             : 
+     952         162 :   mrs_lib::ParamLoader param_loader(nh_, "ControlManager");
+     953             : 
+     954          81 :   param_loader.loadParam("custom_config", _custom_config_);
+     955          81 :   param_loader.loadParam("platform_config", _platform_config_);
+     956          81 :   param_loader.loadParam("world_config", _world_config_);
+     957          81 :   param_loader.loadParam("network_config", _network_config_);
+     958             : 
+     959          81 :   if (_custom_config_ != "") {
+     960          81 :     param_loader.addYamlFile(_custom_config_);
+     961             :   }
+     962             : 
+     963          81 :   if (_platform_config_ != "") {
+     964          81 :     param_loader.addYamlFile(_platform_config_);
+     965             :   }
+     966             : 
+     967          81 :   if (_world_config_ != "") {
+     968          81 :     param_loader.addYamlFile(_world_config_);
+     969             :   }
+     970             : 
+     971          81 :   if (_network_config_ != "") {
+     972          81 :     param_loader.addYamlFile(_network_config_);
+     973             :   }
+     974             : 
+     975          81 :   param_loader.addYamlFileFromParam("private_config");
+     976          81 :   param_loader.addYamlFileFromParam("public_config");
+     977          81 :   param_loader.addYamlFileFromParam("private_trackers");
+     978          81 :   param_loader.addYamlFileFromParam("private_controllers");
+     979          81 :   param_loader.addYamlFileFromParam("public_controllers");
+     980             : 
+     981             :   // params passed from the launch file are not prefixed
+     982          81 :   param_loader.loadParam("uav_name", _uav_name_);
+     983          81 :   param_loader.loadParam("body_frame", _body_frame_);
+     984          81 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     985          81 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     986          81 :   param_loader.loadParam("body_disturbance_x", _initial_body_disturbance_x_);
+     987          81 :   param_loader.loadParam("body_disturbance_y", _initial_body_disturbance_y_);
+     988          81 :   param_loader.loadParam("g", common_handlers_->g);
+     989             : 
+     990             :   // motor params are also not prefixed, since they are common to more nodes
+     991          81 :   param_loader.loadParam("motor_params/a", common_handlers_->throttle_model.A);
+     992          81 :   param_loader.loadParam("motor_params/b", common_handlers_->throttle_model.B);
+     993          81 :   param_loader.loadParam("motor_params/n_motors", common_handlers_->throttle_model.n_motors);
+     994             : 
+     995             :   // | ----------------------- safety area ---------------------- |
+     996             : 
+     997             :   bool use_safety_area;
+     998          81 :   param_loader.loadParam("safety_area/enabled", use_safety_area);
+     999          81 :   use_safety_area_ = use_safety_area;
+    1000             : 
+    1001          81 :   param_loader.loadParam("safety_area/horizontal/frame_name", _safety_area_horizontal_frame_);
+    1002             : 
+    1003          81 :   param_loader.loadParam("safety_area/vertical/frame_name", _safety_area_vertical_frame_);
+    1004          81 :   param_loader.loadParam("safety_area/vertical/min_z", _safety_area_min_z_);
+    1005          81 :   param_loader.loadParam("safety_area/vertical/max_z", _safety_area_max_z_);
+    1006             : 
+    1007          81 :   if (use_safety_area_) {
+    1008             : 
+    1009         183 :     Eigen::MatrixXd border_points = param_loader.loadMatrixDynamic2("safety_area/horizontal/points", -1, 2);
+    1010             : 
+    1011             :     try {
+    1012             : 
+    1013         122 :       std::vector<Eigen::MatrixXd> polygon_obstacle_points;
+    1014          61 :       std::vector<Eigen::MatrixXd> point_obstacle_points;
+    1015             : 
+    1016          61 :       safety_zone_ = std::make_unique<mrs_lib::SafetyZone>(border_points);
+    1017             :     }
+    1018             : 
+    1019           0 :     catch (mrs_lib::SafetyZone::BorderError& e) {
+    1020           0 :       ROS_ERROR("[ControlManager]: SafetyArea: wrong configruation for the safety zone border polygon");
+    1021           0 :       ros::shutdown();
+    1022             :     }
+    1023           0 :     catch (...) {
+    1024           0 :       ROS_ERROR("[ControlManager]: SafetyArea: unhandled exception!");
+    1025           0 :       ros::shutdown();
+    1026             :     }
+    1027             : 
+    1028          61 :     ROS_INFO("[ControlManager]: safety area initialized");
+    1029             :   }
+    1030             : 
+    1031          81 :   param_loader.setPrefix("mrs_uav_managers/control_manager/");
+    1032             : 
+    1033          81 :   param_loader.loadParam("state_input", _state_input_);
+    1034             : 
+    1035          81 :   if (!(_state_input_ == INPUT_UAV_STATE || _state_input_ == INPUT_ODOMETRY)) {
+    1036           0 :     ROS_ERROR("[ControlManager]: the state_input parameter has to be in {0, 1}");
+    1037           0 :     ros::shutdown();
+    1038             :   }
+    1039             : 
+    1040          81 :   param_loader.loadParam("safety/min_throttle_null_tracker", _min_throttle_null_tracker_);
+    1041          81 :   param_loader.loadParam("safety/ehover_tracker", _ehover_tracker_name_);
+    1042          81 :   param_loader.loadParam("safety/failsafe_controller", _failsafe_controller_name_);
+    1043             : 
+    1044          81 :   param_loader.loadParam("safety/eland/controller", _eland_controller_name_);
+    1045          81 :   param_loader.loadParam("safety/eland/cutoff_mass_factor", _elanding_cutoff_mass_factor_);
+    1046          81 :   param_loader.loadParam("safety/eland/cutoff_timeout", _elanding_cutoff_timeout_);
+    1047          81 :   param_loader.loadParam("safety/eland/timer_rate", _elanding_timer_rate_);
+    1048          81 :   param_loader.loadParam("safety/eland/disarm", _eland_disarm_enabled_);
+    1049             : 
+    1050          81 :   param_loader.loadParam("safety/escalating_failsafe/service/enabled", _service_escalating_failsafe_enabled_);
+    1051          81 :   param_loader.loadParam("safety/escalating_failsafe/rc/enabled", _rc_escalating_failsafe_enabled_);
+    1052          81 :   param_loader.loadParam("safety/escalating_failsafe/rc/channel_number", _rc_escalating_failsafe_channel_);
+    1053          81 :   param_loader.loadParam("safety/escalating_failsafe/rc/threshold", _rc_escalating_failsafe_threshold_);
+    1054          81 :   param_loader.loadParam("safety/escalating_failsafe/timeout", _escalating_failsafe_timeout_);
+    1055          81 :   param_loader.loadParam("safety/escalating_failsafe/ehover", _escalating_failsafe_ehover_);
+    1056          81 :   param_loader.loadParam("safety/escalating_failsafe/eland", _escalating_failsafe_eland_);
+    1057          81 :   param_loader.loadParam("safety/escalating_failsafe/failsafe", _escalating_failsafe_failsafe_);
+    1058             : 
+    1059          81 :   param_loader.loadParam("safety/tilt_limit/eland/enabled", _tilt_limit_eland_enabled_);
+    1060          81 :   param_loader.loadParam("safety/tilt_limit/eland/limit", _tilt_limit_eland_);
+    1061             : 
+    1062          81 :   _tilt_limit_eland_ = M_PI * (_tilt_limit_eland_ / 180.0);
+    1063             : 
+    1064          81 :   if (_tilt_limit_eland_enabled_ && fabs(_tilt_limit_eland_) < 1e-3) {
+    1065           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/eland/enabled = 'TRUE' but the limit is too low");
+    1066           0 :     ros::shutdown();
+    1067             :   }
+    1068             : 
+    1069          81 :   param_loader.loadParam("safety/tilt_limit/disarm/enabled", _tilt_limit_disarm_enabled_);
+    1070          81 :   param_loader.loadParam("safety/tilt_limit/disarm/limit", _tilt_limit_disarm_);
+    1071             : 
+    1072          81 :   _tilt_limit_disarm_ = M_PI * (_tilt_limit_disarm_ / 180.0);
+    1073             : 
+    1074          81 :   if (_tilt_limit_disarm_enabled_ && fabs(_tilt_limit_disarm_) < 1e-3) {
+    1075           0 :     ROS_ERROR("[ControlManager]: safety/tilt_limit/disarm/enabled = 'TRUE' but the limit is too low");
+    1076           0 :     ros::shutdown();
+    1077             :   }
+    1078             : 
+    1079          81 :   param_loader.loadParam("safety/yaw_error_eland/enabled", _yaw_error_eland_enabled_);
+    1080          81 :   param_loader.loadParam("safety/yaw_error_eland/limit", _yaw_error_eland_);
+    1081             : 
+    1082          81 :   _yaw_error_eland_ = M_PI * (_yaw_error_eland_ / 180.0);
+    1083             : 
+    1084          81 :   if (_yaw_error_eland_enabled_ && fabs(_yaw_error_eland_) < 1e-3) {
+    1085           0 :     ROS_ERROR("[ControlManager]: safety/yaw_error_eland/enabled = 'TRUE' but the limit is too low");
+    1086           0 :     ros::shutdown();
+    1087             :   }
+    1088             : 
+    1089          81 :   param_loader.loadParam("status_timer_rate", _status_timer_rate_);
+    1090          81 :   param_loader.loadParam("safety/safety_timer_rate", _safety_timer_rate_);
+    1091          81 :   param_loader.loadParam("safety/failsafe_timer_rate", _failsafe_timer_rate_);
+    1092          81 :   param_loader.loadParam("safety/rc_emergency_handoff/enabled", _rc_emergency_handoff_);
+    1093             : 
+    1094          81 :   param_loader.loadParam("safety/odometry_max_missing_time", _uav_state_max_missing_time_);
+    1095          81 :   param_loader.loadParam("safety/odometry_innovation_eland/enabled", _odometry_innovation_check_enabled_);
+    1096             : 
+    1097          81 :   param_loader.loadParam("safety/tilt_error_disarm/enabled", _tilt_error_disarm_enabled_);
+    1098          81 :   param_loader.loadParam("safety/tilt_error_disarm/timeout", _tilt_error_disarm_timeout_);
+    1099          81 :   param_loader.loadParam("safety/tilt_error_disarm/error_threshold", _tilt_error_disarm_threshold_);
+    1100             : 
+    1101          81 :   _tilt_error_disarm_threshold_ = M_PI * (_tilt_error_disarm_threshold_ / 180.0);
+    1102             : 
+    1103          81 :   if (_tilt_error_disarm_enabled_ && fabs(_tilt_error_disarm_threshold_) < 1e-3) {
+    1104           0 :     ROS_ERROR("[ControlManager]: safety/tilt_error_disarm/enabled = 'TRUE' but the limit is too low");
+    1105           0 :     ros::shutdown();
+    1106             :   }
+    1107             : 
+    1108             :   // default constraints
+    1109             : 
+    1110          81 :   param_loader.loadParam("default_constraints/horizontal/speed", current_constraints_.constraints.horizontal_speed);
+    1111          81 :   param_loader.loadParam("default_constraints/horizontal/acceleration", current_constraints_.constraints.horizontal_acceleration);
+    1112          81 :   param_loader.loadParam("default_constraints/horizontal/jerk", current_constraints_.constraints.horizontal_jerk);
+    1113          81 :   param_loader.loadParam("default_constraints/horizontal/snap", current_constraints_.constraints.horizontal_snap);
+    1114             : 
+    1115          81 :   param_loader.loadParam("default_constraints/vertical/ascending/speed", current_constraints_.constraints.vertical_ascending_speed);
+    1116          81 :   param_loader.loadParam("default_constraints/vertical/ascending/acceleration", current_constraints_.constraints.vertical_ascending_acceleration);
+    1117          81 :   param_loader.loadParam("default_constraints/vertical/ascending/jerk", current_constraints_.constraints.vertical_ascending_jerk);
+    1118          81 :   param_loader.loadParam("default_constraints/vertical/ascending/snap", current_constraints_.constraints.vertical_ascending_snap);
+    1119             : 
+    1120          81 :   param_loader.loadParam("default_constraints/vertical/descending/speed", current_constraints_.constraints.vertical_descending_speed);
+    1121          81 :   param_loader.loadParam("default_constraints/vertical/descending/acceleration", current_constraints_.constraints.vertical_descending_acceleration);
+    1122          81 :   param_loader.loadParam("default_constraints/vertical/descending/jerk", current_constraints_.constraints.vertical_descending_jerk);
+    1123          81 :   param_loader.loadParam("default_constraints/vertical/descending/snap", current_constraints_.constraints.vertical_descending_snap);
+    1124             : 
+    1125          81 :   param_loader.loadParam("default_constraints/heading/speed", current_constraints_.constraints.heading_speed);
+    1126          81 :   param_loader.loadParam("default_constraints/heading/acceleration", current_constraints_.constraints.heading_acceleration);
+    1127          81 :   param_loader.loadParam("default_constraints/heading/jerk", current_constraints_.constraints.heading_jerk);
+    1128          81 :   param_loader.loadParam("default_constraints/heading/snap", current_constraints_.constraints.heading_snap);
+    1129             : 
+    1130          81 :   param_loader.loadParam("default_constraints/angular_speed/roll", current_constraints_.constraints.roll_rate);
+    1131          81 :   param_loader.loadParam("default_constraints/angular_speed/pitch", current_constraints_.constraints.pitch_rate);
+    1132          81 :   param_loader.loadParam("default_constraints/angular_speed/yaw", current_constraints_.constraints.yaw_rate);
+    1133             : 
+    1134          81 :   param_loader.loadParam("default_constraints/tilt", current_constraints_.constraints.tilt);
+    1135             : 
+    1136          81 :   current_constraints_.constraints.tilt = M_PI * (current_constraints_.constraints.tilt / 180.0);
+    1137             : 
+    1138             :   // joystick
+    1139             : 
+    1140          81 :   param_loader.loadParam("joystick/enabled", _joystick_enabled_);
+    1141          81 :   param_loader.loadParam("joystick/mode", _joystick_mode_);
+    1142          81 :   param_loader.loadParam("joystick/carrot_distance", _joystick_carrot_distance_);
+    1143          81 :   param_loader.loadParam("joystick/joystick_timer_rate", _joystick_timer_rate_);
+    1144          81 :   param_loader.loadParam("joystick/attitude_control/tracker", _joystick_tracker_name_);
+    1145          81 :   param_loader.loadParam("joystick/attitude_control/controller", _joystick_controller_name_);
+    1146          81 :   param_loader.loadParam("joystick/attitude_control/fallback/tracker", _joystick_fallback_tracker_name_);
+    1147          81 :   param_loader.loadParam("joystick/attitude_control/fallback/controller", _joystick_fallback_controller_name_);
+    1148             : 
+    1149          81 :   param_loader.loadParam("joystick/channels/A", _channel_A_);
+    1150          81 :   param_loader.loadParam("joystick/channels/B", _channel_B_);
+    1151          81 :   param_loader.loadParam("joystick/channels/X", _channel_X_);
+    1152          81 :   param_loader.loadParam("joystick/channels/Y", _channel_Y_);
+    1153          81 :   param_loader.loadParam("joystick/channels/start", _channel_start_);
+    1154          81 :   param_loader.loadParam("joystick/channels/back", _channel_back_);
+    1155          81 :   param_loader.loadParam("joystick/channels/LT", _channel_LT_);
+    1156          81 :   param_loader.loadParam("joystick/channels/RT", _channel_RT_);
+    1157          81 :   param_loader.loadParam("joystick/channels/L_joy", _channel_L_joy_);
+    1158          81 :   param_loader.loadParam("joystick/channels/R_joy", _channel_R_joy_);
+    1159             : 
+    1160             :   // load channels
+    1161          81 :   param_loader.loadParam("joystick/channels/pitch", _channel_pitch_);
+    1162          81 :   param_loader.loadParam("joystick/channels/roll", _channel_roll_);
+    1163          81 :   param_loader.loadParam("joystick/channels/heading", _channel_heading_);
+    1164          81 :   param_loader.loadParam("joystick/channels/throttle", _channel_throttle_);
+    1165             : 
+    1166             :   // load channel multipliers
+    1167          81 :   param_loader.loadParam("joystick/channel_multipliers/pitch", _channel_mult_pitch_);
+    1168          81 :   param_loader.loadParam("joystick/channel_multipliers/roll", _channel_mult_roll_);
+    1169          81 :   param_loader.loadParam("joystick/channel_multipliers/heading", _channel_mult_heading_);
+    1170          81 :   param_loader.loadParam("joystick/channel_multipliers/throttle", _channel_mult_throttle_);
+    1171             : 
+    1172             :   bool bumper_enabled;
+    1173          81 :   param_loader.loadParam("obstacle_bumper/enabled", bumper_enabled);
+    1174          81 :   bumper_enabled_ = bumper_enabled;
+    1175             : 
+    1176          81 :   param_loader.loadParam("obstacle_bumper/switch_tracker", _bumper_switch_tracker_);
+    1177          81 :   param_loader.loadParam("obstacle_bumper/switch_controller", _bumper_switch_controller_);
+    1178          81 :   param_loader.loadParam("obstacle_bumper/tracker", _bumper_tracker_name_);
+    1179          81 :   param_loader.loadParam("obstacle_bumper/controller", _bumper_controller_name_);
+    1180          81 :   param_loader.loadParam("obstacle_bumper/timer_rate", _bumper_timer_rate_);
+    1181             : 
+    1182          81 :   param_loader.loadParam("obstacle_bumper/horizontal/min_distance_to_obstacle", _bumper_horizontal_distance_);
+    1183          81 :   param_loader.loadParam("obstacle_bumper/horizontal/derived_from_dynamics", _bumper_horizontal_derive_from_dynamics_);
+    1184             : 
+    1185          81 :   param_loader.loadParam("obstacle_bumper/vertical/min_distance_to_obstacle", _bumper_vertical_distance_);
+    1186          81 :   param_loader.loadParam("obstacle_bumper/vertical/derived_from_dynamics", _bumper_vertical_derive_from_dynamics_);
+    1187             : 
+    1188          81 :   param_loader.loadParam("obstacle_bumper/horizontal/overshoot", _bumper_horizontal_overshoot_);
+    1189          81 :   param_loader.loadParam("obstacle_bumper/vertical/overshoot", _bumper_vertical_overshoot_);
+    1190             : 
+    1191          81 :   param_loader.loadParam("safety/tracker_error_action", _tracker_error_action_);
+    1192             : 
+    1193          81 :   param_loader.loadParam("trajectory_tracking/snap_to_safety_area", _snap_trajectory_to_safety_area_);
+    1194             : 
+    1195             :   // check the values of tracker error action
+    1196          81 :   if (_tracker_error_action_ != ELAND_STR && _tracker_error_action_ != EHOVER_STR) {
+    1197           0 :     ROS_ERROR("[ControlManager]: the tracker_error_action parameter (%s) is not correct, requires {%s, %s}", _tracker_error_action_.c_str(), ELAND_STR,
+    1198             :               EHOVER_STR);
+    1199           0 :     ros::shutdown();
+    1200             :   }
+    1201             : 
+    1202          81 :   param_loader.loadParam("rc_joystick/enabled", _rc_goto_enabled_);
+    1203          81 :   param_loader.loadParam("rc_joystick/channel_number", _rc_joystick_channel_);
+    1204          81 :   param_loader.loadParam("rc_joystick/horizontal_speed", _rc_horizontal_speed_);
+    1205          81 :   param_loader.loadParam("rc_joystick/vertical_speed", _rc_vertical_speed_);
+    1206          81 :   param_loader.loadParam("rc_joystick/heading_rate", _rc_heading_rate_);
+    1207             : 
+    1208          81 :   param_loader.loadParam("rc_joystick/channels/pitch", _rc_channel_pitch_);
+    1209          81 :   param_loader.loadParam("rc_joystick/channels/roll", _rc_channel_roll_);
+    1210          81 :   param_loader.loadParam("rc_joystick/channels/heading", _rc_channel_heading_);
+    1211          81 :   param_loader.loadParam("rc_joystick/channels/throttle", _rc_channel_throttle_);
+    1212             : 
+    1213          81 :   param_loader.loadParam("pirouette/speed", _pirouette_speed_);
+    1214          81 :   param_loader.loadParam("pirouette/timer_rate", _pirouette_timer_rate_);
+    1215             : 
+    1216          81 :   param_loader.loadParam("safety/parachute/enabled", _parachute_enabled_);
+    1217             : 
+    1218             :   // --------------------------------------------------------------
+    1219             :   // |             initialize the last control output             |
+    1220             :   // --------------------------------------------------------------
+    1221             : 
+    1222          81 :   initializeControlOutput();
+    1223             : 
+    1224             :   // | --------------------- tf transformer --------------------- |
+    1225             : 
+    1226          81 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+    1227          81 :   transformer_->setDefaultPrefix(_uav_name_);
+    1228          81 :   transformer_->retryLookupNewest(true);
+    1229             : 
+    1230             :   // | ------------------- scope timer logger ------------------- |
+    1231             : 
+    1232          81 :   param_loader.loadParam("scope_timer/enabled", scope_timer_enabled_);
+    1233         243 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+    1234          81 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+    1235             : 
+    1236             :   // bind transformer to trackers and controllers for use
+    1237          81 :   common_handlers_->transformer = transformer_;
+    1238             : 
+    1239             :   // bind scope timer to trackers and controllers for use
+    1240          81 :   common_handlers_->scope_timer.enabled = scope_timer_enabled_;
+    1241          81 :   common_handlers_->scope_timer.logger  = scope_timer_logger_;
+    1242             : 
+    1243          81 :   common_handlers_->safety_area.use_safety_area       = use_safety_area_;
+    1244          81 :   common_handlers_->safety_area.isPointInSafetyArea2d = boost::bind(&ControlManager::isPointInSafetyArea2d, this, _1);
+    1245          81 :   common_handlers_->safety_area.isPointInSafetyArea3d = boost::bind(&ControlManager::isPointInSafetyArea3d, this, _1);
+    1246          81 :   common_handlers_->safety_area.getMinZ               = boost::bind(&ControlManager::getMinZ, this, _1);
+    1247          81 :   common_handlers_->safety_area.getMaxZ               = boost::bind(&ControlManager::getMaxZ, this, _1);
+    1248             : 
+    1249          81 :   common_handlers_->getMass = boost::bind(&ControlManager::getMass, this);
+    1250             : 
+    1251          81 :   common_handlers_->detailed_model_params = loadDetailedUavModelParams(nh_, "ControlManager", _platform_config_, _custom_config_);
+    1252             : 
+    1253          81 :   common_handlers_->control_output_modalities = _hw_api_inputs_;
+    1254             : 
+    1255          81 :   common_handlers_->uav_name = _uav_name_;
+    1256             : 
+    1257          81 :   common_handlers_->parent_nh = nh_;
+    1258             : 
+    1259             :   // --------------------------------------------------------------
+    1260             :   // |                        load trackers                       |
+    1261             :   // --------------------------------------------------------------
+    1262             : 
+    1263         162 :   std::vector<std::string> custom_trackers;
+    1264             : 
+    1265          81 :   param_loader.loadParam("mrs_trackers", _tracker_names_);
+    1266          81 :   param_loader.loadParam("trackers", custom_trackers);
+    1267             : 
+    1268          81 :   if (!custom_trackers.empty()) {
+    1269           1 :     _tracker_names_.insert(_tracker_names_.end(), custom_trackers.begin(), custom_trackers.end());
+    1270             :   }
+    1271             : 
+    1272          81 :   param_loader.loadParam("null_tracker", _null_tracker_name_);
+    1273          81 :   param_loader.loadParam("landing_takeoff_tracker", _landoff_tracker_name_);
+    1274             : 
+    1275          81 :   tracker_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Tracker>>("mrs_uav_managers", "mrs_uav_managers::Tracker");
+    1276             : 
+    1277         568 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    1278             : 
+    1279         974 :     std::string tracker_name = _tracker_names_[i];
+    1280             : 
+    1281             :     // load the controller parameters
+    1282         974 :     std::string address;
+    1283         974 :     std::string name_space;
+    1284             :     bool        human_switchable;
+    1285             : 
+    1286         487 :     param_loader.loadParam(tracker_name + "/address", address);
+    1287         487 :     param_loader.loadParam(tracker_name + "/namespace", name_space);
+    1288         487 :     param_loader.loadParam(tracker_name + "/human_switchable", human_switchable, false);
+    1289             : 
+    1290        1461 :     TrackerParams new_tracker(address, name_space, human_switchable);
+    1291         487 :     trackers_.insert(std::pair<std::string, TrackerParams>(tracker_name, new_tracker));
+    1292             : 
+    1293             :     try {
+    1294         487 :       ROS_INFO("[ControlManager]: loading the tracker '%s'", new_tracker.address.c_str());
+    1295         487 :       tracker_list_.push_back(tracker_loader_->createInstance(new_tracker.address.c_str()));
+    1296             :     }
+    1297           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1298           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the tracker '%s'", new_tracker.address.c_str());
+    1299           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1300           0 :       ros::shutdown();
+    1301             :     }
+    1302           0 :     catch (pluginlib::PluginlibException& ex) {
+    1303           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the tracker '%s'", new_tracker.address.c_str());
+    1304           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1305           0 :       ros::shutdown();
+    1306             :     }
+    1307             :   }
+    1308             : 
+    1309          81 :   ROS_INFO("[ControlManager]: trackers were loaded");
+    1310             : 
+    1311         568 :   for (int i = 0; i < int(tracker_list_.size()); i++) {
+    1312             : 
+    1313         487 :     std::map<std::string, TrackerParams>::iterator it;
+    1314         487 :     it = trackers_.find(_tracker_names_[i]);
+    1315             : 
+    1316             :     // create private handlers
+    1317             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1318         974 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1319             : 
+    1320         487 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1321         487 :     private_handlers->name_space     = it->second.name_space;
+    1322         487 :     private_handlers->runtime_name   = _tracker_names_[i];
+    1323         487 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _tracker_names_[i]);
+    1324             : 
+    1325         487 :     if (_custom_config_ != "") {
+    1326         487 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1327             :     }
+    1328             : 
+    1329         487 :     if (_platform_config_ != "") {
+    1330         487 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1331             :     }
+    1332             : 
+    1333         487 :     if (_world_config_ != "") {
+    1334         487 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1335             :     }
+    1336             : 
+    1337         487 :     if (_network_config_ != "") {
+    1338         487 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1339             :     }
+    1340             : 
+    1341         487 :     bool success = false;
+    1342             : 
+    1343             :     try {
+    1344         487 :       ROS_INFO("[ControlManager]: initializing the tracker '%s'", it->second.address.c_str());
+    1345         487 :       success = tracker_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1346             :     }
+    1347           0 :     catch (std::runtime_error& ex) {
+    1348           0 :       ROS_ERROR("[ControlManager]: exception caught during tracker initialization: '%s'", ex.what());
+    1349             :     }
+    1350             : 
+    1351         487 :     if (!success) {
+    1352           0 :       ROS_ERROR("[ControlManager]: failed to initialize the tracker '%s'", it->second.address.c_str());
+    1353           0 :       ros::shutdown();
+    1354             :     }
+    1355             :   }
+    1356             : 
+    1357          81 :   ROS_INFO("[ControlManager]: trackers were initialized");
+    1358             : 
+    1359             :   // --------------------------------------------------------------
+    1360             :   // |           check the existance of selected trackers         |
+    1361             :   // --------------------------------------------------------------
+    1362             : 
+    1363             :   // | ------ check for the existance of the hover tracker ------ |
+    1364             : 
+    1365             :   // check if the hover_tracker is within the loaded trackers
+    1366             :   {
+    1367          81 :     auto idx = idxInVector(_ehover_tracker_name_, _tracker_names_);
+    1368             : 
+    1369          81 :     if (idx) {
+    1370          81 :       _ehover_tracker_idx_ = idx.value();
+    1371             :     } else {
+    1372           0 :       ROS_ERROR("[ControlManager]: the safety/hover_tracker (%s) is not within the loaded trackers", _ehover_tracker_name_.c_str());
+    1373           0 :       ros::shutdown();
+    1374             :     }
+    1375             :   }
+    1376             : 
+    1377             :   // | ----- check for the existence of the landoff tracker ----- |
+    1378             : 
+    1379             :   {
+    1380          81 :     auto idx = idxInVector(_landoff_tracker_name_, _tracker_names_);
+    1381             : 
+    1382          81 :     if (idx) {
+    1383          81 :       _landoff_tracker_idx_ = idx.value();
+    1384             :     } else {
+    1385           0 :       ROS_ERROR("[ControlManager]: the landoff tracker (%s) is not within the loaded trackers", _landoff_tracker_name_.c_str());
+    1386           0 :       ros::shutdown();
+    1387             :     }
+    1388             :   }
+    1389             : 
+    1390             :   // | ------- check for the existence of the null tracker ------ |
+    1391             : 
+    1392             :   {
+    1393          81 :     auto idx = idxInVector(_null_tracker_name_, _tracker_names_);
+    1394             : 
+    1395          81 :     if (idx) {
+    1396          81 :       _null_tracker_idx_ = idx.value();
+    1397             :     } else {
+    1398           0 :       ROS_ERROR("[ControlManager]: the null tracker (%s) is not within the loaded trackers", _null_tracker_name_.c_str());
+    1399           0 :       ros::shutdown();
+    1400             :     }
+    1401             :   }
+    1402             : 
+    1403             :   // --------------------------------------------------------------
+    1404             :   // |         check existance of trackers for joystick           |
+    1405             :   // --------------------------------------------------------------
+    1406             : 
+    1407          81 :   if (_joystick_enabled_) {
+    1408             : 
+    1409          81 :     auto idx = idxInVector(_joystick_tracker_name_, _tracker_names_);
+    1410             : 
+    1411          81 :     if (idx) {
+    1412          81 :       _joystick_tracker_idx_ = idx.value();
+    1413             :     } else {
+    1414           0 :       ROS_ERROR("[ControlManager]: the joystick tracker (%s) is not within the loaded trackers", _joystick_tracker_name_.c_str());
+    1415           0 :       ros::shutdown();
+    1416             :     }
+    1417             :   }
+    1418             : 
+    1419          81 :   if (_bumper_switch_tracker_) {
+    1420             : 
+    1421          81 :     auto idx = idxInVector(_bumper_tracker_name_, _tracker_names_);
+    1422             : 
+    1423          81 :     if (!idx) {
+    1424           0 :       ROS_ERROR("[ControlManager]: the bumper tracker (%s) is not within the loaded trackers", _bumper_tracker_name_.c_str());
+    1425           0 :       ros::shutdown();
+    1426             :     }
+    1427             :   }
+    1428             : 
+    1429             :   {
+    1430          81 :     auto idx = idxInVector(_joystick_fallback_tracker_name_, _tracker_names_);
+    1431             : 
+    1432          81 :     if (idx) {
+    1433          81 :       _joystick_fallback_tracker_idx_ = idx.value();
+    1434             :     } else {
+    1435           0 :       ROS_ERROR("[ControlManager]: the joystick fallback tracker (%s) is not within the loaded trackers", _joystick_fallback_tracker_name_.c_str());
+    1436           0 :       ros::shutdown();
+    1437             :     }
+    1438             :   }
+    1439             : 
+    1440             :   // --------------------------------------------------------------
+    1441             :   // |                    load the controllers                    |
+    1442             :   // --------------------------------------------------------------
+    1443             : 
+    1444         162 :   std::vector<std::string> custom_controllers;
+    1445             : 
+    1446          81 :   param_loader.loadParam("mrs_controllers", _controller_names_);
+    1447          81 :   param_loader.loadParam("controllers", custom_controllers);
+    1448             : 
+    1449          81 :   if (!custom_controllers.empty()) {
+    1450           0 :     _controller_names_.insert(_controller_names_.end(), custom_controllers.begin(), custom_controllers.end());
+    1451             :   }
+    1452             : 
+    1453          81 :   controller_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::Controller>>("mrs_uav_managers", "mrs_uav_managers::Controller");
+    1454             : 
+    1455             :   // for each controller in the list
+    1456         486 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    1457             : 
+    1458         810 :     std::string controller_name = _controller_names_[i];
+    1459             : 
+    1460             :     // load the controller parameters
+    1461         810 :     std::string address;
+    1462         810 :     std::string name_space;
+    1463             :     double      eland_threshold, failsafe_threshold, odometry_innovation_threshold;
+    1464             :     bool        human_switchable;
+    1465         405 :     param_loader.loadParam(controller_name + "/address", address);
+    1466         405 :     param_loader.loadParam(controller_name + "/namespace", name_space);
+    1467         405 :     param_loader.loadParam(controller_name + "/eland_threshold", eland_threshold);
+    1468         405 :     param_loader.loadParam(controller_name + "/failsafe_threshold", failsafe_threshold);
+    1469         405 :     param_loader.loadParam(controller_name + "/odometry_innovation_threshold", odometry_innovation_threshold);
+    1470         405 :     param_loader.loadParam(controller_name + "/human_switchable", human_switchable, false);
+    1471             : 
+    1472             :     // check if the controller can output some of the required outputs
+    1473             :     {
+    1474             : 
+    1475         405 :       ControlOutputModalities_t outputs;
+    1476         405 :       param_loader.loadParam(controller_name + "/outputs/actuators", outputs.actuators, false);
+    1477         405 :       param_loader.loadParam(controller_name + "/outputs/control_group", outputs.control_group, false);
+    1478         405 :       param_loader.loadParam(controller_name + "/outputs/attitude_rate", outputs.attitude_rate, false);
+    1479         405 :       param_loader.loadParam(controller_name + "/outputs/attitude", outputs.attitude, false);
+    1480         405 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg_rate", outputs.acceleration_hdg_rate, false);
+    1481         405 :       param_loader.loadParam(controller_name + "/outputs/acceleration_hdg", outputs.acceleration_hdg, false);
+    1482         405 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg_rate", outputs.velocity_hdg_rate, false);
+    1483         405 :       param_loader.loadParam(controller_name + "/outputs/velocity_hdg", outputs.velocity_hdg, false);
+    1484         405 :       param_loader.loadParam(controller_name + "/outputs/position", outputs.position, false);
+    1485             : 
+    1486         405 :       bool meets_actuators             = (_hw_api_inputs_.actuators && outputs.actuators);
+    1487         405 :       bool meets_control_group         = (_hw_api_inputs_.control_group && outputs.control_group);
+    1488         405 :       bool meets_attitude_rate         = (_hw_api_inputs_.attitude_rate && outputs.attitude_rate);
+    1489         405 :       bool meets_attitude              = (_hw_api_inputs_.attitude && outputs.attitude);
+    1490         405 :       bool meets_acceleration_hdg_rate = (_hw_api_inputs_.acceleration_hdg_rate && outputs.acceleration_hdg_rate);
+    1491         405 :       bool meets_acceleration_hdg      = (_hw_api_inputs_.acceleration_hdg && outputs.acceleration_hdg);
+    1492         405 :       bool meets_velocity_hdg_rate     = (_hw_api_inputs_.velocity_hdg_rate && outputs.velocity_hdg_rate);
+    1493         405 :       bool meets_velocity_hdg          = (_hw_api_inputs_.velocity_hdg && outputs.velocity_hdg);
+    1494         405 :       bool meets_position              = (_hw_api_inputs_.position && outputs.position);
+    1495             : 
+    1496         395 :       bool meets_requirements = meets_actuators || meets_control_group || meets_attitude_rate || meets_attitude || meets_acceleration_hdg_rate ||
+    1497         800 :                                 meets_acceleration_hdg || meets_velocity_hdg_rate || meets_velocity_hdg || meets_position;
+    1498             : 
+    1499         405 :       if (!meets_requirements) {
+    1500             : 
+    1501           0 :         ROS_ERROR("[ControlManager]: the controller '%s' does not meet the control output requirements, which are some of the following",
+    1502             :                   controller_name.c_str());
+    1503             : 
+    1504           0 :         if (_hw_api_inputs_.actuators) {
+    1505           0 :           ROS_ERROR("[ControlManager]: - actuators");
+    1506             :         }
+    1507             : 
+    1508           0 :         if (_hw_api_inputs_.control_group) {
+    1509           0 :           ROS_ERROR("[ControlManager]: - control group");
+    1510             :         }
+    1511             : 
+    1512           0 :         if (_hw_api_inputs_.attitude_rate) {
+    1513           0 :           ROS_ERROR("[ControlManager]: - attitude rate");
+    1514             :         }
+    1515             : 
+    1516           0 :         if (_hw_api_inputs_.attitude) {
+    1517           0 :           ROS_ERROR("[ControlManager]: - attitude");
+    1518             :         }
+    1519             : 
+    1520           0 :         if (_hw_api_inputs_.acceleration_hdg_rate) {
+    1521           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg rate");
+    1522             :         }
+    1523             : 
+    1524           0 :         if (_hw_api_inputs_.acceleration_hdg) {
+    1525           0 :           ROS_ERROR("[ControlManager]: - acceleration+hdg");
+    1526             :         }
+    1527             : 
+    1528           0 :         if (_hw_api_inputs_.velocity_hdg_rate) {
+    1529           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg rate");
+    1530             :         }
+    1531             : 
+    1532           0 :         if (_hw_api_inputs_.velocity_hdg) {
+    1533           0 :           ROS_ERROR("[ControlManager]: - velocity+hdg");
+    1534             :         }
+    1535             : 
+    1536           0 :         if (_hw_api_inputs_.position) {
+    1537           0 :           ROS_ERROR("[ControlManager]: - position");
+    1538             :         }
+    1539             : 
+    1540           0 :         ros::shutdown();
+    1541             :       }
+    1542             : 
+    1543         405 :       if ((_hw_api_inputs_.actuators || _hw_api_inputs_.control_group) && !common_handlers_->detailed_model_params) {
+    1544           0 :         ROS_ERROR(
+    1545             :             "[ControlManager]: the HW API supports 'actuators' or 'control_group' input, but the 'detailed uav model params' were not loaded sucessfully");
+    1546           0 :         ros::shutdown();
+    1547             :       }
+    1548             :     }
+    1549             : 
+    1550             :     // | --- alter the timer rates based on the hw capabilities --- |
+    1551             : 
+    1552         405 :     CONTROL_OUTPUT lowest_output = getLowestOuput(_hw_api_inputs_);
+    1553             : 
+    1554         405 :     if (lowest_output == ACTUATORS_CMD || lowest_output == CONTROL_GROUP) {
+    1555          25 :       _safety_timer_rate_     = 200.0;
+    1556          25 :       desired_uav_state_rate_ = 250.0;
+    1557         380 :     } else if (lowest_output == ATTITUDE_RATE || lowest_output == ATTITUDE) {
+    1558         290 :       _safety_timer_rate_     = 100.0;
+    1559         290 :       desired_uav_state_rate_ = 100.0;
+    1560          90 :     } else if (lowest_output == ACCELERATION_HDG_RATE || lowest_output == ACCELERATION_HDG) {
+    1561          20 :       _safety_timer_rate_     = 30.0;
+    1562          20 :       _status_timer_rate_     = 1.0;
+    1563          20 :       desired_uav_state_rate_ = 40.0;
+    1564             : 
+    1565          20 :       if (_uav_state_max_missing_time_ < 0.2) {
+    1566           4 :         _uav_state_max_missing_time_ = 0.2;
+    1567             :       }
+    1568          70 :     } else if (lowest_output >= VELOCITY_HDG_RATE) {
+    1569          70 :       _safety_timer_rate_     = 20.0;
+    1570          70 :       _status_timer_rate_     = 1.0;
+    1571          70 :       desired_uav_state_rate_ = 20.0;
+    1572             : 
+    1573          70 :       if (_uav_state_max_missing_time_ < 1.0) {
+    1574          14 :         _uav_state_max_missing_time_ = 1.0;
+    1575             :       }
+    1576             :     }
+    1577             : 
+    1578         405 :     if (eland_threshold == 0) {
+    1579          82 :       eland_threshold = 1e6;
+    1580             :     }
+    1581             : 
+    1582         405 :     if (failsafe_threshold == 0) {
+    1583          82 :       failsafe_threshold = 1e6;
+    1584             :     }
+    1585             : 
+    1586         405 :     if (odometry_innovation_threshold == 0) {
+    1587          83 :       odometry_innovation_threshold = 1e6;
+    1588             :     }
+    1589             : 
+    1590        1215 :     ControllerParams new_controller(address, name_space, eland_threshold, failsafe_threshold, odometry_innovation_threshold, human_switchable);
+    1591         405 :     controllers_.insert(std::pair<std::string, ControllerParams>(controller_name, new_controller));
+    1592             : 
+    1593             :     try {
+    1594         405 :       ROS_INFO("[ControlManager]: loading the controller '%s'", new_controller.address.c_str());
+    1595         405 :       controller_list_.push_back(controller_loader_->createInstance(new_controller.address.c_str()));
+    1596             :     }
+    1597           0 :     catch (pluginlib::CreateClassException& ex1) {
+    1598           0 :       ROS_ERROR("[ControlManager]: CreateClassException for the controller '%s'", new_controller.address.c_str());
+    1599           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex1.what());
+    1600           0 :       ros::shutdown();
+    1601             :     }
+    1602           0 :     catch (pluginlib::PluginlibException& ex) {
+    1603           0 :       ROS_ERROR("[ControlManager]: PluginlibException for the controller '%s'", new_controller.address.c_str());
+    1604           0 :       ROS_ERROR("[ControlManager]: Error: %s", ex.what());
+    1605           0 :       ros::shutdown();
+    1606             :     }
+    1607             :   }
+    1608             : 
+    1609          81 :   ROS_INFO("[ControlManager]: controllers were loaded");
+    1610             : 
+    1611         486 :   for (int i = 0; i < int(controller_list_.size()); i++) {
+    1612             : 
+    1613         405 :     std::map<std::string, ControllerParams>::iterator it;
+    1614         405 :     it = controllers_.find(_controller_names_[i]);
+    1615             : 
+    1616             :     // create private handlers
+    1617             :     std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers =
+    1618         810 :         std::make_shared<mrs_uav_managers::control_manager::PrivateHandlers_t>();
+    1619             : 
+    1620         405 :     private_handlers->loadConfigFile = boost::bind(&ControlManager::loadConfigFile, this, _1, it->second.name_space);
+    1621         405 :     private_handlers->name_space     = it->second.name_space;
+    1622         405 :     private_handlers->runtime_name   = _controller_names_[i];
+    1623         405 :     private_handlers->param_loader   = std::make_unique<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, it->second.name_space), _controller_names_[i]);
+    1624             : 
+    1625         405 :     if (_custom_config_ != "") {
+    1626         405 :       private_handlers->param_loader->addYamlFile(_custom_config_);
+    1627             :     }
+    1628             : 
+    1629         405 :     if (_platform_config_ != "") {
+    1630         405 :       private_handlers->param_loader->addYamlFile(_platform_config_);
+    1631             :     }
+    1632             : 
+    1633         405 :     if (_world_config_ != "") {
+    1634         405 :       private_handlers->param_loader->addYamlFile(_world_config_);
+    1635             :     }
+    1636             : 
+    1637         405 :     if (_network_config_ != "") {
+    1638         405 :       private_handlers->param_loader->addYamlFile(_network_config_);
+    1639             :     }
+    1640             : 
+    1641         405 :     bool success = false;
+    1642             : 
+    1643             :     try {
+    1644             : 
+    1645         405 :       ROS_INFO("[ControlManager]: initializing the controller '%s'", it->second.address.c_str());
+    1646         405 :       success = controller_list_[i]->initialize(ros::NodeHandle(nh_, it->second.name_space), common_handlers_, private_handlers);
+    1647             :     }
+    1648           0 :     catch (std::runtime_error& ex) {
+    1649           0 :       ROS_ERROR("[ControlManager]: exception caught during controller initialization: '%s'", ex.what());
+    1650             :     }
+    1651             : 
+    1652         405 :     if (!success) {
+    1653           0 :       ROS_ERROR("[ControlManager]: failed to initialize the controller '%s'", it->second.address.c_str());
+    1654           0 :       ros::shutdown();
+    1655             :     }
+    1656             :   }
+    1657             : 
+    1658          81 :   ROS_INFO("[ControlManager]: controllers were initialized");
+    1659             : 
+    1660             :   {
+    1661          81 :     auto idx = idxInVector(_failsafe_controller_name_, _controller_names_);
+    1662             : 
+    1663          81 :     if (idx) {
+    1664          81 :       _failsafe_controller_idx_ = idx.value();
+    1665             :     } else {
+    1666           0 :       ROS_ERROR("[ControlManager]: the failsafe controller (%s) is not within the loaded controllers", _failsafe_controller_name_.c_str());
+    1667           0 :       ros::shutdown();
+    1668             :     }
+    1669             :   }
+    1670             : 
+    1671             :   {
+    1672          81 :     auto idx = idxInVector(_eland_controller_name_, _controller_names_);
+    1673             : 
+    1674          81 :     if (idx) {
+    1675          81 :       _eland_controller_idx_ = idx.value();
+    1676             :     } else {
+    1677           0 :       ROS_ERROR("[ControlManager]: the eland controller (%s) is not within the loaded controllers", _eland_controller_name_.c_str());
+    1678           0 :       ros::shutdown();
+    1679             :     }
+    1680             :   }
+    1681             : 
+    1682             :   {
+    1683          81 :     auto idx = idxInVector(_joystick_controller_name_, _controller_names_);
+    1684             : 
+    1685          81 :     if (idx) {
+    1686          81 :       _joystick_controller_idx_ = idx.value();
+    1687             :     } else {
+    1688           0 :       ROS_ERROR("[ControlManager]: the joystick controller (%s) is not within the loaded controllers", _joystick_controller_name_.c_str());
+    1689           0 :       ros::shutdown();
+    1690             :     }
+    1691             :   }
+    1692             : 
+    1693          81 :   if (_bumper_switch_controller_) {
+    1694             : 
+    1695          81 :     auto idx = idxInVector(_bumper_controller_name_, _controller_names_);
+    1696             : 
+    1697          81 :     if (!idx) {
+    1698           0 :       ROS_ERROR("[ControlManager]: the bumper controller (%s) is not within the loaded controllers", _bumper_controller_name_.c_str());
+    1699           0 :       ros::shutdown();
+    1700             :     }
+    1701             :   }
+    1702             : 
+    1703             :   {
+    1704          81 :     auto idx = idxInVector(_joystick_fallback_controller_name_, _controller_names_);
+    1705             : 
+    1706          81 :     if (idx) {
+    1707          81 :       _joystick_fallback_controller_idx_ = idx.value();
+    1708             :     } else {
+    1709           0 :       ROS_ERROR("[ControlManager]: the joystick fallback controller (%s) is not within the loaded controllers", _joystick_fallback_controller_name_.c_str());
+    1710           0 :       ros::shutdown();
+    1711             :     }
+    1712             :   }
+    1713             : 
+    1714             :   // --------------------------------------------------------------
+    1715             :   // |                  activate the NullTracker                  |
+    1716             :   // --------------------------------------------------------------
+    1717             : 
+    1718          81 :   ROS_INFO("[ControlManager]: activating the null tracker");
+    1719             : 
+    1720          81 :   tracker_list_[_null_tracker_idx_]->activate(last_tracker_cmd_);
+    1721          81 :   active_tracker_idx_ = _null_tracker_idx_;
+    1722             : 
+    1723             :   // --------------------------------------------------------------
+    1724             :   // |    activate the eland controller as the first controller   |
+    1725             :   // --------------------------------------------------------------
+    1726             : 
+    1727          81 :   ROS_INFO("[ControlManager]: activating the the eland controller (%s) as the first controller", _controller_names_[_eland_controller_idx_].c_str());
+    1728             : 
+    1729          81 :   controller_list_[_eland_controller_idx_]->activate(last_control_output_);
+    1730          81 :   active_controller_idx_ = _eland_controller_idx_;
+    1731             : 
+    1732             :   // update the time
+    1733             :   {
+    1734         162 :     std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    1735             : 
+    1736          81 :     controller_tracker_switch_time_ = ros::Time::now();
+    1737             :   }
+    1738             : 
+    1739          81 :   output_enabled_ = false;
+    1740             : 
+    1741             :   // | --------------- set the default constraints -------------- |
+    1742             : 
+    1743          81 :   sanitized_constraints_ = current_constraints_;
+    1744          81 :   setConstraints(current_constraints_);
+    1745             : 
+    1746             :   // | ------------------------ profiler ------------------------ |
+    1747             : 
+    1748          81 :   profiler_ = mrs_lib::Profiler(nh_, "ControlManager", _profiler_enabled_);
+    1749             : 
+    1750             :   // | ----------------------- publishers ----------------------- |
+    1751             : 
+    1752          81 :   control_output_publisher_ = OutputPublisher(nh_);
+    1753             : 
+    1754          81 :   ph_controller_diagnostics_             = mrs_lib::PublisherHandler<mrs_msgs::ControllerDiagnostics>(nh_, "controller_diagnostics_out", 1);
+    1755          81 :   ph_tracker_cmd_                        = mrs_lib::PublisherHandler<mrs_msgs::TrackerCommand>(nh_, "tracker_cmd_out", 1);
+    1756          81 :   ph_mrs_odom_input_                     = mrs_lib::PublisherHandler<mrs_msgs::EstimatorInput>(nh_, "estimator_input_out", 1);
+    1757          81 :   ph_control_reference_odom_             = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "control_reference_out", 1);
+    1758          81 :   ph_diagnostics_                        = mrs_lib::PublisherHandler<mrs_msgs::ControlManagerDiagnostics>(nh_, "diagnostics_out", 1);
+    1759          81 :   ph_offboard_on_                        = mrs_lib::PublisherHandler<std_msgs::Empty>(nh_, "offboard_on_out", 1);
+    1760          81 :   ph_tilt_error_                         = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "tilt_error_out", 1);
+    1761          81 :   ph_mass_estimate_                      = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "mass_estimate_out", 1, false, 10.0);
+    1762          81 :   ph_throttle_                           = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "throttle_out", 1, false, 10.0);
+    1763          81 :   ph_thrust_                             = mrs_lib::PublisherHandler<std_msgs::Float64>(nh_, "thrust_out", 1, false, 100.0);
+    1764          81 :   ph_control_error_                      = mrs_lib::PublisherHandler<mrs_msgs::ControlError>(nh_, "control_error_out", 1);
+    1765          81 :   ph_safety_area_markers_                = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_markers_out", 1, true, 1.0);
+    1766          81 :   ph_safety_area_coordinates_markers_    = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "safety_area_coordinates_markers_out", 1, true, 1.0);
+    1767          81 :   ph_disturbances_markers_               = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "disturbances_markers_out", 1, false, 10.0);
+    1768          81 :   ph_current_constraints_                = mrs_lib::PublisherHandler<mrs_msgs::DynamicsConstraints>(nh_, "current_constraints_out", 1);
+    1769          81 :   ph_heading_                            = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "heading_out", 1);
+    1770          81 :   ph_speed_                              = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "speed_out", 1, false, 10.0);
+    1771          81 :   pub_debug_original_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_original/poses_out", 1, true);
+    1772          81 :   pub_debug_original_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_original/markers_out", 1, true);
+    1773             : 
+    1774             :   // | ----------------------- subscribers ---------------------- |
+    1775             : 
+    1776         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+    1777          81 :   shopts.nh                 = nh_;
+    1778          81 :   shopts.node_name          = "ControlManager";
+    1779          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+    1780          81 :   shopts.threadsafe         = true;
+    1781          81 :   shopts.autostart          = true;
+    1782          81 :   shopts.queue_size         = 10;
+    1783          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+    1784             : 
+    1785          81 :   if (_state_input_ == INPUT_UAV_STATE) {
+    1786          81 :     sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &ControlManager::callbackUavState, this);
+    1787           0 :   } else if (_state_input_ == INPUT_ODOMETRY) {
+    1788           0 :     sh_odometry_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &ControlManager::callbackOdometry, this);
+    1789             :   }
+    1790             : 
+    1791          81 :   if (_odometry_innovation_check_enabled_) {
+    1792          81 :     sh_odometry_innovation_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_innovation_in");
+    1793             :   }
+    1794             : 
+    1795          81 :   sh_bumper_    = mrs_lib::SubscribeHandler<mrs_msgs::ObstacleSectors>(shopts, "bumper_sectors_in");
+    1796          81 :   sh_max_z_     = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_z_in");
+    1797          81 :   sh_joystick_  = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick_in", &ControlManager::callbackJoystick, this);
+    1798          81 :   sh_gnss_      = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &ControlManager::callbackGNSS, this);
+    1799          81 :   sh_hw_api_rc_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiRcChannels>(shopts, "hw_api_rc_in", &ControlManager::callbackRC, this);
+    1800             : 
+    1801          81 :   sh_hw_api_status_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in", &ControlManager::callbackHwApiStatus, this);
+    1802             : 
+    1803             :   // | -------------------- general services -------------------- |
+    1804             : 
+    1805          81 :   service_server_switch_tracker_             = nh_.advertiseService("switch_tracker_in", &ControlManager::callbackSwitchTracker, this);
+    1806          81 :   service_server_switch_controller_          = nh_.advertiseService("switch_controller_in", &ControlManager::callbackSwitchController, this);
+    1807          81 :   service_server_reset_tracker_              = nh_.advertiseService("tracker_reset_static_in", &ControlManager::callbackTrackerResetStatic, this);
+    1808          81 :   service_server_hover_                      = nh_.advertiseService("hover_in", &ControlManager::callbackHover, this);
+    1809          81 :   service_server_ehover_                     = nh_.advertiseService("ehover_in", &ControlManager::callbackEHover, this);
+    1810          81 :   service_server_failsafe_                   = nh_.advertiseService("failsafe_in", &ControlManager::callbackFailsafe, this);
+    1811          81 :   service_server_failsafe_escalating_        = nh_.advertiseService("failsafe_escalating_in", &ControlManager::callbackFailsafeEscalating, this);
+    1812          81 :   service_server_toggle_output_              = nh_.advertiseService("toggle_output_in", &ControlManager::callbackToggleOutput, this);
+    1813          81 :   service_server_arm_                        = nh_.advertiseService("arm_in", &ControlManager::callbackArm, this);
+    1814          81 :   service_server_enable_callbacks_           = nh_.advertiseService("enable_callbacks_in", &ControlManager::callbackEnableCallbacks, this);
+    1815          81 :   service_server_set_constraints_            = nh_.advertiseService("set_constraints_in", &ControlManager::callbackSetConstraints, this);
+    1816          81 :   service_server_use_joystick_               = nh_.advertiseService("use_joystick_in", &ControlManager::callbackUseJoystick, this);
+    1817          81 :   service_server_use_safety_area_            = nh_.advertiseService("use_safety_area_in", &ControlManager::callbackUseSafetyArea, this);
+    1818          81 :   service_server_eland_                      = nh_.advertiseService("eland_in", &ControlManager::callbackEland, this);
+    1819          81 :   service_server_parachute_                  = nh_.advertiseService("parachute_in", &ControlManager::callbackParachute, this);
+    1820          81 :   service_server_transform_reference_        = nh_.advertiseService("transform_reference_in", &ControlManager::callbackTransformReference, this);
+    1821          81 :   service_server_transform_pose_             = nh_.advertiseService("transform_pose_in", &ControlManager::callbackTransformPose, this);
+    1822          81 :   service_server_transform_vector3_          = nh_.advertiseService("transform_vector3_in", &ControlManager::callbackTransformVector3, this);
+    1823          81 :   service_server_bumper_enabler_             = nh_.advertiseService("bumper_in", &ControlManager::callbackEnableBumper, this);
+    1824          81 :   service_server_get_min_z_                  = nh_.advertiseService("get_min_z_in", &ControlManager::callbackGetMinZ, this);
+    1825          81 :   service_server_validate_reference_         = nh_.advertiseService("validate_reference_in", &ControlManager::callbackValidateReference, this);
+    1826          81 :   service_server_validate_reference_2d_      = nh_.advertiseService("validate_reference_2d_in", &ControlManager::callbackValidateReference2d, this);
+    1827          81 :   service_server_validate_reference_list_    = nh_.advertiseService("validate_reference_list_in", &ControlManager::callbackValidateReferenceList, this);
+    1828          81 :   service_server_start_trajectory_tracking_  = nh_.advertiseService("start_trajectory_tracking_in", &ControlManager::callbackStartTrajectoryTracking, this);
+    1829          81 :   service_server_stop_trajectory_tracking_   = nh_.advertiseService("stop_trajectory_tracking_in", &ControlManager::callbackStopTrajectoryTracking, this);
+    1830          81 :   service_server_resume_trajectory_tracking_ = nh_.advertiseService("resume_trajectory_tracking_in", &ControlManager::callbackResumeTrajectoryTracking, this);
+    1831          81 :   service_server_goto_trajectory_start_      = nh_.advertiseService("goto_trajectory_start_in", &ControlManager::callbackGotoTrajectoryStart, this);
+    1832             : 
+    1833          81 :   sch_arming_                 = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "hw_api_arming_out");
+    1834          81 :   sch_eland_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+    1835          81 :   sch_shutdown_               = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "shutdown_out");
+    1836          81 :   sch_set_odometry_callbacks_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+    1837          81 :   sch_ungrip_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+    1838          81 :   sch_parachute_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "parachute_out");
+    1839             : 
+    1840             :   // | ---------------- setpoint command services --------------- |
+    1841             : 
+    1842             :   // human callable
+    1843          81 :   service_server_goto_                 = nh_.advertiseService("goto_in", &ControlManager::callbackGoto, this);
+    1844          81 :   service_server_goto_fcu_             = nh_.advertiseService("goto_fcu_in", &ControlManager::callbackGotoFcu, this);
+    1845          81 :   service_server_goto_relative_        = nh_.advertiseService("goto_relative_in", &ControlManager::callbackGotoRelative, this);
+    1846          81 :   service_server_goto_altitude_        = nh_.advertiseService("goto_altitude_in", &ControlManager::callbackGotoAltitude, this);
+    1847          81 :   service_server_set_heading_          = nh_.advertiseService("set_heading_in", &ControlManager::callbackSetHeading, this);
+    1848          81 :   service_server_set_heading_relative_ = nh_.advertiseService("set_heading_relative_in", &ControlManager::callbackSetHeadingRelative, this);
+    1849             : 
+    1850          81 :   service_server_reference_ = nh_.advertiseService("reference_in", &ControlManager::callbackReferenceService, this);
+    1851          81 :   sh_reference_             = mrs_lib::SubscribeHandler<mrs_msgs::ReferenceStamped>(shopts, "reference_in", &ControlManager::callbackReferenceTopic, this);
+    1852             : 
+    1853          81 :   service_server_velocity_reference_ = nh_.advertiseService("velocity_reference_in", &ControlManager::callbackVelocityReferenceService, this);
+    1854             :   sh_velocity_reference_ =
+    1855          81 :       mrs_lib::SubscribeHandler<mrs_msgs::VelocityReferenceStamped>(shopts, "velocity_reference_in", &ControlManager::callbackVelocityReferenceTopic, this);
+    1856             : 
+    1857          81 :   service_server_trajectory_reference_ = nh_.advertiseService("trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceService, this);
+    1858             :   sh_trajectory_reference_ =
+    1859          81 :       mrs_lib::SubscribeHandler<mrs_msgs::TrajectoryReference>(shopts, "trajectory_reference_in", &ControlManager::callbackTrajectoryReferenceTopic, this);
+    1860             : 
+    1861             :   // | --------------------- other services --------------------- |
+    1862             : 
+    1863          81 :   service_server_emergency_reference_ = nh_.advertiseService("emergency_reference_in", &ControlManager::callbackEmergencyReference, this);
+    1864          81 :   service_server_pirouette_           = nh_.advertiseService("pirouette_in", &ControlManager::callbackPirouette, this);
+    1865             : 
+    1866             :   // | ------------------------- timers ------------------------- |
+    1867             : 
+    1868          81 :   timer_status_    = nh_.createTimer(ros::Rate(_status_timer_rate_), &ControlManager::timerStatus, this);
+    1869          81 :   timer_safety_    = nh_.createTimer(ros::Rate(_safety_timer_rate_), &ControlManager::timerSafety, this);
+    1870          81 :   timer_bumper_    = nh_.createTimer(ros::Rate(1.0), &ControlManager::timerBumper, this);
+    1871          81 :   timer_eland_     = nh_.createTimer(ros::Rate(_elanding_timer_rate_), &ControlManager::timerEland, this, false, false);
+    1872          81 :   timer_failsafe_  = nh_.createTimer(ros::Rate(_failsafe_timer_rate_), &ControlManager::timerFailsafe, this, false, false);
+    1873          81 :   timer_pirouette_ = nh_.createTimer(ros::Rate(_pirouette_timer_rate_), &ControlManager::timerPirouette, this, false, false);
+    1874          81 :   timer_joystick_  = nh_.createTimer(ros::Rate(_joystick_timer_rate_), &ControlManager::timerJoystick, this);
+    1875             : 
+    1876             :   // | ----------------------- finish init ---------------------- |
+    1877             : 
+    1878          81 :   if (!param_loader.loadedSuccessfully()) {
+    1879           0 :     ROS_ERROR("[ControlManager]: could not load all parameters!");
+    1880           0 :     ros::shutdown();
+    1881             :   }
+    1882             : 
+    1883          81 :   is_initialized_ = true;
+    1884             : 
+    1885          81 :   ROS_INFO("[ControlManager]: initialized");
+    1886          81 : }
+    1887             : 
+    1888             : //}
+    1889             : 
+    1890             : // --------------------------------------------------------------
+    1891             : // |                           timers                           |
+    1892             : // --------------------------------------------------------------
+    1893             : 
+    1894             : /* timerHwApiCapabilities() //{ */
+    1895             : 
+    1896         140 : void ControlManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+    1897             : 
+    1898         280 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", _status_timer_rate_, 1.0, event);
+    1899         280 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+    1900             : 
+    1901         140 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+    1902          59 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+    1903          59 :     return;
+    1904             :   }
+    1905             : 
+    1906         162 :   auto hw_ap_capabilities = sh_hw_api_capabilities_.getMsg();
+    1907             : 
+    1908          81 :   ROS_INFO("[ControlManager]: got HW API capabilities, the possible control modes are:");
+    1909             : 
+    1910          81 :   if (hw_ap_capabilities->accepts_actuator_cmd) {
+    1911           2 :     ROS_INFO("[ControlManager]: - actuator command");
+    1912           2 :     _hw_api_inputs_.actuators = true;
+    1913             :   }
+    1914             : 
+    1915          81 :   if (hw_ap_capabilities->accepts_control_group_cmd) {
+    1916           3 :     ROS_INFO("[ControlManager]: - control group command");
+    1917           3 :     _hw_api_inputs_.control_group = true;
+    1918             :   }
+    1919             : 
+    1920          81 :   if (hw_ap_capabilities->accepts_attitude_rate_cmd) {
+    1921          55 :     ROS_INFO("[ControlManager]: - attitude rate command");
+    1922          55 :     _hw_api_inputs_.attitude_rate = true;
+    1923             :   }
+    1924             : 
+    1925          81 :   if (hw_ap_capabilities->accepts_attitude_cmd) {
+    1926          53 :     ROS_INFO("[ControlManager]: - attitude command");
+    1927          53 :     _hw_api_inputs_.attitude = true;
+    1928             :   }
+    1929             : 
+    1930          81 :   if (hw_ap_capabilities->accepts_acceleration_hdg_rate_cmd) {
+    1931           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg rate command");
+    1932           2 :     _hw_api_inputs_.acceleration_hdg_rate = true;
+    1933             :   }
+    1934             : 
+    1935          81 :   if (hw_ap_capabilities->accepts_acceleration_hdg_cmd) {
+    1936           2 :     ROS_INFO("[ControlManager]: - acceleration+hdg command");
+    1937           2 :     _hw_api_inputs_.acceleration_hdg = true;
+    1938             :   }
+    1939             : 
+    1940          81 :   if (hw_ap_capabilities->accepts_velocity_hdg_rate_cmd) {
+    1941           8 :     ROS_INFO("[ControlManager]: - velocityhdg rate command");
+    1942           8 :     _hw_api_inputs_.velocity_hdg_rate = true;
+    1943             :   }
+    1944             : 
+    1945          81 :   if (hw_ap_capabilities->accepts_velocity_hdg_cmd) {
+    1946           4 :     ROS_INFO("[ControlManager]: - velocityhdg command");
+    1947           4 :     _hw_api_inputs_.velocity_hdg = true;
+    1948             :   }
+    1949             : 
+    1950          81 :   if (hw_ap_capabilities->accepts_position_cmd) {
+    1951           2 :     ROS_INFO("[ControlManager]: - position command");
+    1952           2 :     _hw_api_inputs_.position = true;
+    1953             :   }
+    1954             : 
+    1955          81 :   initialize();
+    1956             : 
+    1957          81 :   timer_hw_api_capabilities_.stop();
+    1958             : }
+    1959             : 
+    1960             : //}
+    1961             : 
+    1962             : /* //{ timerStatus() */
+    1963             : 
+    1964       14858 : void ControlManager::timerStatus(const ros::TimerEvent& event) {
+    1965             : 
+    1966       14858 :   if (!is_initialized_)
+    1967           0 :     return;
+    1968             : 
+    1969       44574 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerStatus", _status_timer_rate_, 0.1, event);
+    1970       44574 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerStatus", scope_timer_logger_, scope_timer_enabled_);
+    1971             : 
+    1972             :   // copy member variables
+    1973       29716 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1974       29716 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    1975       29716 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    1976       14858 :   auto yaw_error             = mrs_lib::get_mutexed(mutex_attitude_error_, yaw_error_);
+    1977       14858 :   auto position_error        = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    1978       14858 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    1979       14858 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    1980             : 
+    1981             :   double uav_x, uav_y, uav_z;
+    1982       14858 :   uav_x = uav_state.pose.position.x;
+    1983       14858 :   uav_y = uav_state.pose.position.y;
+    1984       14858 :   uav_z = uav_state.pose.position.z;
+    1985             : 
+    1986             :   // --------------------------------------------------------------
+    1987             :   // |                      print the status                      |
+    1988             :   // --------------------------------------------------------------
+    1989             : 
+    1990             :   {
+    1991       29716 :     std::string controller = _controller_names_[active_controller_idx];
+    1992       29716 :     std::string tracker    = _tracker_names_[active_tracker_idx];
+    1993       14858 :     double      mass       = last_control_output.diagnostics.total_mass;
+    1994       14858 :     double      bx_b       = last_control_output.diagnostics.disturbance_bx_b;
+    1995       14858 :     double      by_b       = last_control_output.diagnostics.disturbance_by_b;
+    1996       14858 :     double      wx_w       = last_control_output.diagnostics.disturbance_wx_w;
+    1997       14858 :     double      wy_w       = last_control_output.diagnostics.disturbance_wy_w;
+    1998             : 
+    1999       14858 :     ROS_INFO_THROTTLE(5.0, "[ControlManager]: tracker: '%s', controller: '%s', mass: '%.2f kg', disturbances: body [%.2f, %.2f] N, world [%.2f, %.2f] N",
+    2000             :                       tracker.c_str(), controller.c_str(), mass, bx_b, by_b, wx_w, wy_w);
+    2001             :   }
+    2002             : 
+    2003             :   // --------------------------------------------------------------
+    2004             :   // |                   publish the diagnostics                  |
+    2005             :   // --------------------------------------------------------------
+    2006             : 
+    2007       14858 :   publishDiagnostics();
+    2008             : 
+    2009             :   // --------------------------------------------------------------
+    2010             :   // |                publish if the offboard is on               |
+    2011             :   // --------------------------------------------------------------
+    2012             : 
+    2013       14858 :   if (offboard_mode_) {
+    2014             : 
+    2015       10085 :     std_msgs::Empty offboard_on_out;
+    2016             : 
+    2017       10085 :     ph_offboard_on_.publish(offboard_on_out);
+    2018             :   }
+    2019             : 
+    2020             :   // --------------------------------------------------------------
+    2021             :   // |                   publish the tilt error                   |
+    2022             :   // --------------------------------------------------------------
+    2023             :   {
+    2024       29716 :     std::scoped_lock lock(mutex_attitude_error_);
+    2025             : 
+    2026       14858 :     if (tilt_error_) {
+    2027             : 
+    2028       29716 :       mrs_msgs::Float64Stamped tilt_error_out;
+    2029       14858 :       tilt_error_out.header.stamp    = ros::Time::now();
+    2030       14858 :       tilt_error_out.header.frame_id = uav_state.header.frame_id;
+    2031       14858 :       tilt_error_out.value           = (180.0 / M_PI) * tilt_error_.value();
+    2032             : 
+    2033       14858 :       ph_tilt_error_.publish(tilt_error_out);
+    2034             :     }
+    2035             :   }
+    2036             : 
+    2037             :   // --------------------------------------------------------------
+    2038             :   // |                  publish the control error                 |
+    2039             :   // --------------------------------------------------------------
+    2040             : 
+    2041       14858 :   if (position_error) {
+    2042             : 
+    2043        9035 :     Eigen::Vector3d pos_error_value = position_error.value();
+    2044             : 
+    2045       18070 :     mrs_msgs::ControlError msg_out;
+    2046             : 
+    2047        9035 :     msg_out.header.stamp    = ros::Time::now();
+    2048        9035 :     msg_out.header.frame_id = uav_state.header.frame_id;
+    2049             : 
+    2050        9035 :     msg_out.position_errors.x    = pos_error_value[0];
+    2051        9035 :     msg_out.position_errors.y    = pos_error_value[1];
+    2052        9035 :     msg_out.position_errors.z    = pos_error_value[2];
+    2053        9035 :     msg_out.total_position_error = pos_error_value.norm();
+    2054             : 
+    2055        9035 :     if (yaw_error_) {
+    2056        9035 :       msg_out.yaw_error = yaw_error.value();
+    2057             :     }
+    2058             : 
+    2059        9035 :     std::map<std::string, ControllerParams>::iterator it;
+    2060             : 
+    2061        9035 :     it = controllers_.find(_controller_names_[active_controller_idx]);
+    2062             : 
+    2063        9035 :     msg_out.position_eland_threshold    = it->second.eland_threshold;
+    2064        9035 :     msg_out.position_failsafe_threshold = it->second.failsafe_threshold;
+    2065             : 
+    2066        9035 :     ph_control_error_.publish(msg_out);
+    2067             :   }
+    2068             : 
+    2069             :   // --------------------------------------------------------------
+    2070             :   // |                  publish the mass estimate                 |
+    2071             :   // --------------------------------------------------------------
+    2072             : 
+    2073       14858 :   if (last_control_output.diagnostics.mass_estimator) {
+    2074             : 
+    2075        7758 :     std_msgs::Float64 mass_estimate_out;
+    2076        7758 :     mass_estimate_out.data = _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    2077             : 
+    2078        7758 :     ph_mass_estimate_.publish(mass_estimate_out);
+    2079             :   }
+    2080             : 
+    2081             :   // --------------------------------------------------------------
+    2082             :   // |                 publish the current heading                |
+    2083             :   // --------------------------------------------------------------
+    2084             : 
+    2085       14858 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2086             : 
+    2087             :     try {
+    2088             : 
+    2089             :       double heading;
+    2090             : 
+    2091       12773 :       heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    2092             : 
+    2093       25546 :       mrs_msgs::Float64Stamped heading_out;
+    2094       12773 :       heading_out.header = uav_state.header;
+    2095       12773 :       heading_out.value  = heading;
+    2096             : 
+    2097       12773 :       ph_heading_.publish(heading_out);
+    2098             :     }
+    2099           0 :     catch (...) {
+    2100           0 :       ROS_ERROR_THROTTLE(1.0, "exception caught, could not transform heading");
+    2101             :     }
+    2102             :   }
+    2103             : 
+    2104             :   // --------------------------------------------------------------
+    2105             :   // |                  publish the current speed                 |
+    2106             :   // --------------------------------------------------------------
+    2107             : 
+    2108       14858 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2109             : 
+    2110       12773 :     double speed = sqrt(pow(uav_state.velocity.linear.x, 2) + pow(uav_state.velocity.linear.y, 2) + pow(uav_state.velocity.linear.z, 2));
+    2111             : 
+    2112       25546 :     mrs_msgs::Float64Stamped speed_out;
+    2113       12773 :     speed_out.header = uav_state.header;
+    2114       12773 :     speed_out.value  = speed;
+    2115             : 
+    2116       12773 :     ph_speed_.publish(speed_out);
+    2117             :   }
+    2118             : 
+    2119             :   // --------------------------------------------------------------
+    2120             :   // |               publish the safety area markers              |
+    2121             :   // --------------------------------------------------------------
+    2122             : 
+    2123       14858 :   if (use_safety_area_) {
+    2124             : 
+    2125       23598 :     mrs_msgs::ReferenceStamped temp_ref;
+    2126       11799 :     temp_ref.header.frame_id = _safety_area_horizontal_frame_;
+    2127             : 
+    2128       23598 :     geometry_msgs::TransformStamped tf;
+    2129             : 
+    2130       35397 :     auto ret = transformer_->getTransform(_safety_area_horizontal_frame_, "local_origin", ros::Time(0));
+    2131             : 
+    2132       11799 :     if (ret) {
+    2133             : 
+    2134        9977 :       ROS_INFO_ONCE("[ControlManager]: got TFs, publishing safety area markers");
+    2135             : 
+    2136       19954 :       visualization_msgs::MarkerArray safety_area_marker_array;
+    2137       19954 :       visualization_msgs::MarkerArray safety_area_coordinates_marker_array;
+    2138             : 
+    2139       19954 :       mrs_lib::Polygon border = safety_zone_->getBorder();
+    2140             : 
+    2141       19954 :       std::vector<geometry_msgs::Point> border_points_bot_original = border.getPointMessageVector(getMinZ(_safety_area_horizontal_frame_));
+    2142       19954 :       std::vector<geometry_msgs::Point> border_points_top_original = border.getPointMessageVector(getMaxZ(_safety_area_horizontal_frame_));
+    2143             : 
+    2144       19954 :       std::vector<geometry_msgs::Point> border_points_bot_transformed = border_points_bot_original;
+    2145       19954 :       std::vector<geometry_msgs::Point> border_points_top_transformed = border_points_bot_original;
+    2146             : 
+    2147             :       // if we fail in transforming the area at some point
+    2148             :       // do not publish it at all
+    2149        9977 :       bool tf_success = true;
+    2150             : 
+    2151       19954 :       geometry_msgs::TransformStamped tf = ret.value();
+    2152             : 
+    2153             :       /* transform area points to local origin //{ */
+    2154             : 
+    2155             :       // transform border bottom points to local origin
+    2156       49885 :       for (size_t i = 0; i < border_points_bot_original.size(); i++) {
+    2157             : 
+    2158       39908 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2159       39908 :         temp_ref.header.stamp         = ros::Time(0);
+    2160       39908 :         temp_ref.reference.position.x = border_points_bot_original[i].x;
+    2161       39908 :         temp_ref.reference.position.y = border_points_bot_original[i].y;
+    2162       39908 :         temp_ref.reference.position.z = border_points_bot_original[i].z;
+    2163             : 
+    2164       79816 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2165             : 
+    2166       39908 :           temp_ref = ret.value();
+    2167             : 
+    2168       39908 :           border_points_bot_transformed[i].x = temp_ref.reference.position.x;
+    2169       39908 :           border_points_bot_transformed[i].y = temp_ref.reference.position.y;
+    2170       39908 :           border_points_bot_transformed[i].z = temp_ref.reference.position.z;
+    2171             : 
+    2172             :         } else {
+    2173           0 :           tf_success = false;
+    2174             :         }
+    2175             :       }
+    2176             : 
+    2177             :       // transform border top points to local origin
+    2178       49885 :       for (size_t i = 0; i < border_points_top_original.size(); i++) {
+    2179             : 
+    2180       39908 :         temp_ref.header.frame_id      = _safety_area_horizontal_frame_;
+    2181       39908 :         temp_ref.header.stamp         = ros::Time(0);
+    2182       39908 :         temp_ref.reference.position.x = border_points_top_original[i].x;
+    2183       39908 :         temp_ref.reference.position.y = border_points_top_original[i].y;
+    2184       39908 :         temp_ref.reference.position.z = border_points_top_original[i].z;
+    2185             : 
+    2186       79816 :         if (auto ret = transformer_->transform(temp_ref, tf)) {
+    2187             : 
+    2188       39908 :           temp_ref = ret.value();
+    2189             : 
+    2190       39908 :           border_points_top_transformed[i].x = temp_ref.reference.position.x;
+    2191       39908 :           border_points_top_transformed[i].y = temp_ref.reference.position.y;
+    2192       39908 :           border_points_top_transformed[i].z = temp_ref.reference.position.z;
+    2193             : 
+    2194             :         } else {
+    2195           0 :           tf_success = false;
+    2196             :         }
+    2197             :       }
+    2198             : 
+    2199             :       //}
+    2200             : 
+    2201       19954 :       visualization_msgs::Marker safety_area_marker;
+    2202             : 
+    2203        9977 :       safety_area_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2204        9977 :       safety_area_marker.type            = visualization_msgs::Marker::LINE_LIST;
+    2205        9977 :       safety_area_marker.color.a         = 0.15;
+    2206        9977 :       safety_area_marker.scale.x         = 0.2;
+    2207        9977 :       safety_area_marker.color.r         = 1;
+    2208        9977 :       safety_area_marker.color.g         = 0;
+    2209        9977 :       safety_area_marker.color.b         = 0;
+    2210             : 
+    2211        9977 :       safety_area_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2212             : 
+    2213       19954 :       visualization_msgs::Marker safety_area_coordinates_marker;
+    2214             : 
+    2215        9977 :       safety_area_coordinates_marker.header.frame_id = _uav_name_ + "/local_origin";
+    2216        9977 :       safety_area_coordinates_marker.type            = visualization_msgs::Marker::TEXT_VIEW_FACING;
+    2217        9977 :       safety_area_coordinates_marker.color.a         = 1;
+    2218        9977 :       safety_area_coordinates_marker.scale.z         = 1.0;
+    2219        9977 :       safety_area_coordinates_marker.color.r         = 0;
+    2220        9977 :       safety_area_coordinates_marker.color.g         = 0;
+    2221        9977 :       safety_area_coordinates_marker.color.b         = 0;
+    2222             : 
+    2223        9977 :       safety_area_coordinates_marker.id = 0;
+    2224             : 
+    2225        9977 :       safety_area_coordinates_marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2226             : 
+    2227             :       /* adding safety area points //{ */
+    2228             : 
+    2229             :       // bottom border
+    2230       49885 :       for (size_t i = 0; i < border_points_bot_transformed.size(); i++) {
+    2231             : 
+    2232       39908 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2233       39908 :         safety_area_marker.points.push_back(border_points_bot_transformed[(i + 1) % border_points_bot_transformed.size()]);
+    2234             : 
+    2235       79816 :         std::stringstream ss;
+    2236             : 
+    2237       39908 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2238           0 :           ss << "idx: " << i << std::endl
+    2239           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2240           0 :              << "lon: " << border_points_bot_original[i].y;
+    2241             :         } else {
+    2242       39908 :           ss << "idx: " << i << std::endl
+    2243       39908 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2244       39908 :              << "y: " << border_points_bot_original[i].y;
+    2245             :         }
+    2246             : 
+    2247       39908 :         safety_area_coordinates_marker.color.r = 0;
+    2248       39908 :         safety_area_coordinates_marker.color.g = 0;
+    2249       39908 :         safety_area_coordinates_marker.color.b = 0;
+    2250             : 
+    2251       39908 :         safety_area_coordinates_marker.pose.position = border_points_bot_transformed[i];
+    2252       39908 :         safety_area_coordinates_marker.text          = ss.str();
+    2253       39908 :         safety_area_coordinates_marker.id++;
+    2254             : 
+    2255       39908 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2256             :       }
+    2257             : 
+    2258             :       // top border + top/bot edges
+    2259       49885 :       for (size_t i = 0; i < border_points_top_transformed.size(); i++) {
+    2260             : 
+    2261       39908 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2262       39908 :         safety_area_marker.points.push_back(border_points_top_transformed[(i + 1) % border_points_top_transformed.size()]);
+    2263             : 
+    2264       39908 :         safety_area_marker.points.push_back(border_points_bot_transformed[i]);
+    2265       39908 :         safety_area_marker.points.push_back(border_points_top_transformed[i]);
+    2266             : 
+    2267       79816 :         std::stringstream ss;
+    2268             : 
+    2269       39908 :         if (_safety_area_horizontal_frame_ == "latlon_origin") {
+    2270           0 :           ss << "idx: " << i << std::endl
+    2271           0 :              << std::setprecision(6) << std::fixed << "lat: " << border_points_bot_original[i].x << std::endl
+    2272           0 :              << "lon: " << border_points_bot_original[i].y;
+    2273             :         } else {
+    2274       39908 :           ss << "idx: " << i << std::endl
+    2275       39908 :              << std::setprecision(1) << std::fixed << "x: " << border_points_bot_original[i].x << std::endl
+    2276       39908 :              << "y: " << border_points_bot_original[i].y;
+    2277             :         }
+    2278             : 
+    2279       39908 :         safety_area_coordinates_marker.color.r = 1;
+    2280       39908 :         safety_area_coordinates_marker.color.g = 1;
+    2281       39908 :         safety_area_coordinates_marker.color.b = 1;
+    2282             : 
+    2283       39908 :         safety_area_coordinates_marker.pose.position = border_points_top_transformed[i];
+    2284       39908 :         safety_area_coordinates_marker.text          = ss.str();
+    2285       39908 :         safety_area_coordinates_marker.id++;
+    2286             : 
+    2287       39908 :         safety_area_coordinates_marker_array.markers.push_back(safety_area_coordinates_marker);
+    2288             :       }
+    2289             : 
+    2290             :       //}
+    2291             : 
+    2292        9977 :       if (tf_success) {
+    2293             : 
+    2294        9977 :         safety_area_marker_array.markers.push_back(safety_area_marker);
+    2295             : 
+    2296        9977 :         ph_safety_area_markers_.publish(safety_area_marker_array);
+    2297             : 
+    2298        9977 :         ph_safety_area_coordinates_markers_.publish(safety_area_coordinates_marker_array);
+    2299             :       }
+    2300             : 
+    2301             :     } else {
+    2302        1822 :       ROS_WARN_ONCE("[ControlManager]: missing TFs, can not publish safety area markers");
+    2303             :     }
+    2304             :   }
+    2305             : 
+    2306             :   // --------------------------------------------------------------
+    2307             :   // |              publish the disturbances markers              |
+    2308             :   // --------------------------------------------------------------
+    2309             : 
+    2310       14858 :   if (last_control_output.diagnostics.disturbance_estimator && got_uav_state_) {
+    2311             : 
+    2312       15620 :     visualization_msgs::MarkerArray msg_out;
+    2313             : 
+    2314        7810 :     double id = 0;
+    2315             : 
+    2316        7810 :     double multiplier = 1.0;
+    2317             : 
+    2318        7810 :     Eigen::Quaterniond quat_eigen = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2319             : 
+    2320        7810 :     Eigen::Vector3d      vec3d;
+    2321        7810 :     geometry_msgs::Point point;
+    2322             : 
+    2323             :     /* world disturbance //{ */
+    2324             :     {
+    2325             : 
+    2326       15620 :       visualization_msgs::Marker marker;
+    2327             : 
+    2328        7810 :       marker.header.frame_id = uav_state.header.frame_id;
+    2329        7810 :       marker.header.stamp    = ros::Time::now();
+    2330        7810 :       marker.ns              = "control_manager";
+    2331        7810 :       marker.id              = id++;
+    2332        7810 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2333        7810 :       marker.action          = visualization_msgs::Marker::ADD;
+    2334             : 
+    2335             :       /* position //{ */
+    2336             : 
+    2337        7810 :       marker.pose.position.x = 0.0;
+    2338        7810 :       marker.pose.position.y = 0.0;
+    2339        7810 :       marker.pose.position.z = 0.0;
+    2340             : 
+    2341             :       //}
+    2342             : 
+    2343             :       /* orientation //{ */
+    2344             : 
+    2345        7810 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2346             : 
+    2347             :       //}
+    2348             : 
+    2349             :       /* origin //{ */
+    2350        7810 :       point.x = uav_x;
+    2351        7810 :       point.y = uav_y;
+    2352        7810 :       point.z = uav_z;
+    2353             : 
+    2354        7810 :       marker.points.push_back(point);
+    2355             : 
+    2356             :       //}
+    2357             : 
+    2358             :       /* tip //{ */
+    2359             : 
+    2360        7810 :       point.x = uav_x + multiplier * last_control_output.diagnostics.disturbance_wx_w;
+    2361        7810 :       point.y = uav_y + multiplier * last_control_output.diagnostics.disturbance_wy_w;
+    2362        7810 :       point.z = uav_z;
+    2363             : 
+    2364        7810 :       marker.points.push_back(point);
+    2365             : 
+    2366             :       //}
+    2367             : 
+    2368        7810 :       marker.scale.x = 0.05;
+    2369        7810 :       marker.scale.y = 0.05;
+    2370        7810 :       marker.scale.z = 0.05;
+    2371             : 
+    2372        7810 :       marker.color.a = 0.5;
+    2373        7810 :       marker.color.r = 1.0;
+    2374        7810 :       marker.color.g = 0.0;
+    2375        7810 :       marker.color.b = 0.0;
+    2376             : 
+    2377        7810 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2378             : 
+    2379        7810 :       msg_out.markers.push_back(marker);
+    2380             :     }
+    2381             : 
+    2382             :     //}
+    2383             : 
+    2384             :     /* body disturbance //{ */
+    2385             :     {
+    2386             : 
+    2387       15620 :       visualization_msgs::Marker marker;
+    2388             : 
+    2389        7810 :       marker.header.frame_id = uav_state.header.frame_id;
+    2390        7810 :       marker.header.stamp    = ros::Time::now();
+    2391        7810 :       marker.ns              = "control_manager";
+    2392        7810 :       marker.id              = id++;
+    2393        7810 :       marker.type            = visualization_msgs::Marker::ARROW;
+    2394        7810 :       marker.action          = visualization_msgs::Marker::ADD;
+    2395             : 
+    2396             :       /* position //{ */
+    2397             : 
+    2398        7810 :       marker.pose.position.x = 0.0;
+    2399        7810 :       marker.pose.position.y = 0.0;
+    2400        7810 :       marker.pose.position.z = 0.0;
+    2401             : 
+    2402             :       //}
+    2403             : 
+    2404             :       /* orientation //{ */
+    2405             : 
+    2406        7810 :       marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2407             : 
+    2408             :       //}
+    2409             : 
+    2410             :       /* origin //{ */
+    2411             : 
+    2412        7810 :       point.x = uav_x;
+    2413        7810 :       point.y = uav_y;
+    2414        7810 :       point.z = uav_z;
+    2415             : 
+    2416        7810 :       marker.points.push_back(point);
+    2417             : 
+    2418             :       //}
+    2419             : 
+    2420             :       /* tip //{ */
+    2421             : 
+    2422        7810 :       vec3d << multiplier * last_control_output.diagnostics.disturbance_bx_b, multiplier * last_control_output.diagnostics.disturbance_by_b, 0;
+    2423        7810 :       vec3d = quat_eigen * vec3d;
+    2424             : 
+    2425        7810 :       point.x = uav_x + vec3d[0];
+    2426        7810 :       point.y = uav_y + vec3d[1];
+    2427        7810 :       point.z = uav_z + vec3d[2];
+    2428             : 
+    2429        7810 :       marker.points.push_back(point);
+    2430             : 
+    2431             :       //}
+    2432             : 
+    2433        7810 :       marker.scale.x = 0.05;
+    2434        7810 :       marker.scale.y = 0.05;
+    2435        7810 :       marker.scale.z = 0.05;
+    2436             : 
+    2437        7810 :       marker.color.a = 0.5;
+    2438        7810 :       marker.color.r = 0.0;
+    2439        7810 :       marker.color.g = 1.0;
+    2440        7810 :       marker.color.b = 0.0;
+    2441             : 
+    2442        7810 :       marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    2443             : 
+    2444        7810 :       msg_out.markers.push_back(marker);
+    2445             :     }
+    2446             : 
+    2447             :     //}
+    2448             : 
+    2449        7810 :     ph_disturbances_markers_.publish(msg_out);
+    2450             :   }
+    2451             : 
+    2452             :   // --------------------------------------------------------------
+    2453             :   // |               publish the current constraints              |
+    2454             :   // --------------------------------------------------------------
+    2455             : 
+    2456       14858 :   if (got_constraints_) {
+    2457             : 
+    2458       12717 :     auto sanitized_constraints = mrs_lib::get_mutexed(mutex_constraints_, sanitized_constraints_);
+    2459             : 
+    2460       12717 :     mrs_msgs::DynamicsConstraints constraints = sanitized_constraints.constraints;
+    2461             : 
+    2462       12717 :     ph_current_constraints_.publish(constraints);
+    2463             :   }
+    2464             : }
+    2465             : 
+    2466             : //}
+    2467             : 
+    2468             : /* //{ timerSafety() */
+    2469             : 
+    2470      273784 : void ControlManager::timerSafety(const ros::TimerEvent& event) {
+    2471             : 
+    2472      273788 :   mrs_lib::AtomicScopeFlag unset_running(running_safety_timer_);
+    2473             : 
+    2474      273784 :   if (!is_initialized_)
+    2475           0 :     return;
+    2476             : 
+    2477      547572 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerSafety", _safety_timer_rate_, 0.05, event);
+    2478      547572 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerSafety", scope_timer_logger_, scope_timer_enabled_);
+    2479             : 
+    2480             :   // copy member variables
+    2481      273788 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2482      273788 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    2483      273788 :   auto [uav_state, uav_yaw]  = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_, uav_yaw_);
+    2484      273784 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    2485      273784 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    2486             : 
+    2487      524000 :   if (!got_uav_state_ || (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) ||
+    2488      250216 :       active_tracker_idx == _null_tracker_idx_) {
+    2489       97778 :     return;
+    2490             :   }
+    2491             : 
+    2492      176006 :   if (odometry_switch_in_progress_) {
+    2493           4 :     ROS_WARN("[ControlManager]: timerSafety tried to run while odometry switch in progress");
+    2494           4 :     return;
+    2495             :   }
+    2496             : 
+    2497             :   // | ------------------------ timeouts ------------------------ |
+    2498             : 
+    2499      176002 :   if (_state_input_ == INPUT_UAV_STATE && sh_uav_state_.hasMsg()) {
+    2500      176002 :     double missing_for = (ros::Time::now() - sh_uav_state_.lastMsgTime()).toSec();
+    2501             : 
+    2502      176002 :     if (missing_for > _uav_state_max_missing_time_) {
+    2503           0 :       timeoutUavState(missing_for);
+    2504             :     }
+    2505             :   }
+    2506             : 
+    2507      176002 :   if (_state_input_ == INPUT_ODOMETRY && sh_odometry_.hasMsg()) {
+    2508           0 :     double missing_for = (ros::Time::now() - sh_odometry_.lastMsgTime()).toSec();
+    2509             : 
+    2510           0 :     if (missing_for > _uav_state_max_missing_time_) {
+    2511           0 :       timeoutUavState(missing_for);
+    2512             :     }
+    2513             :   }
+    2514             : 
+    2515             :   // | -------------- eland and failsafe thresholds ------------- |
+    2516             : 
+    2517      176002 :   std::map<std::string, ControllerParams>::iterator it;
+    2518      176002 :   it = controllers_.find(_controller_names_[active_controller_idx]);
+    2519             : 
+    2520      176002 :   _eland_threshold_               = it->second.eland_threshold;
+    2521      176002 :   _failsafe_threshold_            = it->second.failsafe_threshold;
+    2522      176002 :   _odometry_innovation_threshold_ = it->second.odometry_innovation_threshold;
+    2523             : 
+    2524             :   // | --------- calculate control errors and tilt angle -------- |
+    2525             : 
+    2526             :   // This means that the timerFailsafe only does its work when Controllers and Trackers produce valid output.
+    2527             :   // Cases when the commands are not valid should be handle in updateControllers() and updateTrackers() methods.
+    2528      176002 :   if (!last_tracker_cmd || !last_control_output.control_output) {
+    2529         148 :     return;
+    2530             :   }
+    2531             : 
+    2532             :   {
+    2533      175854 :     std::scoped_lock lock(mutex_attitude_error_);
+    2534             : 
+    2535      175854 :     tilt_error_ = 0;
+    2536      175854 :     yaw_error_  = 0;
+    2537             :   }
+    2538             : 
+    2539             :   {
+    2540             :     // TODO this whole scope is very clumsy
+    2541             : 
+    2542      175854 :     position_error_ = {};
+    2543             : 
+    2544      175854 :     if (last_tracker_cmd->use_position_horizontal && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2545             : 
+    2546      174856 :       std::scoped_lock lock(mutex_position_error_);
+    2547             : 
+    2548      174852 :       if (!position_error_) {
+    2549      174836 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2550             :       }
+    2551             : 
+    2552      174852 :       position_error_.value()[0] = last_tracker_cmd->position.x - uav_state.pose.position.x;
+    2553      174850 :       position_error_.value()[1] = last_tracker_cmd->position.y - uav_state.pose.position.y;
+    2554             :     }
+    2555             : 
+    2556      175850 :     if (last_tracker_cmd->use_position_vertical && !std::holds_alternative<mrs_msgs::HwApiPositionCmd>(last_control_output.control_output.value())) {
+    2557             : 
+    2558      174848 :       std::scoped_lock lock(mutex_position_error_);
+    2559             : 
+    2560      174848 :       if (!position_error_) {
+    2561           0 :         position_error_ = Eigen::Vector3d::Zero(3);
+    2562             :       }
+    2563             : 
+    2564      174848 :       position_error_.value()[2] = last_tracker_cmd->position.z - uav_state.pose.position.z;
+    2565             :     }
+    2566             :   }
+    2567             : 
+    2568             :   // rotate the drone's z axis
+    2569      175850 :   tf2::Transform uav_state_transform = mrs_lib::AttitudeConverter(uav_state.pose.orientation);
+    2570      175850 :   tf2::Vector3   uav_z_in_world      = uav_state_transform * tf2::Vector3(0, 0, 1);
+    2571             : 
+    2572             :   // calculate the angle between the drone's z axis and the world's z axis
+    2573      175850 :   double tilt_angle = acos(uav_z_in_world.dot(tf2::Vector3(0, 0, 1)));
+    2574             : 
+    2575             :   // | ------------ calculate the tilt and yaw error ------------ |
+    2576             : 
+    2577             :   // | --------------------- the tilt error --------------------- |
+    2578             : 
+    2579      175850 :   if (last_control_output.desired_orientation) {
+    2580             : 
+    2581             :     // calculate the desired drone's z axis in the world frame
+    2582      151215 :     tf2::Transform attitude_cmd_transform = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value());
+    2583      151215 :     tf2::Vector3   uav_z_in_world_desired = attitude_cmd_transform * tf2::Vector3(0, 0, 1);
+    2584             : 
+    2585             :     {
+    2586      151215 :       std::scoped_lock lock(mutex_attitude_error_);
+    2587             : 
+    2588             :       // calculate the angle between the drone's z axis and the world's z axis
+    2589      151215 :       tilt_error_ = acos(uav_z_in_world.dot(uav_z_in_world_desired));
+    2590             : 
+    2591             :       // calculate the yaw error
+    2592      151215 :       double cmd_yaw = mrs_lib::AttitudeConverter(last_control_output.desired_orientation.value()).getYaw();
+    2593      151215 :       yaw_error_     = fabs(radians::diff(cmd_yaw, uav_yaw));
+    2594             :     }
+    2595             :   }
+    2596             : 
+    2597      175850 :   auto position_error          = mrs_lib::get_mutexed(mutex_position_error_, position_error_);
+    2598      175850 :   auto [tilt_error, yaw_error] = mrs_lib::get_mutexed(mutex_attitude_error_, tilt_error_, yaw_error_);
+    2599             : 
+    2600             :   // --------------------------------------------------------------
+    2601             :   // |   activate the failsafe controller in case of large error  |
+    2602             :   // --------------------------------------------------------------
+    2603             : 
+    2604      175850 :   if (position_error) {
+    2605             : 
+    2606      174847 :     if (position_error->norm() > _failsafe_threshold_ && !failsafe_triggered_) {
+    2607             : 
+    2608          17 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2609             : 
+    2610          17 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2611             : 
+    2612           1 :         if (!failsafe_triggered_) {
+    2613             : 
+    2614           1 :           ROS_ERROR("[ControlManager]: activating failsafe land: control_error=%.2f/%.2f m (x: %.2f, y: %.2f, z: %.2f)", position_error->norm(),
+    2615             :                     _failsafe_threshold_, position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2616             : 
+    2617           1 :           failsafe();
+    2618             :         }
+    2619             :       }
+    2620             :     }
+    2621             :   }
+    2622             : 
+    2623             :   // --------------------------------------------------------------
+    2624             :   // |     activate emergency land in case of large innovation    |
+    2625             :   // --------------------------------------------------------------
+    2626             : 
+    2627      175850 :   if (_odometry_innovation_check_enabled_) {
+    2628             : 
+    2629      175850 :     std::optional<nav_msgs::Odometry::ConstPtr> innovation;
+    2630             : 
+    2631      175850 :     if (sh_odometry_innovation_.hasMsg()) {
+    2632      175850 :       innovation = {sh_odometry_innovation_.getMsg()};
+    2633             :     } else {
+    2634           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: missing estimator innnovation but the innovation check is enabled!");
+    2635             :     }
+    2636             : 
+    2637      175849 :     if (innovation) {
+    2638             : 
+    2639      175850 :       auto [x, y, z] = mrs_lib::getPosition(innovation.value());
+    2640             : 
+    2641      175849 :       double heading = 0;
+    2642             :       try {
+    2643      175849 :         heading = mrs_lib::getHeading(innovation.value());
+    2644             :       }
+    2645           0 :       catch (mrs_lib::AttitudeConverter::GetHeadingException& e) {
+    2646           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception caught: '%s'", e.what());
+    2647             :       }
+    2648             : 
+    2649      175850 :       double last_innovation = mrs_lib::geometry::dist(vec3_t(x, y, z), vec3_t(0, 0, 0));
+    2650             : 
+    2651      175850 :       if (last_innovation > _odometry_innovation_threshold_ || radians::diff(heading, 0) > M_PI_2) {
+    2652             : 
+    2653           1 :         auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2654             : 
+    2655           1 :         if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2656             : 
+    2657           1 :           if (!failsafe_triggered_ && !eland_triggered_) {
+    2658             : 
+    2659           1 :             ROS_ERROR("[ControlManager]: activating emergency land: odometry innovation too large: %.2f/%.2f (x: %.2f, y: %.2f, z: %.2f, heading: %.2f)",
+    2660             :                       last_innovation, _odometry_innovation_threshold_, x, y, z, heading);
+    2661             : 
+    2662           1 :             eland();
+    2663             :           }
+    2664             :         }
+    2665             :       }
+    2666             :     }
+    2667             :   }
+    2668             : 
+    2669             :   // --------------------------------------------------------------
+    2670             :   // |   activate emergency land in case of medium control error  |
+    2671             :   // --------------------------------------------------------------
+    2672             : 
+    2673             :   // | ------------------- tilt control error ------------------- |
+    2674             : 
+    2675      175848 :   if (_tilt_limit_eland_enabled_ && tilt_angle > _tilt_limit_eland_) {
+    2676             : 
+    2677           0 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2678             : 
+    2679           0 :     if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2680             : 
+    2681           0 :       if (!failsafe_triggered_ && !eland_triggered_) {
+    2682             : 
+    2683           0 :         ROS_ERROR("[ControlManager]: activating emergency land: tilt angle too large (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_angle,
+    2684             :                   (180.0 / M_PI) * _tilt_limit_eland_);
+    2685             : 
+    2686           0 :         eland();
+    2687             :       }
+    2688             :     }
+    2689             :   }
+    2690             : 
+    2691             :   // | ----------------- position control error ----------------- |
+    2692             : 
+    2693      175848 :   if (position_error) {
+    2694             : 
+    2695      174846 :     double error_size = position_error->norm();
+    2696             : 
+    2697      174847 :     if (error_size > _eland_threshold_ / 2.0) {
+    2698             : 
+    2699         874 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2700             : 
+    2701         874 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2702             : 
+    2703         657 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2704             : 
+    2705          74 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload due to large position error");
+    2706             : 
+    2707          74 :           ungripSrv();
+    2708             :         }
+    2709             :       }
+    2710             :     }
+    2711             : 
+    2712      174847 :     if (error_size > _eland_threshold_) {
+    2713             : 
+    2714         481 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2715             : 
+    2716         481 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2717             : 
+    2718         299 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2719             : 
+    2720           3 :           ROS_ERROR("[ControlManager]: activating emergency land: position error %.2f/%.2f m (error x: %.2f, y: %.2f, z: %.2f)", error_size, _eland_threshold_,
+    2721             :                     position_error.value()[0], position_error.value()[1], position_error.value()[2]);
+    2722             : 
+    2723           3 :           eland();
+    2724             :         }
+    2725             :       }
+    2726             :     }
+    2727             :   }
+    2728             : 
+    2729             :   // | -------------------- yaw control error ------------------- |
+    2730             :   // do not have to mutex the yaw_error_ here since I am filling it in this function
+    2731             : 
+    2732      175850 :   if (_yaw_error_eland_enabled_ && yaw_error) {
+    2733             : 
+    2734      175850 :     if (yaw_error.value() > (_yaw_error_eland_ / 2.0)) {
+    2735             : 
+    2736           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2737             : 
+    2738           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2739             : 
+    2740           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2741             : 
+    2742           0 :           ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: releasing payload: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2743             :                              (180.0 / M_PI) * _yaw_error_eland_ / 2.0);
+    2744             : 
+    2745           0 :           ungripSrv();
+    2746             :         }
+    2747             :       }
+    2748             :     }
+    2749             : 
+    2750      175850 :     if (yaw_error.value() > _yaw_error_eland_) {
+    2751             : 
+    2752           0 :       auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2753             : 
+    2754           0 :       if ((ros::Time::now() - controller_tracker_switch_time).toSec() > 1.0) {
+    2755             : 
+    2756           0 :         if (!failsafe_triggered_ && !eland_triggered_) {
+    2757             : 
+    2758           0 :           ROS_ERROR("[ControlManager]: activating emergency land: yaw error %.2f/%.2f deg", (180.0 / M_PI) * yaw_error.value(),
+    2759             :                     (180.0 / M_PI) * _yaw_error_eland_);
+    2760             : 
+    2761           0 :           eland();
+    2762             :         }
+    2763             :       }
+    2764             :     }
+    2765             :   }
+    2766             : 
+    2767             :   // --------------------------------------------------------------
+    2768             :   // |      disarm the drone when the tilt exceeds the limit      |
+    2769             :   // --------------------------------------------------------------
+    2770      175849 :   if (_tilt_limit_disarm_enabled_ && tilt_angle > _tilt_limit_disarm_) {
+    2771             : 
+    2772           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_);
+    2773             : 
+    2774           0 :     arming(false);
+    2775             :   }
+    2776             : 
+    2777             :   // --------------------------------------------------------------
+    2778             :   // |     disarm the drone when tilt error exceeds the limit     |
+    2779             :   // --------------------------------------------------------------
+    2780             : 
+    2781      175849 :   if (_tilt_error_disarm_enabled_ && tilt_error) {
+    2782             : 
+    2783      175849 :     auto controller_tracker_switch_time = mrs_lib::get_mutexed(mutex_controller_tracker_switch_time_, controller_tracker_switch_time_);
+    2784             : 
+    2785             :     // the time from the last controller/tracker switch
+    2786             :     // fyi: we should not
+    2787      175850 :     double time_from_ctrl_tracker_switch = (ros::Time::now() - controller_tracker_switch_time).toSec();
+    2788             : 
+    2789             :     // if the tile error is over the threshold
+    2790             :     // && we are not ramping up during takeoff
+    2791      175850 :     if (fabs(tilt_error.value()) > _tilt_error_disarm_threshold_ && !last_control_output.diagnostics.ramping_up) {
+    2792             : 
+    2793             :       // only account for the error if some time passed from the last tracker/controller switch
+    2794           0 :       if (time_from_ctrl_tracker_switch > 1.0) {
+    2795             : 
+    2796             :         // if the threshold was not exceeded before
+    2797           0 :         if (!tilt_error_disarm_over_thr_) {
+    2798             : 
+    2799           0 :           tilt_error_disarm_over_thr_ = true;
+    2800           0 :           tilt_error_disarm_time_     = ros::Time::now();
+    2801             : 
+    2802           0 :           ROS_WARN("[ControlManager]: tilt error exceeded threshold (%.2f/%.2f deg)", (180.0 / M_PI) * tilt_error.value(),
+    2803             :                    (180.0 / M_PI) * _tilt_error_disarm_threshold_);
+    2804             : 
+    2805             :           // if it was exceeded before, just keep it
+    2806             :         } else {
+    2807             : 
+    2808           0 :           ROS_WARN_THROTTLE(0.1, "[ControlManager]: tilt error (%.2f deg) over threshold for %.2f s", (180.0 / M_PI) * tilt_error.value(),
+    2809             :                             (ros::Time::now() - tilt_error_disarm_time_).toSec());
+    2810             :         }
+    2811             : 
+    2812             :         // if the tile error is bad, but the controller just switched,
+    2813             :         // don't think its bad anymore
+    2814             :       } else {
+    2815             : 
+    2816           0 :         tilt_error_disarm_over_thr_ = false;
+    2817           0 :         tilt_error_disarm_time_     = ros::Time::now();
+    2818             :       }
+    2819             : 
+    2820             :       // if the tilt error is fine
+    2821             :     } else {
+    2822             : 
+    2823             :       // make it fine
+    2824      175850 :       tilt_error_disarm_over_thr_ = false;
+    2825      175850 :       tilt_error_disarm_time_     = ros::Time::now();
+    2826             :     }
+    2827             : 
+    2828             :     // calculate the time over the threshold
+    2829      175850 :     double tot = (ros::Time::now() - tilt_error_disarm_time_).toSec();
+    2830             : 
+    2831             :     // if the tot exceeds the limit (and if we are actually over the threshold)
+    2832      175850 :     if (tilt_error_disarm_over_thr_ && (tot > _tilt_error_disarm_timeout_)) {
+    2833             : 
+    2834           0 :       bool is_flying = offboard_mode_ && active_tracker_idx != _null_tracker_idx_;
+    2835             : 
+    2836             :       // only when flying and not in failsafe
+    2837           0 :       if (is_flying) {
+    2838             : 
+    2839           0 :         ROS_ERROR("[ControlManager]: tilt error too large for %.2f s, disarming", tot);
+    2840             : 
+    2841           0 :         toggleOutput(false);
+    2842           0 :         arming(false);
+    2843             :       }
+    2844             :     }
+    2845             :   }
+    2846             : 
+    2847             :   // | --------- dropping out of OFFBOARD in mid flight --------- |
+    2848             : 
+    2849             :   // if we are not in offboard and the drone is in mid air (NullTracker is not active)
+    2850      175849 :   if (offboard_mode_was_true_ && !offboard_mode_ && active_tracker_idx != _null_tracker_idx_) {
+    2851             : 
+    2852           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: we fell out of OFFBOARD in mid air, disabling output");
+    2853             : 
+    2854           0 :     toggleOutput(false);
+    2855             :   }
+    2856             : }  // namespace control_manager
+    2857             : 
+    2858             : //}
+    2859             : 
+    2860             : /* //{ timerEland() */
+    2861             : 
+    2862         424 : void ControlManager::timerEland(const ros::TimerEvent& event) {
+    2863             : 
+    2864         424 :   if (!is_initialized_)
+    2865         127 :     return;
+    2866             : 
+    2867         848 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerEland", _elanding_timer_rate_, 0.01, event);
+    2868         848 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerEland", scope_timer_logger_, scope_timer_enabled_);
+    2869             : 
+    2870             :   // copy member variables
+    2871         424 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2872             : 
+    2873         424 :   if (!last_control_output.control_output) {
+    2874           0 :     return;
+    2875             :   }
+    2876             : 
+    2877         424 :   auto throttle = extractThrottle(last_control_output);
+    2878             : 
+    2879         424 :   if (!throttle) {
+    2880         127 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: TODO: implement landing detection mechanism for the current control modality");
+    2881         127 :     return;
+    2882             :   }
+    2883             : 
+    2884         297 :   if (current_state_landing_ == IDLE_STATE) {
+    2885             : 
+    2886           0 :     return;
+    2887             : 
+    2888         297 :   } else if (current_state_landing_ == LANDING_STATE) {
+    2889             : 
+    2890             :     // --------------------------------------------------------------
+    2891             :     // |                            TODO                            |
+    2892             :     // This section needs work. The throttle landing detection      |
+    2893             :     // mechanism should be extracted and other mechanisms, such     |
+    2894             :     // as velocity-based detection should be used for high          |
+    2895             :     // modalities                                                   |
+    2896             :     // --------------------------------------------------------------
+    2897             : 
+    2898         297 :     if (!last_control_output.control_output) {
+    2899           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: timerEland: last_control_output has not been initialized, returning");
+    2900           0 :       ROS_WARN_THROTTLE(1.0, "[ControlManager]: tip: the RC eland is probably triggered");
+    2901           0 :       return;
+    2902             :     }
+    2903             : 
+    2904             :     // recalculate the mass based on the throttle
+    2905         297 :     throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2906         297 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: landing: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2907             : 
+    2908             :     // condition for automatic motor turn off
+    2909         297 :     if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_) || throttle < 0.01)) {
+    2910          66 :       if (!throttle_under_threshold_) {
+    2911             : 
+    2912           3 :         throttle_mass_estimate_first_time_ = ros::Time::now();
+    2913           3 :         throttle_under_threshold_          = true;
+    2914             :       }
+    2915             : 
+    2916          66 :       ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    2917             : 
+    2918             :     } else {
+    2919         231 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    2920         231 :       throttle_under_threshold_          = false;
+    2921             :     }
+    2922             : 
+    2923         297 :     if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    2924             :       // enable callbacks? ... NO
+    2925             : 
+    2926           3 :       ROS_INFO("[ControlManager]: reached cutoff throttle, disabling output");
+    2927           3 :       toggleOutput(false);
+    2928             : 
+    2929             :       // disarm the drone
+    2930           3 :       if (_eland_disarm_enabled_) {
+    2931             : 
+    2932           3 :         ROS_INFO("[ControlManager]: calling for disarm");
+    2933           3 :         arming(false);
+    2934             :       }
+    2935             : 
+    2936           3 :       changeLandingState(IDLE_STATE);
+    2937             : 
+    2938           3 :       ROS_WARN("[ControlManager]: emergency landing finished");
+    2939             : 
+    2940           3 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    2941           3 :       timer_eland_.stop();
+    2942           3 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    2943             : 
+    2944             :       // we should NOT set eland_triggered_=true
+    2945             :     }
+    2946             :   }
+    2947             : }
+    2948             : 
+    2949             : //}
+    2950             : 
+    2951             : /* //{ timerFailsafe() */
+    2952             : 
+    2953        9710 : void ControlManager::timerFailsafe(const ros::TimerEvent& event) {
+    2954             : 
+    2955        9710 :   if (!is_initialized_) {
+    2956           0 :     return;
+    2957             :   }
+    2958             : 
+    2959        9710 :   ROS_INFO_ONCE("[ControlManager]: timerFailsafe() spinning");
+    2960             : 
+    2961       19420 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFailsafe", _failsafe_timer_rate_, 0.01, event);
+    2962       19420 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerFailsafe", scope_timer_logger_, scope_timer_enabled_);
+    2963             : 
+    2964             :   // copy member variables
+    2965        9710 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2966             : 
+    2967        9710 :   updateControllers(uav_state);
+    2968             : 
+    2969        9710 :   publish();
+    2970             : 
+    2971        9710 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    2972             : 
+    2973        9710 :   if (!last_control_output.control_output) {
+    2974           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: timerFailsafe: the control output produced by the failsafe controller is empty!");
+    2975           0 :     return;
+    2976             :   }
+    2977             : 
+    2978        9710 :   auto throttle = extractThrottle(last_control_output);
+    2979             : 
+    2980        9710 :   if (!throttle) {
+    2981           0 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: FailsafeTimer: could not extract throttle out of the last control output");
+    2982           0 :     return;
+    2983             :   }
+    2984             : 
+    2985             :   // --------------------------------------------------------------
+    2986             :   // |                            TODO                            |
+    2987             :   // This section needs work. The throttle landing detection      |
+    2988             :   // mechanism should be extracted and other mechanisms, such     |
+    2989             :   // as velocity-based detection should be used for high          |
+    2990             :   // modalities                                                   |
+    2991             :   // --------------------------------------------------------------
+    2992             : 
+    2993        9710 :   double throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value()) / common_handlers_->g;
+    2994        9710 :   ROS_INFO_THROTTLE(1.0, "[ControlManager]: failsafe: initial mass: %.2f throttle_mass_estimate: %.2f", landing_uav_mass_, throttle_mass_estimate_);
+    2995             : 
+    2996             :   // condition for automatic motor turn off
+    2997        9710 :   if (((throttle_mass_estimate_ < _elanding_cutoff_mass_factor_ * landing_uav_mass_))) {
+    2998             : 
+    2999        1414 :     if (!throttle_under_threshold_) {
+    3000             : 
+    3001           7 :       throttle_mass_estimate_first_time_ = ros::Time::now();
+    3002           7 :       throttle_under_threshold_          = true;
+    3003             :     }
+    3004             : 
+    3005        1414 :     ROS_INFO_THROTTLE(0.1, "[ControlManager]: throttle is under cutoff factor for %.2f s", (ros::Time::now() - throttle_mass_estimate_first_time_).toSec());
+    3006             : 
+    3007             :   } else {
+    3008             : 
+    3009        8296 :     throttle_mass_estimate_first_time_ = ros::Time::now();
+    3010        8296 :     throttle_under_threshold_          = false;
+    3011             :   }
+    3012             : 
+    3013             :   // condition for automatic motor turn off
+    3014        9710 :   if (throttle_under_threshold_ && ((ros::Time::now() - throttle_mass_estimate_first_time_).toSec() > _elanding_cutoff_timeout_)) {
+    3015             : 
+    3016           7 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: detecting zero throttle, disarming");
+    3017             : 
+    3018           7 :     arming(false);
+    3019             :   }
+    3020             : }
+    3021             : 
+    3022             : //}
+    3023             : 
+    3024             : /* //{ timerJoystick() */
+    3025             : 
+    3026       53644 : void ControlManager::timerJoystick(const ros::TimerEvent& event) {
+    3027             : 
+    3028       53644 :   if (!is_initialized_) {
+    3029           0 :     return;
+    3030             :   }
+    3031             : 
+    3032      160932 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerJoystick", _status_timer_rate_, 0.05, event);
+    3033      160932 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3034             : 
+    3035      107288 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3036             : 
+    3037             :   // if start was pressed and held for > 3.0 s
+    3038       53644 :   if (joystick_start_pressed_ && joystick_start_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_start_press_time_).toSec() > 3.0) {
+    3039             : 
+    3040           0 :     joystick_start_press_time_ = ros::Time(0);
+    3041             : 
+    3042           0 :     ROS_INFO("[ControlManager]: transitioning to joystick control: activating '%s' and '%s'", _joystick_tracker_name_.c_str(),
+    3043             :              _joystick_controller_name_.c_str());
+    3044             : 
+    3045           0 :     joystick_start_pressed_ = false;
+    3046             : 
+    3047           0 :     switchTracker(_joystick_tracker_name_);
+    3048           0 :     switchController(_joystick_controller_name_);
+    3049             :   }
+    3050             : 
+    3051             :   // if RT+LT were pressed and held for > 0.1 s
+    3052       53644 :   if (joystick_failsafe_pressed_ && joystick_failsafe_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_failsafe_press_time_).toSec() > 0.1) {
+    3053             : 
+    3054           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3055             : 
+    3056           0 :     ROS_INFO("[ControlManager]: activating failsafe by joystick");
+    3057             : 
+    3058           0 :     joystick_failsafe_pressed_ = false;
+    3059             : 
+    3060           0 :     failsafe();
+    3061             :   }
+    3062             : 
+    3063             :   // if joypads were pressed and held for > 0.1 s
+    3064       53644 :   if (joystick_eland_pressed_ && joystick_eland_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_eland_press_time_).toSec() > 0.1) {
+    3065             : 
+    3066           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3067             : 
+    3068           0 :     ROS_INFO("[ControlManager]: activating eland by joystick");
+    3069             : 
+    3070           0 :     joystick_failsafe_pressed_ = false;
+    3071             : 
+    3072           0 :     eland();
+    3073             :   }
+    3074             : 
+    3075             :   // if back was pressed and held for > 0.1 s
+    3076       53644 :   if (joystick_back_pressed_ && joystick_back_press_time_ != ros::Time(0) && (ros::Time::now() - joystick_back_press_time_).toSec() > 0.1) {
+    3077             : 
+    3078           0 :     joystick_back_press_time_ = ros::Time(0);
+    3079             : 
+    3080             :     // activate/deactivate the joystick goto functionality
+    3081           0 :     joystick_goto_enabled_ = !joystick_goto_enabled_;
+    3082             : 
+    3083           0 :     ROS_INFO("[ControlManager]: joystick control %s", joystick_goto_enabled_ ? "activated" : "deactivated");
+    3084             :   }
+    3085             : 
+    3086             :   // if the GOTO functionality is enabled...
+    3087       53644 :   if (joystick_goto_enabled_ && sh_joystick_.hasMsg()) {
+    3088             : 
+    3089           0 :     auto joystick_data = sh_joystick_.getMsg();
+    3090             : 
+    3091             :     // create the reference
+    3092             : 
+    3093           0 :     mrs_msgs::Vec4::Request request;
+    3094             : 
+    3095           0 :     if (fabs(joystick_data->axes[_channel_pitch_]) >= 0.05 || fabs(joystick_data->axes[_channel_roll_]) >= 0.05 ||
+    3096           0 :         fabs(joystick_data->axes[_channel_heading_]) >= 0.05 || fabs(joystick_data->axes[_channel_throttle_]) >= 0.05) {
+    3097             : 
+    3098           0 :       if (_joystick_mode_ == 0) {
+    3099             : 
+    3100           0 :         request.goal[REF_X]       = _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * _joystick_carrot_distance_;
+    3101           0 :         request.goal[REF_Y]       = _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * _joystick_carrot_distance_;
+    3102           0 :         request.goal[REF_Z]       = _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_];
+    3103           0 :         request.goal[REF_HEADING] = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3104             : 
+    3105           0 :         mrs_msgs::Vec4::Response response;
+    3106             : 
+    3107           0 :         callbackGotoFcu(request, response);
+    3108             : 
+    3109           0 :       } else if (_joystick_mode_ == 1) {
+    3110             : 
+    3111           0 :         mrs_msgs::TrajectoryReference trajectory;
+    3112             : 
+    3113           0 :         double dt = 0.2;
+    3114             : 
+    3115           0 :         trajectory.fly_now         = true;
+    3116           0 :         trajectory.header.frame_id = "fcu_untilted";
+    3117           0 :         trajectory.use_heading     = true;
+    3118           0 :         trajectory.dt              = dt;
+    3119             : 
+    3120           0 :         mrs_msgs::Reference point;
+    3121           0 :         point.position.x = 0;
+    3122           0 :         point.position.y = 0;
+    3123           0 :         point.position.z = 0;
+    3124           0 :         point.heading    = 0;
+    3125             : 
+    3126           0 :         trajectory.points.push_back(point);
+    3127             : 
+    3128           0 :         double speed = 1.0;
+    3129             : 
+    3130           0 :         for (int i = 0; i < 50; i++) {
+    3131             : 
+    3132           0 :           point.position.x += _channel_mult_pitch_ * joystick_data->axes[_channel_pitch_] * (speed * dt);
+    3133           0 :           point.position.y += _channel_mult_roll_ * joystick_data->axes[_channel_roll_] * (speed * dt);
+    3134           0 :           point.position.z += _channel_mult_throttle_ * joystick_data->axes[_channel_throttle_] * (speed * dt);
+    3135           0 :           point.heading = _channel_mult_heading_ * joystick_data->axes[_channel_heading_];
+    3136             : 
+    3137           0 :           trajectory.points.push_back(point);
+    3138             :         }
+    3139             : 
+    3140           0 :         setTrajectoryReference(trajectory);
+    3141             :       }
+    3142             :     }
+    3143             :   }
+    3144             : 
+    3145       53644 :   if (rc_goto_active_ && last_tracker_cmd && sh_hw_api_rc_.hasMsg()) {
+    3146             : 
+    3147             :     // create the reference
+    3148        1098 :     mrs_msgs::VelocityReferenceStampedSrv::Request request;
+    3149             : 
+    3150         549 :     double des_x       = 0;
+    3151         549 :     double des_y       = 0;
+    3152         549 :     double des_z       = 0;
+    3153         549 :     double des_heading = 0;
+    3154             : 
+    3155         549 :     bool nothing_to_do = true;
+    3156             : 
+    3157             :     // copy member variables
+    3158        1098 :     mrs_msgs::HwApiRcChannelsConstPtr rc_channels = sh_hw_api_rc_.getMsg();
+    3159             : 
+    3160         549 :     if (rc_channels->channels.size() < 4) {
+    3161             : 
+    3162           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC control channel numbers are out of range (the # of channels in rc/in topic is %d)",
+    3163             :                          int(rc_channels->channels.size()));
+    3164           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: tip: this could be caused by the RC failsafe not being configured!");
+    3165             : 
+    3166             :     } else {
+    3167             : 
+    3168         549 :       double tmp_x       = RCChannelToRange(rc_channels->channels[_rc_channel_pitch_], _rc_horizontal_speed_, 0.1);
+    3169         549 :       double tmp_y       = -RCChannelToRange(rc_channels->channels[_rc_channel_roll_], _rc_horizontal_speed_, 0.1);
+    3170         549 :       double tmp_z       = RCChannelToRange(rc_channels->channels[_rc_channel_throttle_], _rc_vertical_speed_, 0.3);
+    3171         549 :       double tmp_heading = -RCChannelToRange(rc_channels->channels[_rc_channel_heading_], _rc_heading_rate_, 0.1);
+    3172             : 
+    3173         549 :       if (abs(tmp_x) > 1e-3) {
+    3174          90 :         des_x         = tmp_x;
+    3175          90 :         nothing_to_do = false;
+    3176             :       }
+    3177             : 
+    3178         549 :       if (abs(tmp_y) > 1e-3) {
+    3179         114 :         des_y         = tmp_y;
+    3180         114 :         nothing_to_do = false;
+    3181             :       }
+    3182             : 
+    3183         549 :       if (abs(tmp_z) > 1e-3) {
+    3184         219 :         des_z         = tmp_z;
+    3185         219 :         nothing_to_do = false;
+    3186             :       }
+    3187             : 
+    3188         549 :       if (abs(tmp_heading) > 1e-3) {
+    3189          48 :         des_heading   = tmp_heading;
+    3190          48 :         nothing_to_do = false;
+    3191             :       }
+    3192             :     }
+    3193             : 
+    3194         549 :     if (!nothing_to_do) {
+    3195             : 
+    3196         471 :       request.reference.header.frame_id = "fcu_untilted";
+    3197             : 
+    3198         471 :       request.reference.reference.use_heading_rate = true;
+    3199             : 
+    3200         471 :       request.reference.reference.velocity.x   = des_x;
+    3201         471 :       request.reference.reference.velocity.y   = des_y;
+    3202         471 :       request.reference.reference.velocity.z   = des_z;
+    3203         471 :       request.reference.reference.heading_rate = des_heading;
+    3204             : 
+    3205         942 :       mrs_msgs::VelocityReferenceStampedSrv::Response response;
+    3206             : 
+    3207             :       // disable callbacks of all trackers
+    3208         471 :       std_srvs::SetBoolRequest req_enable_callbacks;
+    3209             : 
+    3210             :       // enable the callbacks for the active tracker
+    3211         471 :       req_enable_callbacks.data = true;
+    3212             :       {
+    3213         471 :         std::scoped_lock lock(mutex_tracker_list_);
+    3214             : 
+    3215         942 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3216         942 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3217             :       }
+    3218             : 
+    3219         471 :       callbacks_enabled_ = true;
+    3220             : 
+    3221         471 :       callbackVelocityReferenceService(request, response);
+    3222             : 
+    3223         471 :       callbacks_enabled_ = false;
+    3224             : 
+    3225         471 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: goto by RC with speed x=%.2f, y=%.2f, z=%.2f, heading_rate=%.2f", des_x, des_y, des_z, des_heading);
+    3226             : 
+    3227             :       // disable the callbacks back again
+    3228         471 :       req_enable_callbacks.data = false;
+    3229             :       {
+    3230         471 :         std::scoped_lock lock(mutex_tracker_list_);
+    3231             : 
+    3232         942 :         tracker_list_[active_tracker_idx_]->enableCallbacks(
+    3233         942 :             std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3234             :       }
+    3235             :     }
+    3236             :   }
+    3237             : }
+    3238             : 
+    3239             : //}
+    3240             : 
+    3241             : /* //{ timerBumper() */
+    3242             : 
+    3243        2034 : void ControlManager::timerBumper(const ros::TimerEvent& event) {
+    3244             : 
+    3245        2034 :   if (!is_initialized_)
+    3246        1735 :     return;
+    3247             : 
+    3248        4068 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerBumper", _bumper_timer_rate_, 0.05, event);
+    3249        4068 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerBumper", scope_timer_logger_, scope_timer_enabled_);
+    3250             : 
+    3251             :   // | ---------------------- preconditions --------------------- |
+    3252             : 
+    3253        2034 :   if (!sh_bumper_.hasMsg()) {
+    3254        1731 :     return;
+    3255             :   }
+    3256             : 
+    3257         303 :   if (!bumper_enabled_) {
+    3258           0 :     return;
+    3259             :   }
+    3260             : 
+    3261         303 :   if (!isFlyingNormally() && !bumper_repulsing_) {
+    3262           4 :     return;
+    3263             :   }
+    3264             : 
+    3265         299 :   if (!got_uav_state_) {
+    3266           0 :     return;
+    3267             :   }
+    3268             : 
+    3269         299 :   if (sh_bumper_.hasMsg() && (ros::Time::now() - sh_bumper_.lastMsgTime()).toSec() > 1.0) {
+    3270             : 
+    3271           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: obstacle bumper is missing messages although we got them before");
+    3272             : 
+    3273           0 :     return;
+    3274             :   }
+    3275             : 
+    3276         299 :   timer_bumper_.setPeriod(ros::Duration(1.0 / _bumper_timer_rate_));
+    3277             : 
+    3278             :   // | ------------------ call the bumper logic ----------------- |
+    3279             : 
+    3280         299 :   bumperPushFromObstacle();
+    3281             : }
+    3282             : 
+    3283             : //}
+    3284             : 
+    3285             : /* //{ timerPirouette() */
+    3286             : 
+    3287           0 : void ControlManager::timerPirouette(const ros::TimerEvent& event) {
+    3288             : 
+    3289           0 :   if (!is_initialized_)
+    3290           0 :     return;
+    3291             : 
+    3292           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerPirouette", _pirouette_timer_rate_, 0.01, event);
+    3293           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerPirouette", scope_timer_logger_, scope_timer_enabled_);
+    3294             : 
+    3295           0 :   pirouette_iterator_++;
+    3296             : 
+    3297           0 :   double pirouette_duration  = (2 * M_PI) / _pirouette_speed_;
+    3298           0 :   double pirouette_n_steps   = pirouette_duration * _pirouette_timer_rate_;
+    3299           0 :   double pirouette_step_size = (2 * M_PI) / pirouette_n_steps;
+    3300             : 
+    3301           0 :   if (rc_escalating_failsafe_triggered_ || failsafe_triggered_ || eland_triggered_ || (pirouette_iterator_ > pirouette_duration * _pirouette_timer_rate_)) {
+    3302             : 
+    3303           0 :     _pirouette_enabled_ = false;
+    3304           0 :     timer_pirouette_.stop();
+    3305             : 
+    3306           0 :     setCallbacks(true);
+    3307             : 
+    3308           0 :     return;
+    3309             :   }
+    3310             : 
+    3311             :   // set the reference
+    3312           0 :   mrs_msgs::ReferenceStamped reference_request;
+    3313             : 
+    3314           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    3315             : 
+    3316           0 :   reference_request.header.frame_id      = "";
+    3317           0 :   reference_request.header.stamp         = ros::Time(0);
+    3318           0 :   reference_request.reference.position.x = last_tracker_cmd->position.x;
+    3319           0 :   reference_request.reference.position.y = last_tracker_cmd->position.y;
+    3320           0 :   reference_request.reference.position.z = last_tracker_cmd->position.z;
+    3321           0 :   reference_request.reference.heading    = pirouette_initial_heading_ + pirouette_iterator_ * pirouette_step_size;
+    3322             : 
+    3323             :   // enable the callbacks for the active tracker
+    3324             :   {
+    3325           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3326             : 
+    3327           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3328           0 :     req_enable_callbacks.data = true;
+    3329             : 
+    3330           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3331             : 
+    3332           0 :     callbacks_enabled_ = true;
+    3333             :   }
+    3334             : 
+    3335           0 :   setReference(reference_request);
+    3336             : 
+    3337             :   {
+    3338           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    3339             : 
+    3340             :     // disable the callbacks for the active tracker
+    3341           0 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    3342           0 :     req_enable_callbacks.data = false;
+    3343             : 
+    3344           0 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    3345             : 
+    3346           0 :     callbacks_enabled_ = false;
+    3347             :   }
+    3348             : }
+    3349             : 
+    3350             : //}
+    3351             : 
+    3352             : // --------------------------------------------------------------
+    3353             : // |                           asyncs                           |
+    3354             : // --------------------------------------------------------------
+    3355             : 
+    3356             : /* asyncControl() //{ */
+    3357             : 
+    3358      121375 : void ControlManager::asyncControl(void) {
+    3359             : 
+    3360      121375 :   if (!is_initialized_)
+    3361           0 :     return;
+    3362             : 
+    3363      242750 :   mrs_lib::AtomicScopeFlag unset_running(running_async_control_);
+    3364             : 
+    3365      364125 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("asyncControl");
+    3366      364125 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::asyncControl", scope_timer_logger_, scope_timer_enabled_);
+    3367             : 
+    3368             :   // copy member variables
+    3369      242750 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3370      121375 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    3371             : 
+    3372      121375 :   if (!failsafe_triggered_) {  // when failsafe is triggered, updateControllers() and publish() is called in timerFailsafe()
+    3373             : 
+    3374             :     // run the safety timer
+    3375             :     // in the case of large control errors, the safety mechanisms will be triggered before the controllers and trackers are updated...
+    3376      112073 :     while (running_safety_timer_) {
+    3377             : 
+    3378         774 :       ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3379         774 :       ros::Duration wait(0.001);
+    3380         774 :       wait.sleep();
+    3381             : 
+    3382         774 :       if (!running_safety_timer_) {
+    3383         768 :         ROS_DEBUG("[ControlManager]: safety timer finished");
+    3384         768 :         break;
+    3385             :       }
+    3386             :     }
+    3387             : 
+    3388      112067 :     ros::TimerEvent safety_timer_event;
+    3389      112067 :     timerSafety(safety_timer_event);
+    3390             : 
+    3391      112063 :     updateTrackers();
+    3392             : 
+    3393      112063 :     updateControllers(uav_state);
+    3394             : 
+    3395      112063 :     if (got_constraints_) {
+    3396             : 
+    3397             :       // update the constraints to trackers, if need to
+    3398      111529 :       auto enforce = enforceControllersConstraints(current_constraints);
+    3399             : 
+    3400      111529 :       if (enforce && !constraints_being_enforced_) {
+    3401             : 
+    3402          50 :         setConstraintsToTrackers(enforce.value());
+    3403          50 :         mrs_lib::set_mutexed(mutex_constraints_, enforce.value(), sanitized_constraints_);
+    3404             : 
+    3405          50 :         constraints_being_enforced_ = true;
+    3406             : 
+    3407          50 :         auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3408             : 
+    3409          50 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' is enforcing constraints over the ConstraintManager",
+    3410             :                           _controller_names_[active_controller_idx].c_str());
+    3411             : 
+    3412      111479 :       } else if (!enforce && constraints_being_enforced_) {
+    3413             : 
+    3414          46 :         ROS_INFO_THROTTLE(1.0, "[ControlManager]: constraint values returned to original values");
+    3415             : 
+    3416          46 :         constraints_being_enforced_ = false;
+    3417             : 
+    3418          46 :         mrs_lib::set_mutexed(mutex_constraints_, current_constraints, sanitized_constraints_);
+    3419             : 
+    3420          46 :         setConstraintsToTrackers(current_constraints);
+    3421             :       }
+    3422             :     }
+    3423             : 
+    3424      112063 :     publish();
+    3425             :   }
+    3426             : 
+    3427             :   // if odometry switch happened, we finish it here and turn the safety timer back on
+    3428      121371 :   if (odometry_switch_in_progress_) {
+    3429             : 
+    3430           4 :     ROS_DEBUG("[ControlManager]: starting safety timer");
+    3431           4 :     timer_safety_.start();
+    3432           4 :     ROS_DEBUG("[ControlManager]: safety timer started");
+    3433           4 :     odometry_switch_in_progress_ = false;
+    3434             : 
+    3435             :     {
+    3436           8 :       std::scoped_lock lock(mutex_uav_state_);
+    3437             : 
+    3438           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,
+    3439             :                uav_state.pose.position.z, uav_heading_);
+    3440             :     }
+    3441             :   }
+    3442             : }
+    3443             : 
+    3444             : //}
+    3445             : 
+    3446             : // --------------------------------------------------------------
+    3447             : // |                          callbacks                         |
+    3448             : // --------------------------------------------------------------
+    3449             : 
+    3450             : // | --------------------- topic callbacks -------------------- |
+    3451             : 
+    3452             : /* //{ callbackOdometry() */
+    3453             : 
+    3454           0 : void ControlManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    3455             : 
+    3456           0 :   if (!is_initialized_)
+    3457           0 :     return;
+    3458             : 
+    3459           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackOdometry");
+    3460           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackOdometry", scope_timer_logger_, scope_timer_enabled_);
+    3461             : 
+    3462           0 :   nav_msgs::OdometryConstPtr odom = msg;
+    3463             : 
+    3464             :   // | ------------------ check for time stamp ------------------ |
+    3465             : 
+    3466             :   {
+    3467           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3468             : 
+    3469           0 :     if (uav_state_.header.stamp == odom->header.stamp) {
+    3470           0 :       return;
+    3471             :     }
+    3472             :   }
+    3473             : 
+    3474             :   // | --------------------- check for nans --------------------- |
+    3475             : 
+    3476           0 :   if (!validateOdometry(*odom, "ControlManager", "odometry")) {
+    3477           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'odometry' contains invalid values, throwing it away");
+    3478           0 :     return;
+    3479             :   }
+    3480             : 
+    3481             :   // | ---------------------- frame switch ---------------------- |
+    3482             : 
+    3483             :   /* Odometry frame switch //{ */
+    3484             : 
+    3485             :   // | -- prepare an OdometryConstPtr for trackers & controllers -- |
+    3486             : 
+    3487           0 :   mrs_msgs::UavState uav_state_odom;
+    3488             : 
+    3489           0 :   uav_state_odom.header   = odom->header;
+    3490           0 :   uav_state_odom.pose     = odom->pose.pose;
+    3491           0 :   uav_state_odom.velocity = odom->twist.twist;
+    3492             : 
+    3493             :   // | ----- check for change in odometry frame of reference ---- |
+    3494             : 
+    3495           0 :   if (got_uav_state_) {
+    3496             : 
+    3497           0 :     if (odom->header.frame_id != uav_state_.header.frame_id) {
+    3498             : 
+    3499           0 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3500             :       {
+    3501           0 :         std::scoped_lock lock(mutex_uav_state_);
+    3502             : 
+    3503           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,
+    3504             :                  uav_state_.pose.position.z, uav_heading_);
+    3505             :       }
+    3506             : 
+    3507           0 :       odometry_switch_in_progress_ = true;
+    3508             : 
+    3509             :       // we have to stop safety timer, otherwise it will interfere
+    3510           0 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3511           0 :       timer_safety_.stop();
+    3512           0 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3513             : 
+    3514             :       // wait for the safety timer to stop if its running
+    3515           0 :       while (running_safety_timer_) {
+    3516             : 
+    3517           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3518           0 :         ros::Duration wait(0.001);
+    3519           0 :         wait.sleep();
+    3520             : 
+    3521           0 :         if (!running_safety_timer_) {
+    3522           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3523           0 :           break;
+    3524             :         }
+    3525             :       }
+    3526             : 
+    3527             :       // we have to also for the oneshot control timer to finish
+    3528           0 :       while (running_async_control_) {
+    3529             : 
+    3530           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3531           0 :         ros::Duration wait(0.001);
+    3532           0 :         wait.sleep();
+    3533             : 
+    3534           0 :         if (!running_async_control_) {
+    3535           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3536           0 :           break;
+    3537             :         }
+    3538             :       }
+    3539             : 
+    3540             :       {
+    3541           0 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3542             : 
+    3543           0 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(uav_state_odom);
+    3544           0 :         controller_list_[active_controller_idx_]->switchOdometrySource(uav_state_odom);
+    3545             :       }
+    3546             :     }
+    3547             :   }
+    3548             : 
+    3549             :   //}
+    3550             : 
+    3551             :   // | ----------- copy the odometry to the uav_state ----------- |
+    3552             : 
+    3553             :   {
+    3554           0 :     std::scoped_lock lock(mutex_uav_state_);
+    3555             : 
+    3556           0 :     previous_uav_state_ = uav_state_;
+    3557             : 
+    3558           0 :     uav_state_ = mrs_msgs::UavState();
+    3559             : 
+    3560           0 :     uav_state_.header           = odom->header;
+    3561           0 :     uav_state_.pose             = odom->pose.pose;
+    3562           0 :     uav_state_.velocity.angular = odom->twist.twist.angular;
+    3563             : 
+    3564             :     // transform the twist into the header's frame
+    3565             :     {
+    3566             :       // the velocity from the odometry
+    3567           0 :       geometry_msgs::Vector3Stamped speed_child_frame;
+    3568           0 :       speed_child_frame.header.frame_id = odom->child_frame_id;
+    3569           0 :       speed_child_frame.header.stamp    = odom->header.stamp;
+    3570           0 :       speed_child_frame.vector.x        = odom->twist.twist.linear.x;
+    3571           0 :       speed_child_frame.vector.y        = odom->twist.twist.linear.y;
+    3572           0 :       speed_child_frame.vector.z        = odom->twist.twist.linear.z;
+    3573             : 
+    3574           0 :       auto res = transformer_->transformSingle(speed_child_frame, odom->header.frame_id);
+    3575             : 
+    3576           0 :       if (res) {
+    3577           0 :         uav_state_.velocity.linear.x = res.value().vector.x;
+    3578           0 :         uav_state_.velocity.linear.y = res.value().vector.y;
+    3579           0 :         uav_state_.velocity.linear.z = res.value().vector.z;
+    3580             :       } else {
+    3581           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the odometry speed from '%s' to '%s'", odom->child_frame_id.c_str(),
+    3582             :                            odom->header.frame_id.c_str());
+    3583           0 :         return;
+    3584             :       }
+    3585             :     }
+    3586             : 
+    3587             :     // calculate the euler angles
+    3588           0 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(odom->pose.pose.orientation);
+    3589             : 
+    3590             :     try {
+    3591           0 :       uav_heading_ = mrs_lib::AttitudeConverter(odom->pose.pose.orientation).getHeading();
+    3592             :     }
+    3593           0 :     catch (...) {
+    3594           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading");
+    3595             :     }
+    3596             : 
+    3597           0 :     transformer_->setDefaultFrame(odom->header.frame_id);
+    3598             : 
+    3599           0 :     got_uav_state_ = true;
+    3600             :   }
+    3601             : 
+    3602             :   // run the control loop asynchronously in an OneShotTimer
+    3603             :   // but only if its not already running
+    3604           0 :   if (!running_async_control_) {
+    3605             : 
+    3606           0 :     running_async_control_ = true;
+    3607             : 
+    3608           0 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3609             :   }
+    3610             : }
+    3611             : 
+    3612             : //}
+    3613             : 
+    3614             : /* //{ callbackUavState() */
+    3615             : 
+    3616      142361 : void ControlManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    3617             : 
+    3618      142361 :   if (!is_initialized_)
+    3619       20345 :     return;
+    3620             : 
+    3621      284722 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackUavState");
+    3622      284722 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackUavState", scope_timer_logger_, scope_timer_enabled_);
+    3623             : 
+    3624      142361 :   mrs_msgs::UavStateConstPtr uav_state = msg;
+    3625             : 
+    3626             :   // | ------------------ check for time stamp ------------------ |
+    3627             : 
+    3628             :   {
+    3629      142361 :     std::scoped_lock lock(mutex_uav_state_);
+    3630             : 
+    3631      142361 :     if (uav_state_.header.stamp == uav_state->header.stamp) {
+    3632       20345 :       return;
+    3633             :     }
+    3634             :   }
+    3635             : 
+    3636             :   // | --------------------- check for nans --------------------- |
+    3637             : 
+    3638      122016 :   if (!validateUavState(*uav_state, "ControlManager", "uav_state")) {
+    3639           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: incoming 'uav_state' contains invalid values, throwing it away");
+    3640           0 :     return;
+    3641             :   }
+    3642             : 
+    3643             :   // | -------------------- check for hiccups ------------------- |
+    3644             : 
+    3645             :   /* hickup detection //{ */
+    3646             : 
+    3647      122016 :   double alpha               = 0.99;
+    3648      122016 :   double alpha2              = 0.666;
+    3649      122016 :   double uav_state_count_lim = 1000;
+    3650             : 
+    3651      122016 :   double uav_state_dt = (ros::Time::now() - previous_uav_state_.header.stamp).toSec();
+    3652             : 
+    3653             :   // belive only reasonable numbers
+    3654      122016 :   if (uav_state_dt <= 1.0) {
+    3655             : 
+    3656      121854 :     uav_state_avg_dt_ = alpha * uav_state_avg_dt_ + (1 - alpha) * uav_state_dt;
+    3657             : 
+    3658      121854 :     if (uav_state_count_ < uav_state_count_lim) {
+    3659       63973 :       uav_state_count_++;
+    3660             :     }
+    3661             :   }
+    3662             : 
+    3663      122016 :   if (uav_state_count_ == uav_state_count_lim) {
+    3664             : 
+    3665             :     /* ROS_INFO_STREAM("[ControlManager]: uav_state_dt = " << uav_state_dt); */
+    3666             : 
+    3667       57932 :     if (uav_state_dt < uav_state_avg_dt_ && uav_state_dt > 0.0001) {
+    3668             : 
+    3669       30627 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_avg_dt_ / uav_state_dt);
+    3670             : 
+    3671       27305 :     } else if (uav_state_avg_dt_ > 0.0001) {
+    3672             : 
+    3673       27305 :       uav_state_hiccup_factor_ = alpha2 * uav_state_hiccup_factor_ + (1 - alpha2) * (uav_state_dt / uav_state_avg_dt_);
+    3674             :     }
+    3675             : 
+    3676       57932 :     if (uav_state_hiccup_factor_ > 3.141592653) {
+    3677             : 
+    3678             :       /* ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: hiccup factor = " << uav_state_hiccup_factor_); */
+    3679             : 
+    3680           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3681           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3682           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3683           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |            UAV_STATE has a large hiccup factor!            |");
+    3684           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           hint, hint: you are probably rosbagging          |");
+    3685           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |           lot of data or publishing lot of large           |");
+    3686           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |          messages without mutual nodelet managers.         |");
+    3687           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // |                                                            |");
+    3688           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: // | ------------------------- WARNING ------------------------ |");
+    3689           0 :       ROS_WARN_THROTTLE(2.0, "[ControlManager]: ");
+    3690             :     }
+    3691             :   }
+    3692             : 
+    3693             :   //}
+    3694             : 
+    3695             :   // | ---------------------- frame switch ---------------------- |
+    3696             : 
+    3697             :   /* frame switch //{ */
+    3698             : 
+    3699             :   // | ----- check for change in odometry frame of reference ---- |
+    3700             : 
+    3701      122016 :   if (got_uav_state_) {
+    3702             : 
+    3703      121935 :     if (uav_state->estimator_iteration != uav_state_.estimator_iteration) {
+    3704             : 
+    3705           4 :       ROS_INFO("[ControlManager]: detecting switch of odometry frame");
+    3706             :       {
+    3707           8 :         std::scoped_lock lock(mutex_uav_state_);
+    3708             : 
+    3709           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,
+    3710             :                  uav_state_.pose.position.z, uav_heading_);
+    3711             :       }
+    3712             : 
+    3713           4 :       odometry_switch_in_progress_ = true;
+    3714             : 
+    3715             :       // we have to stop safety timer, otherwise it will interfere
+    3716           4 :       ROS_DEBUG("[ControlManager]: stopping the safety timer");
+    3717           4 :       timer_safety_.stop();
+    3718           4 :       ROS_DEBUG("[ControlManager]: safety timer stopped");
+    3719             : 
+    3720             :       // wait for the safety timer to stop if its running
+    3721           4 :       while (running_safety_timer_) {
+    3722             : 
+    3723           0 :         ROS_DEBUG("[ControlManager]: waiting for safety timer to finish");
+    3724           0 :         ros::Duration wait(0.001);
+    3725           0 :         wait.sleep();
+    3726             : 
+    3727           0 :         if (!running_safety_timer_) {
+    3728           0 :           ROS_DEBUG("[ControlManager]: safety timer finished");
+    3729           0 :           break;
+    3730             :         }
+    3731             :       }
+    3732             : 
+    3733             :       // we have to also for the oneshot control timer to finish
+    3734           4 :       while (running_async_control_) {
+    3735             : 
+    3736           0 :         ROS_DEBUG("[ControlManager]: waiting for control timer to finish");
+    3737           0 :         ros::Duration wait(0.001);
+    3738           0 :         wait.sleep();
+    3739             : 
+    3740           0 :         if (!running_async_control_) {
+    3741           0 :           ROS_DEBUG("[ControlManager]: control timer finished");
+    3742           0 :           break;
+    3743             :         }
+    3744             :       }
+    3745             : 
+    3746             :       {
+    3747           8 :         std::scoped_lock lock(mutex_controller_list_, mutex_tracker_list_);
+    3748             : 
+    3749           4 :         tracker_list_[active_tracker_idx_]->switchOdometrySource(*uav_state);
+    3750           4 :         controller_list_[active_controller_idx_]->switchOdometrySource(*uav_state);
+    3751             :       }
+    3752             :     }
+    3753             :   }
+    3754             : 
+    3755             :   //}
+    3756             : 
+    3757             :   // --------------------------------------------------------------
+    3758             :   // |           copy the UavState message for later use          |
+    3759             :   // --------------------------------------------------------------
+    3760             : 
+    3761             :   {
+    3762      122016 :     std::scoped_lock lock(mutex_uav_state_);
+    3763             : 
+    3764      122016 :     previous_uav_state_ = uav_state_;
+    3765             : 
+    3766      122016 :     uav_state_ = *uav_state;
+    3767             : 
+    3768      122016 :     std::tie(uav_roll_, uav_pitch_, uav_yaw_) = mrs_lib::AttitudeConverter(uav_state_.pose.orientation);
+    3769             : 
+    3770             :     try {
+    3771      122016 :       uav_heading_ = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+    3772             :     }
+    3773           0 :     catch (...) {
+    3774           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not calculate UAV heading, not updating it");
+    3775             :     }
+    3776             : 
+    3777      122016 :     transformer_->setDefaultFrame(uav_state->header.frame_id);
+    3778             : 
+    3779      122016 :     got_uav_state_ = true;
+    3780             :   }
+    3781             : 
+    3782             :   // run the control loop asynchronously in an OneShotTimer
+    3783             :   // but only if its not already running
+    3784      122016 :   if (!running_async_control_) {
+    3785             : 
+    3786      121375 :     running_async_control_ = true;
+    3787             : 
+    3788      121375 :     async_control_result_ = std::async(std::launch::async, &ControlManager::asyncControl, this);
+    3789             :   }
+    3790             : }
+    3791             : 
+    3792             : //}
+    3793             : 
+    3794             : /* //{ callbackGNSS() */
+    3795             : 
+    3796       83862 : void ControlManager::callbackGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    3797             : 
+    3798       83862 :   if (!is_initialized_)
+    3799         102 :     return;
+    3800             : 
+    3801      251280 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGNSS");
+    3802      251280 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGNSS", scope_timer_logger_, scope_timer_enabled_);
+    3803             : 
+    3804       83760 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    3805             : }
+    3806             : 
+    3807             : //}
+    3808             : 
+    3809             : /* callbackJoystick() //{ */
+    3810             : 
+    3811           0 : void ControlManager::callbackJoystick(const sensor_msgs::Joy::ConstPtr msg) {
+    3812             : 
+    3813           0 :   if (!is_initialized_)
+    3814           0 :     return;
+    3815             : 
+    3816           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackJoystick");
+    3817           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackJoystick", scope_timer_logger_, scope_timer_enabled_);
+    3818             : 
+    3819             :   // copy member variables
+    3820           0 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    3821           0 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    3822             : 
+    3823           0 :   sensor_msgs::JoyConstPtr joystick_data = msg;
+    3824             : 
+    3825             :   // TODO check if the array is smaller than the largest idx
+    3826           0 :   if (joystick_data->buttons.size() == 0 || joystick_data->axes.size() == 0) {
+    3827           0 :     return;
+    3828             :   }
+    3829             : 
+    3830             :   // | ---- switching back to fallback tracker and controller --- |
+    3831             : 
+    3832             :   // if any of the A, B, X, Y buttons are pressed when flying with joystick, switch back to fallback controller and tracker
+    3833           0 :   if ((joystick_data->buttons[_channel_A_] == 1 || joystick_data->buttons[_channel_B_] == 1 || joystick_data->buttons[_channel_X_] == 1 ||
+    3834           0 :        joystick_data->buttons[_channel_Y_] == 1) &&
+    3835           0 :       active_tracker_idx == _joystick_tracker_idx_ && active_controller_idx == _joystick_controller_idx_) {
+    3836             : 
+    3837           0 :     ROS_INFO("[ControlManager]: switching from joystick to normal control");
+    3838             : 
+    3839           0 :     switchTracker(_joystick_fallback_tracker_name_);
+    3840           0 :     switchController(_joystick_fallback_controller_name_);
+    3841             : 
+    3842           0 :     joystick_goto_enabled_ = false;
+    3843             :   }
+    3844             : 
+    3845             :   // | ------- joystick control activation ------- |
+    3846             : 
+    3847             :   // if start button was pressed
+    3848           0 :   if (joystick_data->buttons[_channel_start_] == 1) {
+    3849             : 
+    3850           0 :     if (!joystick_start_pressed_) {
+    3851             : 
+    3852           0 :       ROS_INFO("[ControlManager]: joystick start button pressed");
+    3853             : 
+    3854           0 :       joystick_start_pressed_    = true;
+    3855           0 :       joystick_start_press_time_ = ros::Time::now();
+    3856             :     }
+    3857             : 
+    3858           0 :   } else if (joystick_start_pressed_) {
+    3859             : 
+    3860           0 :     ROS_INFO("[ControlManager]: joystick start button released");
+    3861             : 
+    3862           0 :     joystick_start_pressed_    = false;
+    3863           0 :     joystick_start_press_time_ = ros::Time(0);
+    3864             :   }
+    3865             : 
+    3866             :   // | ---------------- Joystick goto activation ---------------- |
+    3867             : 
+    3868             :   // if back button was pressed
+    3869           0 :   if (joystick_data->buttons[_channel_back_] == 1) {
+    3870             : 
+    3871           0 :     if (!joystick_back_pressed_) {
+    3872             : 
+    3873           0 :       ROS_INFO("[ControlManager]: joystick back button pressed");
+    3874             : 
+    3875           0 :       joystick_back_pressed_    = true;
+    3876           0 :       joystick_back_press_time_ = ros::Time::now();
+    3877             :     }
+    3878             : 
+    3879           0 :   } else if (joystick_back_pressed_) {
+    3880             : 
+    3881           0 :     ROS_INFO("[ControlManager]: joystick back button released");
+    3882             : 
+    3883           0 :     joystick_back_pressed_    = false;
+    3884           0 :     joystick_back_press_time_ = ros::Time(0);
+    3885             :   }
+    3886             : 
+    3887             :   // | ------------------------ Failsafes ----------------------- |
+    3888             : 
+    3889             :   // if LT and RT buttons are both pressed down
+    3890           0 :   if (joystick_data->axes[_channel_LT_] < -0.99 && joystick_data->axes[_channel_RT_] < -0.99) {
+    3891             : 
+    3892           0 :     if (!joystick_failsafe_pressed_) {
+    3893             : 
+    3894           0 :       ROS_INFO("[ControlManager]: joystick Failsafe pressed");
+    3895             : 
+    3896           0 :       joystick_failsafe_pressed_    = true;
+    3897           0 :       joystick_failsafe_press_time_ = ros::Time::now();
+    3898             :     }
+    3899             : 
+    3900           0 :   } else if (joystick_failsafe_pressed_) {
+    3901             : 
+    3902           0 :     ROS_INFO("[ControlManager]: joystick Failsafe released");
+    3903             : 
+    3904           0 :     joystick_failsafe_pressed_    = false;
+    3905           0 :     joystick_failsafe_press_time_ = ros::Time(0);
+    3906             :   }
+    3907             : 
+    3908             :   // if left and right joypads are both pressed down
+    3909           0 :   if (joystick_data->buttons[_channel_L_joy_] == 1 && joystick_data->buttons[_channel_R_joy_] == 1) {
+    3910             : 
+    3911           0 :     if (!joystick_eland_pressed_) {
+    3912             : 
+    3913           0 :       ROS_INFO("[ControlManager]: joystick eland pressed");
+    3914             : 
+    3915           0 :       joystick_eland_pressed_    = true;
+    3916           0 :       joystick_eland_press_time_ = ros::Time::now();
+    3917             :     }
+    3918             : 
+    3919           0 :   } else if (joystick_eland_pressed_) {
+    3920             : 
+    3921           0 :     ROS_INFO("[ControlManager]: joystick eland released");
+    3922             : 
+    3923           0 :     joystick_eland_pressed_    = false;
+    3924           0 :     joystick_eland_press_time_ = ros::Time(0);
+    3925             :   }
+    3926             : }
+    3927             : 
+    3928             : //}
+    3929             : 
+    3930             : /* //{ callbackHwApiStatus() */
+    3931             : 
+    3932      356239 : void ControlManager::callbackHwApiStatus(const mrs_msgs::HwApiStatus::ConstPtr msg) {
+    3933             : 
+    3934      356239 :   if (!is_initialized_)
+    3935         318 :     return;
+    3936             : 
+    3937     1067763 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiStatus");
+    3938     1067763 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackHwApiStatus", scope_timer_logger_, scope_timer_enabled_);
+    3939             : 
+    3940      711842 :   mrs_msgs::HwApiStatusConstPtr state = msg;
+    3941             : 
+    3942             :   // | ------ detect and print the changes in offboard mode ----- |
+    3943      355921 :   if (state->offboard) {
+    3944             : 
+    3945      247870 :     if (!offboard_mode_) {
+    3946          75 :       offboard_mode_          = true;
+    3947          75 :       offboard_mode_was_true_ = true;
+    3948          75 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode ON");
+    3949             :     }
+    3950             : 
+    3951             :   } else {
+    3952             : 
+    3953      108051 :     if (offboard_mode_) {
+    3954           0 :       offboard_mode_ = false;
+    3955           0 :       ROS_INFO("[ControlManager]: detected: OFFBOARD mode OFF");
+    3956             :     }
+    3957             :   }
+    3958             : 
+    3959             :   // | --------- detect and print the changes in arming --------- |
+    3960      355921 :   if (state->armed == true) {
+    3961             : 
+    3962      259900 :     if (!armed_) {
+    3963          80 :       armed_ = true;
+    3964          80 :       ROS_INFO("[ControlManager]: detected: vehicle ARMED");
+    3965             :     }
+    3966             : 
+    3967             :   } else {
+    3968             : 
+    3969       96021 :     if (armed_) {
+    3970          18 :       armed_ = false;
+    3971          18 :       ROS_INFO("[ControlManager]: detected: vehicle DISARMED");
+    3972             :     }
+    3973             :   }
+    3974             : }
+    3975             : 
+    3976             : //}
+    3977             : 
+    3978             : /* //{ callbackRC() */
+    3979             : 
+    3980       19690 : void ControlManager::callbackRC(const mrs_msgs::HwApiRcChannels::ConstPtr msg) {
+    3981             : 
+    3982       19690 :   if (!is_initialized_)
+    3983           0 :     return;
+    3984             : 
+    3985       59070 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackRC");
+    3986       59070 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackRC", scope_timer_logger_, scope_timer_enabled_);
+    3987             : 
+    3988       39380 :   mrs_msgs::HwApiRcChannelsConstPtr rc = msg;
+    3989             : 
+    3990       19690 :   ROS_INFO_ONCE("[ControlManager]: getting RC channels");
+    3991             : 
+    3992             :   // | ------------------- rc joystic control ------------------- |
+    3993             : 
+    3994             :   // when the switch change its position
+    3995       19690 :   if (_rc_goto_enabled_) {
+    3996             : 
+    3997       19690 :     if (_rc_joystick_channel_ >= int(rc->channels.size())) {
+    3998             : 
+    3999           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC joystick activation channel number (%d) is out of range [0-%d]", _rc_joystick_channel_,
+    4000             :                          int(rc->channels.size()));
+    4001             : 
+    4002             :     } else {
+    4003             : 
+    4004       19690 :       bool channel_low  = rc->channels[_rc_joystick_channel_] < (0.5 - RC_DEADBAND) ? true : false;
+    4005       19690 :       bool channel_high = rc->channels[_rc_joystick_channel_] > (0.5 + RC_DEADBAND) ? true : false;
+    4006             : 
+    4007       19690 :       if (channel_low) {
+    4008       17899 :         rc_joystick_channel_was_low_ = true;
+    4009             :       }
+    4010             : 
+    4011             :       // rc control activation
+    4012       19690 :       if (!rc_goto_active_) {
+    4013             : 
+    4014       17900 :         if (rc_joystick_channel_last_value_ < (0.5 - RC_DEADBAND) && channel_high) {
+    4015             : 
+    4016           2 :           if (isFlyingNormally()) {
+    4017             : 
+    4018           2 :             ROS_INFO_THROTTLE(1.0, "[ControlManager]: activating RC joystick");
+    4019             : 
+    4020           2 :             callbacks_enabled_ = false;
+    4021             : 
+    4022           2 :             std_srvs::SetBoolRequest req_goto_out;
+    4023           2 :             req_goto_out.data = false;
+    4024             : 
+    4025           2 :             std_srvs::SetBoolRequest req_enable_callbacks;
+    4026           2 :             req_enable_callbacks.data = callbacks_enabled_;
+    4027             : 
+    4028             :             {
+    4029           4 :               std::scoped_lock lock(mutex_tracker_list_);
+    4030             : 
+    4031             :               // disable callbacks of all trackers
+    4032          14 :               for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4033          12 :                 tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4034             :               }
+    4035             :             }
+    4036             : 
+    4037           2 :             rc_goto_active_ = true;
+    4038             : 
+    4039             :           } else {
+    4040             : 
+    4041           0 :             ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, not flying normally");
+    4042           2 :           }
+    4043             : 
+    4044       17898 :         } else if (channel_high && !rc_joystick_channel_was_low_) {
+    4045             : 
+    4046           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: can not activate RC joystick, the switch is ON from the beginning");
+    4047             :         }
+    4048             :       }
+    4049             : 
+    4050             :       // rc control deactivation
+    4051       19690 :       if (rc_goto_active_ && channel_low) {
+    4052             : 
+    4053           1 :         ROS_INFO("[ControlManager]: deactivating RC joystick");
+    4054             : 
+    4055           1 :         callbacks_enabled_ = true;
+    4056             : 
+    4057           1 :         std_srvs::SetBoolRequest req_goto_out;
+    4058           1 :         req_goto_out.data = true;
+    4059             : 
+    4060           1 :         std_srvs::SetBoolRequest req_enable_callbacks;
+    4061           1 :         req_enable_callbacks.data = callbacks_enabled_;
+    4062             : 
+    4063             :         {
+    4064           2 :           std::scoped_lock lock(mutex_tracker_list_);
+    4065             : 
+    4066             :           // enable callbacks of all trackers
+    4067           7 :           for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4068           6 :             tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4069             :           }
+    4070             :         }
+    4071             : 
+    4072           1 :         rc_goto_active_ = false;
+    4073             :       }
+    4074             : 
+    4075             :       // do not forget to update the last... variable
+    4076             :       // only do that if its out of the deadband
+    4077       19690 :       if (channel_high || channel_low) {
+    4078       19690 :         rc_joystick_channel_last_value_ = rc->channels[_rc_joystick_channel_];
+    4079             :       }
+    4080             :     }
+    4081             :   }
+    4082             : 
+    4083             :   // | ------------------------ rc eland ------------------------ |
+    4084       19690 :   if (_rc_escalating_failsafe_enabled_) {
+    4085             : 
+    4086       19690 :     if (_rc_escalating_failsafe_channel_ >= int(rc->channels.size())) {
+    4087             : 
+    4088           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: RC eland channel number (%d) is out of range [0-%d]", _rc_escalating_failsafe_channel_,
+    4089             :                          int(rc->channels.size()));
+    4090             : 
+    4091             :     } else {
+    4092             : 
+    4093       19690 :       if (rc->channels[_rc_escalating_failsafe_channel_] >= _rc_escalating_failsafe_threshold_) {
+    4094             : 
+    4095         140 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: triggering escalating failsafe by RC");
+    4096             : 
+    4097         280 :         auto [success, message] = escalatingFailsafe();
+    4098             : 
+    4099         140 :         if (success) {
+    4100           3 :           rc_escalating_failsafe_triggered_ = true;
+    4101             :         }
+    4102             :       }
+    4103             :     }
+    4104             :   }
+    4105             : }
+    4106             : 
+    4107             : //}
+    4108             : 
+    4109             : // | --------------------- topic timeouts --------------------- |
+    4110             : 
+    4111             : /* timeoutUavState() //{ */
+    4112             : 
+    4113           0 : void ControlManager::timeoutUavState(const double& missing_for) {
+    4114             : 
+    4115           0 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    4116             : 
+    4117           0 :   if (output_enabled_ && last_control_output.control_output && !failsafe_triggered_) {
+    4118             : 
+    4119             :     // We need to fire up timerFailsafe, which will regularly trigger the controllers
+    4120             :     // in place of the callbackUavState/callbackOdometry().
+    4121             : 
+    4122           0 :     ROS_ERROR_THROTTLE(0.1, "[ControlManager]: not receiving uav_state/odometry for %.3f s, initiating failsafe land", missing_for);
+    4123             : 
+    4124           0 :     failsafe();
+    4125             :   }
+    4126           0 : }
+    4127             : 
+    4128             : //}
+    4129             : 
+    4130             : // | -------------------- service callbacks ------------------- |
+    4131             : 
+    4132             : /* //{ callbackSwitchTracker() */
+    4133             : 
+    4134         157 : bool ControlManager::callbackSwitchTracker(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4135             : 
+    4136         157 :   if (!is_initialized_)
+    4137           0 :     return false;
+    4138             : 
+    4139         157 :   if (failsafe_triggered_ || eland_triggered_) {
+    4140             : 
+    4141           0 :     std::stringstream ss;
+    4142           0 :     ss << "can not switch tracker, eland or failsafe active";
+    4143             : 
+    4144           0 :     res.message = ss.str();
+    4145           0 :     res.success = false;
+    4146             : 
+    4147           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4148             : 
+    4149           0 :     return true;
+    4150             :   }
+    4151             : 
+    4152         157 :   auto [success, response] = switchTracker(req.value);
+    4153             : 
+    4154         157 :   res.success = success;
+    4155         157 :   res.message = response;
+    4156             : 
+    4157         157 :   return true;
+    4158             : }
+    4159             : 
+    4160             : //}
+    4161             : 
+    4162             : /* callbackSwitchController() //{ */
+    4163             : 
+    4164         156 : bool ControlManager::callbackSwitchController(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    4165             : 
+    4166         156 :   if (!is_initialized_)
+    4167           0 :     return false;
+    4168             : 
+    4169         156 :   if (failsafe_triggered_ || eland_triggered_) {
+    4170             : 
+    4171           0 :     std::stringstream ss;
+    4172           0 :     ss << "can not switch controller, eland or failsafe active";
+    4173             : 
+    4174           0 :     res.message = ss.str();
+    4175           0 :     res.success = false;
+    4176             : 
+    4177           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4178             : 
+    4179           0 :     return true;
+    4180             :   }
+    4181             : 
+    4182         156 :   auto [success, response] = switchController(req.value);
+    4183             : 
+    4184         156 :   res.success = success;
+    4185         156 :   res.message = response;
+    4186             : 
+    4187         156 :   return true;
+    4188             : }
+    4189             : 
+    4190             : //}
+    4191             : 
+    4192             : /* //{ callbackSwitchTracker() */
+    4193             : 
+    4194           0 : bool ControlManager::callbackTrackerResetStatic([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4195             : 
+    4196           0 :   if (!is_initialized_)
+    4197           0 :     return false;
+    4198             : 
+    4199           0 :   std::stringstream message;
+    4200             : 
+    4201           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4202             : 
+    4203           0 :     message << "can not reset tracker, eland or failsafe active";
+    4204             : 
+    4205           0 :     res.message = message.str();
+    4206           0 :     res.success = false;
+    4207             : 
+    4208           0 :     ROS_WARN_STREAM("[ControlManager]: " << message.str());
+    4209             : 
+    4210           0 :     return true;
+    4211             :   }
+    4212             : 
+    4213             :   // reactivate the current tracker
+    4214             :   {
+    4215           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    4216             : 
+    4217           0 :     std::string tracker_name = _tracker_names_[active_tracker_idx_];
+    4218             : 
+    4219           0 :     bool succ = tracker_list_[active_tracker_idx_]->resetStatic();
+    4220             : 
+    4221           0 :     if (succ) {
+    4222           0 :       message << "the tracker '" << tracker_name << "' was reset";
+    4223           0 :       ROS_INFO_STREAM("[ControlManager]: " << message.str());
+    4224             :     } else {
+    4225           0 :       message << "the tracker '" << tracker_name << "' reset failed!";
+    4226           0 :       ROS_ERROR_STREAM("[ControlManager]: " << message.str());
+    4227             :     }
+    4228             :   }
+    4229             : 
+    4230           0 :   res.message = message.str();
+    4231           0 :   res.success = true;
+    4232             : 
+    4233           0 :   return true;
+    4234             : }
+    4235             : 
+    4236             : //}
+    4237             : 
+    4238             : /* //{ callbackEHover() */
+    4239             : 
+    4240           0 : bool ControlManager::callbackEHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4241             : 
+    4242           0 :   if (!is_initialized_)
+    4243           0 :     return false;
+    4244             : 
+    4245           0 :   if (failsafe_triggered_ || eland_triggered_) {
+    4246             : 
+    4247           0 :     std::stringstream ss;
+    4248           0 :     ss << "can not switch controller, eland or failsafe active";
+    4249             : 
+    4250           0 :     res.message = ss.str();
+    4251           0 :     res.success = false;
+    4252             : 
+    4253           0 :     ROS_WARN_STREAM("[ControlManager]: " << ss.str());
+    4254             : 
+    4255           0 :     return true;
+    4256             :   }
+    4257             : 
+    4258           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: ehover trigger by callback");
+    4259             : 
+    4260           0 :   auto [success, message] = ehover();
+    4261             : 
+    4262           0 :   res.success = success;
+    4263           0 :   res.message = message;
+    4264             : 
+    4265           0 :   return true;
+    4266             : }
+    4267             : 
+    4268             : //}
+    4269             : 
+    4270             : /* callbackFailsafe() //{ */
+    4271             : 
+    4272           4 : bool ControlManager::callbackFailsafe([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4273             : 
+    4274           4 :   if (!is_initialized_)
+    4275           0 :     return false;
+    4276             : 
+    4277           4 :   if (failsafe_triggered_) {
+    4278             : 
+    4279           0 :     std::stringstream ss;
+    4280           0 :     ss << "can not activate failsafe, it is already active";
+    4281             : 
+    4282           0 :     res.message = ss.str();
+    4283           0 :     res.success = false;
+    4284             : 
+    4285           0 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4286             : 
+    4287           0 :     return true;
+    4288             :   }
+    4289             : 
+    4290           4 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: failsafe triggered by callback");
+    4291             : 
+    4292           4 :   auto [success, message] = failsafe();
+    4293             : 
+    4294           4 :   res.success = success;
+    4295           4 :   res.message = message;
+    4296             : 
+    4297           4 :   return true;
+    4298             : }
+    4299             : 
+    4300             : //}
+    4301             : 
+    4302             : /* callbackFailsafeEscalating() //{ */
+    4303             : 
+    4304           7 : bool ControlManager::callbackFailsafeEscalating([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4305             : 
+    4306           7 :   if (!is_initialized_)
+    4307           0 :     return false;
+    4308             : 
+    4309           7 :   if (_service_escalating_failsafe_enabled_) {
+    4310             : 
+    4311           7 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: escalating failsafe triggered by callback");
+    4312             : 
+    4313          14 :     auto [success, message] = escalatingFailsafe();
+    4314             : 
+    4315           7 :     res.success = success;
+    4316           7 :     res.message = message;
+    4317             : 
+    4318             :   } else {
+    4319             : 
+    4320           0 :     std::stringstream ss;
+    4321           0 :     ss << "escalating failsafe is disabled";
+    4322             : 
+    4323           0 :     res.success = false;
+    4324           0 :     res.message = ss.str();
+    4325             : 
+    4326           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: %s", ss.str().c_str());
+    4327             :   }
+    4328             : 
+    4329           7 :   return true;
+    4330             : }
+    4331             : 
+    4332             : //}
+    4333             : 
+    4334             : /* //{ callbackELand() */
+    4335             : 
+    4336           1 : bool ControlManager::callbackEland([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4337             : 
+    4338           1 :   if (!is_initialized_)
+    4339           0 :     return false;
+    4340             : 
+    4341           1 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: eland triggered by callback");
+    4342             : 
+    4343           1 :   auto [success, message] = eland();
+    4344             : 
+    4345           1 :   res.success = success;
+    4346           1 :   res.message = message;
+    4347             : 
+    4348           1 :   return true;
+    4349             : }
+    4350             : 
+    4351             : //}
+    4352             : 
+    4353             : /* //{ callbackParachute() */
+    4354             : 
+    4355           0 : bool ControlManager::callbackParachute([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4356             : 
+    4357           0 :   if (!is_initialized_)
+    4358           0 :     return false;
+    4359             : 
+    4360           0 :   if (!_parachute_enabled_) {
+    4361             : 
+    4362           0 :     std::stringstream ss;
+    4363           0 :     ss << "parachute disabled";
+    4364           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4365           0 :     res.message = ss.str();
+    4366           0 :     res.success = false;
+    4367             :   }
+    4368             : 
+    4369           0 :   ROS_WARN_THROTTLE(1.0, "[ControlManager]: parachute triggered by callback");
+    4370             : 
+    4371           0 :   auto [success, message] = deployParachute();
+    4372             : 
+    4373           0 :   res.success = success;
+    4374           0 :   res.message = message;
+    4375             : 
+    4376           0 :   return true;
+    4377             : }
+    4378             : 
+    4379             : //}
+    4380             : 
+    4381             : /* //{ callbackToggleOutput() */
+    4382             : 
+    4383          83 : bool ControlManager::callbackToggleOutput(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4384             : 
+    4385          83 :   if (!is_initialized_)
+    4386           0 :     return false;
+    4387             : 
+    4388          83 :   ROS_INFO("[ControlManager]: toggling output by service");
+    4389             : 
+    4390             :   // copy member variables
+    4391         166 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4392             : 
+    4393         166 :   std::stringstream ss;
+    4394             : 
+    4395          83 :   bool prereq_check = true;
+    4396             : 
+    4397             :   {
+    4398         166 :     mrs_msgs::ReferenceStamped current_coord;
+    4399          83 :     current_coord.header.frame_id      = uav_state.header.frame_id;
+    4400          83 :     current_coord.reference.position.x = uav_state.pose.position.x;
+    4401          83 :     current_coord.reference.position.y = uav_state.pose.position.y;
+    4402             : 
+    4403          83 :     if (!isPointInSafetyArea2d(current_coord)) {
+    4404           1 :       ss << "cannot toggle output, the UAV is outside of the safety area!";
+    4405           1 :       prereq_check = false;
+    4406             :     }
+    4407             :   }
+    4408             : 
+    4409          83 :   if (req.data && (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_)) {
+    4410           0 :     ss << "cannot toggle output ON, we landed in emergency";
+    4411           0 :     prereq_check = false;
+    4412             :   }
+    4413             : 
+    4414          83 :   if (!sh_hw_api_status_.hasMsg() || (ros::Time::now() - sh_hw_api_status_.lastMsgTime()).toSec() > 1.0) {
+    4415           0 :     ss << "cannot toggle output ON, missing HW API status!";
+    4416           0 :     prereq_check = false;
+    4417             :   }
+    4418             : 
+    4419          83 :   if (!prereq_check) {
+    4420             : 
+    4421           1 :     res.message = ss.str();
+    4422           1 :     res.success = false;
+    4423             : 
+    4424           1 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4425             : 
+    4426           1 :     return false;
+    4427             : 
+    4428             :   } else {
+    4429             : 
+    4430          82 :     toggleOutput(req.data);
+    4431             : 
+    4432          82 :     ss << "Output: " << (output_enabled_ ? "ON" : "OFF");
+    4433          82 :     res.message = ss.str();
+    4434          82 :     res.success = true;
+    4435             : 
+    4436          82 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4437             : 
+    4438          82 :     publishDiagnostics();
+    4439             : 
+    4440          82 :     return true;
+    4441             :   }
+    4442             : }
+    4443             : 
+    4444             : //}
+    4445             : 
+    4446             : /* callbackArm() //{ */
+    4447             : 
+    4448           6 : bool ControlManager::callbackArm(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4449             : 
+    4450           6 :   if (!is_initialized_)
+    4451           0 :     return false;
+    4452             : 
+    4453           6 :   ROS_INFO("[ControlManager]: arming by service");
+    4454             : 
+    4455          12 :   std::stringstream ss;
+    4456             : 
+    4457           6 :   if (failsafe_triggered_ || eland_triggered_) {
+    4458             : 
+    4459           0 :     ss << "can not " << (req.data ? "arm" : "disarm") << ", eland or failsafe active";
+    4460             : 
+    4461           0 :     res.message = ss.str();
+    4462           0 :     res.success = false;
+    4463             : 
+    4464           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4465             : 
+    4466           0 :     return true;
+    4467             :   }
+    4468             : 
+    4469           6 :   if (req.data) {
+    4470             : 
+    4471           0 :     ss << "this service is not allowed to arm the UAV";
+    4472           0 :     res.success = false;
+    4473           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4474             : 
+    4475             :   } else {
+    4476             : 
+    4477          12 :     auto [success, message] = arming(false);
+    4478             : 
+    4479           6 :     if (success) {
+    4480             : 
+    4481           6 :       ss << "disarmed";
+    4482           6 :       res.success = true;
+    4483           6 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4484             : 
+    4485             :     } else {
+    4486             : 
+    4487           0 :       ss << "could not disarm: " << message;
+    4488           0 :       res.success = false;
+    4489           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4490             :     }
+    4491             :   }
+    4492             : 
+    4493           6 :   res.message = ss.str();
+    4494             : 
+    4495           6 :   return true;
+    4496             : }
+    4497             : 
+    4498             : //}
+    4499             : 
+    4500             : /* //{ callbackEnableCallbacks() */
+    4501             : 
+    4502          78 : bool ControlManager::callbackEnableCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4503             : 
+    4504          78 :   if (!is_initialized_)
+    4505           0 :     return false;
+    4506             : 
+    4507          78 :   setCallbacks(req.data);
+    4508             : 
+    4509          78 :   std::stringstream ss;
+    4510             : 
+    4511          78 :   ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+    4512             : 
+    4513          78 :   res.message = ss.str();
+    4514          78 :   res.success = true;
+    4515             : 
+    4516          78 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4517             : 
+    4518          78 :   return true;
+    4519             : }
+    4520             : 
+    4521             : //}
+    4522             : 
+    4523             : /* callbackSetConstraints() //{ */
+    4524             : 
+    4525          81 : bool ControlManager::callbackSetConstraints(mrs_msgs::DynamicsConstraintsSrv::Request& req, mrs_msgs::DynamicsConstraintsSrv::Response& res) {
+    4526             : 
+    4527          81 :   if (!is_initialized_) {
+    4528           0 :     res.message = "not initialized";
+    4529           0 :     res.success = false;
+    4530           0 :     return true;
+    4531             :   }
+    4532             : 
+    4533             :   {
+    4534         162 :     std::scoped_lock lock(mutex_constraints_);
+    4535             : 
+    4536          81 :     current_constraints_ = req;
+    4537             : 
+    4538          81 :     auto enforced = enforceControllersConstraints(current_constraints_);
+    4539             : 
+    4540          81 :     if (enforced) {
+    4541           0 :       sanitized_constraints_      = enforced.value();
+    4542           0 :       constraints_being_enforced_ = true;
+    4543             :     } else {
+    4544          81 :       sanitized_constraints_      = req;
+    4545          81 :       constraints_being_enforced_ = false;
+    4546             :     }
+    4547             : 
+    4548          81 :     got_constraints_ = true;
+    4549             : 
+    4550          81 :     setConstraintsToControllers(current_constraints_);
+    4551          81 :     setConstraintsToTrackers(sanitized_constraints_);
+    4552             :   }
+    4553             : 
+    4554          81 :   res.message = "setting constraints";
+    4555          81 :   res.success = true;
+    4556             : 
+    4557          81 :   return true;
+    4558             : }
+    4559             : 
+    4560             : //}
+    4561             : 
+    4562             : /* //{ callbackEmergencyReference() */
+    4563             : 
+    4564          77 : bool ControlManager::callbackEmergencyReference(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    4565             : 
+    4566          77 :   if (!is_initialized_)
+    4567           0 :     return false;
+    4568             : 
+    4569         154 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4570             : 
+    4571          77 :   callbacks_enabled_ = false;
+    4572             : 
+    4573          77 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    4574             : 
+    4575         154 :   std::stringstream ss;
+    4576             : 
+    4577             :   // transform the reference to the current frame
+    4578         154 :   mrs_msgs::ReferenceStamped original_reference;
+    4579          77 :   original_reference.header    = req.header;
+    4580          77 :   original_reference.reference = req.reference;
+    4581             : 
+    4582         154 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    4583             : 
+    4584          77 :   if (!ret) {
+    4585             : 
+    4586           0 :     ss << "the emergency reference could not be transformed";
+    4587             : 
+    4588           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4589           0 :     res.message = ss.str();
+    4590           0 :     res.success = false;
+    4591           0 :     return true;
+    4592             :   }
+    4593             : 
+    4594          77 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    4595             : 
+    4596          77 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    4597             : 
+    4598          77 :   mrs_msgs::ReferenceSrvRequest req_goto_out;
+    4599          77 :   req_goto_out.reference = transformed_reference.reference;
+    4600             : 
+    4601             :   {
+    4602         154 :     std::scoped_lock lock(mutex_tracker_list_);
+    4603             : 
+    4604             :     // disable callbacks of all trackers
+    4605          77 :     req_enable_callbacks.data = false;
+    4606         539 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    4607         462 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4608             :     }
+    4609             : 
+    4610             :     // enable the callbacks for the active tracker
+    4611          77 :     req_enable_callbacks.data = true;
+    4612          77 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4613             : 
+    4614             :     // call the setReference()
+    4615         231 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    4616         231 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    4617             : 
+    4618             :     // disable the callbacks back again
+    4619          77 :     req_enable_callbacks.data = false;
+    4620          77 :     tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    4621             : 
+    4622          77 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    4623          77 :       res.message = tracker_response->message;
+    4624          77 :       res.success = tracker_response->success;
+    4625             :     } else {
+    4626           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    4627           0 :       res.message = ss.str();
+    4628           0 :       res.success = false;
+    4629             :     }
+    4630             :   }
+    4631             : 
+    4632          77 :   return true;
+    4633             : }
+    4634             : 
+    4635             : //}
+    4636             : 
+    4637             : /* callbackPirouette() //{ */
+    4638             : 
+    4639           0 : bool ControlManager::callbackPirouette([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4640             : 
+    4641           0 :   if (!is_initialized_)
+    4642           0 :     return false;
+    4643             : 
+    4644             :   // copy member variables
+    4645           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4646             : 
+    4647             :   double uav_heading;
+    4648             :   try {
+    4649           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    4650             :   }
+    4651           0 :   catch (...) {
+    4652           0 :     std::stringstream ss;
+    4653           0 :     ss << "could not calculate the UAV heading to initialize the pirouette";
+    4654             : 
+    4655           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    4656             : 
+    4657           0 :     res.message = ss.str();
+    4658           0 :     res.success = false;
+    4659             : 
+    4660           0 :     return false;
+    4661             :   }
+    4662             : 
+    4663           0 :   if (_pirouette_enabled_) {
+    4664           0 :     res.success = false;
+    4665           0 :     res.message = "already active";
+    4666           0 :     return true;
+    4667             :   }
+    4668             : 
+    4669           0 :   if (failsafe_triggered_ || eland_triggered_ || rc_escalating_failsafe_triggered_) {
+    4670             : 
+    4671           0 :     std::stringstream ss;
+    4672           0 :     ss << "can not activate the pirouette, eland or failsafe active";
+    4673             : 
+    4674           0 :     res.message = ss.str();
+    4675           0 :     res.success = false;
+    4676             : 
+    4677           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4678             : 
+    4679           0 :     return true;
+    4680             :   }
+    4681             : 
+    4682           0 :   _pirouette_enabled_ = true;
+    4683             : 
+    4684           0 :   setCallbacks(false);
+    4685             : 
+    4686           0 :   pirouette_initial_heading_ = uav_heading;
+    4687           0 :   pirouette_iterator_        = 0;
+    4688           0 :   timer_pirouette_.start();
+    4689             : 
+    4690           0 :   res.success = true;
+    4691           0 :   res.message = "activated";
+    4692             : 
+    4693           0 :   return true;
+    4694             : }
+    4695             : 
+    4696             : //}
+    4697             : 
+    4698             : /* callbackUseJoystick() //{ */
+    4699             : 
+    4700           0 : bool ControlManager::callbackUseJoystick([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4701             : 
+    4702           0 :   if (!is_initialized_) {
+    4703           0 :     return false;
+    4704             :   }
+    4705             : 
+    4706           0 :   std::stringstream ss;
+    4707             : 
+    4708             :   {
+    4709           0 :     auto [success, response] = switchTracker(_joystick_tracker_name_);
+    4710             : 
+    4711           0 :     if (!success) {
+    4712             : 
+    4713           0 :       ss << "switching to '" << _joystick_tracker_name_ << "' was unsuccessfull: '" << response << "'";
+    4714           0 :       ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4715             : 
+    4716           0 :       res.success = false;
+    4717           0 :       res.message = ss.str();
+    4718             : 
+    4719           0 :       return true;
+    4720             :     }
+    4721             :   }
+    4722             : 
+    4723           0 :   auto [success, response] = switchController(_joystick_controller_name_);
+    4724             : 
+    4725           0 :   if (!success) {
+    4726             : 
+    4727           0 :     ss << "switching to '" << _joystick_controller_name_ << "' was unsuccessfull: '" << response << "'";
+    4728           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4729             : 
+    4730           0 :     res.success = false;
+    4731           0 :     res.message = ss.str();
+    4732             : 
+    4733             :     // switch back to hover tracker
+    4734           0 :     switchTracker(_ehover_tracker_name_);
+    4735             : 
+    4736             :     // switch back to safety controller
+    4737           0 :     switchController(_eland_controller_name_);
+    4738             : 
+    4739           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    4740             : 
+    4741           0 :     return true;
+    4742             :   }
+    4743             : 
+    4744           0 :   ss << "switched to joystick control";
+    4745             : 
+    4746           0 :   res.success = true;
+    4747           0 :   res.message = ss.str();
+    4748             : 
+    4749           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4750             : 
+    4751           0 :   return true;
+    4752             : }
+    4753             : 
+    4754             : //}
+    4755             : 
+    4756             : /* //{ callbackHover() */
+    4757             : 
+    4758           0 : bool ControlManager::callbackHover([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4759             : 
+    4760           0 :   if (!is_initialized_)
+    4761           0 :     return false;
+    4762             : 
+    4763           0 :   auto [success, message] = hover();
+    4764             : 
+    4765           0 :   res.success = success;
+    4766           0 :   res.message = message;
+    4767             : 
+    4768           0 :   return true;
+    4769             : }
+    4770             : 
+    4771             : //}
+    4772             : 
+    4773             : /* //{ callbackStartTrajectoryTracking() */
+    4774             : 
+    4775           1 : bool ControlManager::callbackStartTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4776             : 
+    4777           1 :   if (!is_initialized_)
+    4778           0 :     return false;
+    4779             : 
+    4780           1 :   auto [success, message] = startTrajectoryTracking();
+    4781             : 
+    4782           1 :   res.success = success;
+    4783           1 :   res.message = message;
+    4784             : 
+    4785           1 :   return true;
+    4786             : }
+    4787             : 
+    4788             : //}
+    4789             : 
+    4790             : /* //{ callbackStopTrajectoryTracking() */
+    4791             : 
+    4792           0 : bool ControlManager::callbackStopTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4793             : 
+    4794           0 :   if (!is_initialized_)
+    4795           0 :     return false;
+    4796             : 
+    4797           0 :   auto [success, message] = stopTrajectoryTracking();
+    4798             : 
+    4799           0 :   res.success = success;
+    4800           0 :   res.message = message;
+    4801             : 
+    4802           0 :   return true;
+    4803             : }
+    4804             : 
+    4805             : //}
+    4806             : 
+    4807             : /* //{ callbackResumeTrajectoryTracking() */
+    4808             : 
+    4809           0 : bool ControlManager::callbackResumeTrajectoryTracking([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4810             : 
+    4811           0 :   if (!is_initialized_)
+    4812           0 :     return false;
+    4813             : 
+    4814           0 :   auto [success, message] = resumeTrajectoryTracking();
+    4815             : 
+    4816           0 :   res.success = success;
+    4817           0 :   res.message = message;
+    4818             : 
+    4819           0 :   return true;
+    4820             : }
+    4821             : 
+    4822             : //}
+    4823             : 
+    4824             : /* //{ callbackGotoTrajectoryStart() */
+    4825             : 
+    4826           1 : bool ControlManager::callbackGotoTrajectoryStart([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    4827             : 
+    4828           1 :   if (!is_initialized_)
+    4829           0 :     return false;
+    4830             : 
+    4831           1 :   auto [success, message] = gotoTrajectoryStart();
+    4832             : 
+    4833           1 :   res.success = success;
+    4834           1 :   res.message = message;
+    4835             : 
+    4836           1 :   return true;
+    4837             : }
+    4838             : 
+    4839             : //}
+    4840             : 
+    4841             : /* //{ callbackTransformReference() */
+    4842             : 
+    4843           0 : bool ControlManager::callbackTransformReference(mrs_msgs::TransformReferenceSrv::Request& req, mrs_msgs::TransformReferenceSrv::Response& res) {
+    4844             : 
+    4845           0 :   if (!is_initialized_)
+    4846           0 :     return false;
+    4847             : 
+    4848             :   // transform the reference to the current frame
+    4849           0 :   mrs_msgs::ReferenceStamped transformed_reference = req.reference;
+    4850             : 
+    4851           0 :   if (auto ret = transformer_->transformSingle(transformed_reference, req.frame_id)) {
+    4852             : 
+    4853           0 :     res.reference = ret.value();
+    4854           0 :     res.message   = "transformation successful";
+    4855           0 :     res.success   = true;
+    4856           0 :     return true;
+    4857             : 
+    4858             :   } else {
+    4859             : 
+    4860           0 :     res.message = "the reference could not be transformed";
+    4861           0 :     res.success = false;
+    4862           0 :     return true;
+    4863             :   }
+    4864             : 
+    4865             :   return true;
+    4866             : }
+    4867             : 
+    4868             : //}
+    4869             : 
+    4870             : /* //{ callbackTransformPose() */
+    4871             : 
+    4872           0 : bool ControlManager::callbackTransformPose(mrs_msgs::TransformPoseSrv::Request& req, mrs_msgs::TransformPoseSrv::Response& res) {
+    4873             : 
+    4874           0 :   if (!is_initialized_)
+    4875           0 :     return false;
+    4876             : 
+    4877             :   // transform the reference to the current frame
+    4878           0 :   geometry_msgs::PoseStamped transformed_pose = req.pose;
+    4879             : 
+    4880           0 :   if (auto ret = transformer_->transformSingle(transformed_pose, req.frame_id)) {
+    4881             : 
+    4882           0 :     res.pose    = ret.value();
+    4883           0 :     res.message = "transformation successful";
+    4884           0 :     res.success = true;
+    4885           0 :     return true;
+    4886             : 
+    4887             :   } else {
+    4888             : 
+    4889           0 :     res.message = "the pose could not be transformed";
+    4890           0 :     res.success = false;
+    4891           0 :     return true;
+    4892             :   }
+    4893             : 
+    4894             :   return true;
+    4895             : }
+    4896             : 
+    4897             : //}
+    4898             : 
+    4899             : /* //{ callbackTransformVector3() */
+    4900             : 
+    4901           0 : bool ControlManager::callbackTransformVector3(mrs_msgs::TransformVector3Srv::Request& req, mrs_msgs::TransformVector3Srv::Response& res) {
+    4902             : 
+    4903           0 :   if (!is_initialized_)
+    4904           0 :     return false;
+    4905             : 
+    4906             :   // transform the reference to the current frame
+    4907           0 :   geometry_msgs::Vector3Stamped transformed_vector3 = req.vector;
+    4908             : 
+    4909           0 :   if (auto ret = transformer_->transformSingle(transformed_vector3, req.frame_id)) {
+    4910             : 
+    4911           0 :     res.vector  = ret.value();
+    4912           0 :     res.message = "transformation successful";
+    4913           0 :     res.success = true;
+    4914           0 :     return true;
+    4915             : 
+    4916             :   } else {
+    4917             : 
+    4918           0 :     res.message = "the twist could not be transformed";
+    4919           0 :     res.success = false;
+    4920           0 :     return true;
+    4921             :   }
+    4922             : 
+    4923             :   return true;
+    4924             : }
+    4925             : 
+    4926             : //}
+    4927             : 
+    4928             : /* //{ callbackEnableBumper() */
+    4929             : 
+    4930           0 : bool ControlManager::callbackEnableBumper(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4931             : 
+    4932           0 :   if (!is_initialized_)
+    4933           0 :     return false;
+    4934             : 
+    4935           0 :   bumper_enabled_ = req.data;
+    4936             : 
+    4937           0 :   std::stringstream ss;
+    4938             : 
+    4939           0 :   ss << "bumper " << (bumper_enabled_ ? "enalbed" : "disabled");
+    4940             : 
+    4941           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4942             : 
+    4943           0 :   res.success = true;
+    4944           0 :   res.message = ss.str();
+    4945             : 
+    4946           0 :   return true;
+    4947             : }
+    4948             : 
+    4949             : //}
+    4950             : 
+    4951             : /* //{ callbackUseSafetyArea() */
+    4952             : 
+    4953           0 : bool ControlManager::callbackUseSafetyArea(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    4954             : 
+    4955           0 :   if (!is_initialized_)
+    4956           0 :     return false;
+    4957             : 
+    4958           0 :   use_safety_area_ = req.data;
+    4959             : 
+    4960           0 :   std::stringstream ss;
+    4961             : 
+    4962           0 :   ss << "safety area " << (use_safety_area_ ? "enabled" : "disabled");
+    4963             : 
+    4964           0 :   ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    4965             : 
+    4966           0 :   res.success = true;
+    4967           0 :   res.message = ss.str();
+    4968             : 
+    4969           0 :   return true;
+    4970             : }
+    4971             : 
+    4972             : //}
+    4973             : 
+    4974             : /* //{ callbackGetMinZ() */
+    4975             : 
+    4976           0 : bool ControlManager::callbackGetMinZ([[maybe_unused]] mrs_msgs::GetFloat64::Request& req, mrs_msgs::GetFloat64::Response& res) {
+    4977             : 
+    4978           0 :   if (!is_initialized_) {
+    4979           0 :     return false;
+    4980             :   }
+    4981             : 
+    4982           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    4983             : 
+    4984           0 :   res.success = true;
+    4985           0 :   res.value   = getMinZ(uav_state.header.frame_id);
+    4986             : 
+    4987           0 :   return true;
+    4988             : }
+    4989             : 
+    4990             : //}
+    4991             : 
+    4992             : /* //{ callbackValidateReference() */
+    4993             : 
+    4994           0 : bool ControlManager::callbackValidateReference(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    4995             : 
+    4996           0 :   if (!is_initialized_) {
+    4997           0 :     res.message = "not initialized";
+    4998           0 :     res.success = false;
+    4999           0 :     return true;
+    5000             :   }
+    5001             : 
+    5002           0 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5003           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5004           0 :     res.message = "NaNs/infs in input!";
+    5005           0 :     res.success = false;
+    5006           0 :     return true;
+    5007             :   }
+    5008             : 
+    5009             :   // copy member variables
+    5010           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5011           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5012             : 
+    5013             :   // transform the reference to the current frame
+    5014           0 :   mrs_msgs::ReferenceStamped original_reference;
+    5015           0 :   original_reference.header    = req.reference.header;
+    5016           0 :   original_reference.reference = req.reference.reference;
+    5017             : 
+    5018           0 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5019             : 
+    5020           0 :   if (!ret) {
+    5021             : 
+    5022           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5023           0 :     res.message = "the reference could not be transformed";
+    5024           0 :     res.success = false;
+    5025           0 :     return true;
+    5026             :   }
+    5027             : 
+    5028           0 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5029             : 
+    5030           0 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5031           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5032           0 :     res.message = "the point is outside of the safety area";
+    5033           0 :     res.success = false;
+    5034           0 :     return true;
+    5035             :   }
+    5036             : 
+    5037           0 :   if (last_tracker_cmd) {
+    5038             : 
+    5039           0 :     mrs_msgs::ReferenceStamped from_point;
+    5040           0 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5041           0 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5042           0 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5043           0 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5044             : 
+    5045           0 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5046           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5047           0 :       res.message = "the path is going outside the safety area";
+    5048           0 :       res.success = false;
+    5049           0 :       return true;
+    5050             :     }
+    5051             :   }
+    5052             : 
+    5053           0 :   res.message = "the reference is ok";
+    5054           0 :   res.success = true;
+    5055           0 :   return true;
+    5056             : }
+    5057             : 
+    5058             : //}
+    5059             : 
+    5060             : /* //{ callbackValidateReference2d() */
+    5061             : 
+    5062        9549 : bool ControlManager::callbackValidateReference2d(mrs_msgs::ValidateReference::Request& req, mrs_msgs::ValidateReference::Response& res) {
+    5063             : 
+    5064        9549 :   if (!is_initialized_) {
+    5065           0 :     res.message = "not initialized";
+    5066           0 :     res.success = false;
+    5067           0 :     return true;
+    5068             :   }
+    5069             : 
+    5070        9549 :   if (!validateReference(req.reference.reference, "ControlManager", "reference_for_validation")) {
+    5071           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: NaN detected in variable 'req.reference'!!!");
+    5072           0 :     res.message = "NaNs/infs in input!";
+    5073           0 :     res.success = false;
+    5074           0 :     return true;
+    5075             :   }
+    5076             : 
+    5077             :   // copy member variables
+    5078       19098 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5079       19098 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5080             : 
+    5081             :   // transform the reference to the current frame
+    5082       19098 :   mrs_msgs::ReferenceStamped original_reference;
+    5083        9549 :   original_reference.header    = req.reference.header;
+    5084        9549 :   original_reference.reference = req.reference.reference;
+    5085             : 
+    5086       19098 :   auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5087             : 
+    5088        9549 :   if (!ret) {
+    5089             : 
+    5090           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the reference could not be transformed");
+    5091           0 :     res.message = "the reference could not be transformed";
+    5092           0 :     res.success = false;
+    5093           0 :     return true;
+    5094             :   }
+    5095             : 
+    5096       19098 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5097             : 
+    5098        9549 :   if (!isPointInSafetyArea2d(transformed_reference)) {
+    5099          76 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the point is outside of the safety area!");
+    5100          76 :     res.message = "the point is outside of the safety area";
+    5101          76 :     res.success = false;
+    5102          76 :     return true;
+    5103             :   }
+    5104             : 
+    5105        9473 :   if (last_tracker_cmd) {
+    5106             : 
+    5107          31 :     mrs_msgs::ReferenceStamped from_point;
+    5108          31 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5109          31 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5110          31 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5111          31 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5112             : 
+    5113          31 :     if (!isPathToPointInSafetyArea2d(from_point, transformed_reference)) {
+    5114           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: reference validation failed, the path is going outside the safety area!");
+    5115           0 :       res.message = "the path is going outside the safety area";
+    5116           0 :       res.success = false;
+    5117           0 :       return true;
+    5118             :     }
+    5119             :   }
+    5120             : 
+    5121        9473 :   res.message = "the reference is ok";
+    5122        9473 :   res.success = true;
+    5123        9473 :   return true;
+    5124             : }
+    5125             : 
+    5126             : //}
+    5127             : 
+    5128             : /* //{ callbackValidateReferenceList() */
+    5129             : 
+    5130           0 : bool ControlManager::callbackValidateReferenceList(mrs_msgs::ValidateReferenceList::Request& req, mrs_msgs::ValidateReferenceList::Response& res) {
+    5131             : 
+    5132           0 :   if (!is_initialized_) {
+    5133           0 :     res.message = "not initialized";
+    5134           0 :     return false;
+    5135             :   }
+    5136             : 
+    5137             :   // copy member variables
+    5138           0 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5139           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5140             : 
+    5141             :   // get the transformer
+    5142           0 :   auto ret = transformer_->getTransform(uav_state.header.frame_id, req.list.header.frame_id, req.list.header.stamp);
+    5143             : 
+    5144           0 :   if (!ret) {
+    5145             : 
+    5146           0 :     ROS_DEBUG("[ControlManager]: could not find transform for the reference");
+    5147           0 :     res.message = "could not find transform";
+    5148           0 :     return false;
+    5149             :   }
+    5150             : 
+    5151           0 :   geometry_msgs::TransformStamped tf = ret.value();
+    5152             : 
+    5153           0 :   for (int i = 0; i < int(req.list.list.size()); i++) {
+    5154             : 
+    5155           0 :     res.success.push_back(true);
+    5156             : 
+    5157           0 :     mrs_msgs::ReferenceStamped original_reference;
+    5158           0 :     original_reference.header    = req.list.header;
+    5159           0 :     original_reference.reference = req.list.list[i];
+    5160             : 
+    5161           0 :     res.success[i] = validateReference(original_reference.reference, "ControlManager", "reference_list");
+    5162             : 
+    5163           0 :     auto ret = transformer_->transformSingle(original_reference, uav_state.header.frame_id);
+    5164             : 
+    5165           0 :     if (!ret) {
+    5166             : 
+    5167           0 :       ROS_DEBUG("[ControlManager]: the reference could not be transformed");
+    5168           0 :       res.success[i] = false;
+    5169             :     }
+    5170             : 
+    5171           0 :     mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5172             : 
+    5173           0 :     if (!isPointInSafetyArea3d(transformed_reference)) {
+    5174           0 :       res.success[i] = false;
+    5175             :     }
+    5176             : 
+    5177           0 :     if (last_tracker_cmd) {
+    5178             : 
+    5179           0 :       mrs_msgs::ReferenceStamped from_point;
+    5180           0 :       from_point.header.frame_id      = uav_state.header.frame_id;
+    5181           0 :       from_point.reference.position.x = last_tracker_cmd->position.x;
+    5182           0 :       from_point.reference.position.y = last_tracker_cmd->position.y;
+    5183           0 :       from_point.reference.position.z = last_tracker_cmd->position.z;
+    5184             : 
+    5185           0 :       if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5186           0 :         res.success[i] = false;
+    5187             :       }
+    5188             :     }
+    5189             :   }
+    5190             : 
+    5191           0 :   res.message = "references were checked";
+    5192           0 :   return true;
+    5193             : }
+    5194             : 
+    5195             : //}
+    5196             : 
+    5197             : // | -------------- setpoint topics and services -------------- |
+    5198             : 
+    5199             : /* //{ callbackReferenceService() */
+    5200             : 
+    5201           0 : bool ControlManager::callbackReferenceService(mrs_msgs::ReferenceStampedSrv::Request& req, mrs_msgs::ReferenceStampedSrv::Response& res) {
+    5202             : 
+    5203           0 :   if (!is_initialized_) {
+    5204           0 :     res.message = "not initialized";
+    5205           0 :     res.success = false;
+    5206           0 :     return true;
+    5207             :   }
+    5208             : 
+    5209           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceService");
+    5210           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5211             : 
+    5212           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5213           0 :   des_reference.header    = req.header;
+    5214           0 :   des_reference.reference = req.reference;
+    5215             : 
+    5216           0 :   auto [success, message] = setReference(des_reference);
+    5217             : 
+    5218           0 :   res.success = success;
+    5219           0 :   res.message = message;
+    5220             : 
+    5221           0 :   return true;
+    5222             : }
+    5223             : 
+    5224             : //}
+    5225             : 
+    5226             : /* //{ callbackReferenceTopic() */
+    5227             : 
+    5228           0 : void ControlManager::callbackReferenceTopic(const mrs_msgs::ReferenceStamped::ConstPtr msg) {
+    5229             : 
+    5230           0 :   if (!is_initialized_)
+    5231           0 :     return;
+    5232             : 
+    5233           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackReferenceTopic");
+    5234           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5235             : 
+    5236           0 :   setReference(*msg);
+    5237             : }
+    5238             : 
+    5239             : //}
+    5240             : 
+    5241             : /* //{ callbackVelocityReferenceService() */
+    5242             : 
+    5243         471 : bool ControlManager::callbackVelocityReferenceService(mrs_msgs::VelocityReferenceStampedSrv::Request&  req,
+    5244             :                                                       mrs_msgs::VelocityReferenceStampedSrv::Response& res) {
+    5245             : 
+    5246         471 :   if (!is_initialized_) {
+    5247           0 :     res.message = "not initialized";
+    5248           0 :     res.success = false;
+    5249           0 :     return true;
+    5250             :   }
+    5251             : 
+    5252        1413 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceService");
+    5253        1413 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5254             : 
+    5255         942 :   mrs_msgs::VelocityReferenceStamped des_reference;
+    5256         471 :   des_reference = req.reference;
+    5257             : 
+    5258         471 :   auto [success, message] = setVelocityReference(des_reference);
+    5259             : 
+    5260         471 :   res.success = success;
+    5261         471 :   res.message = message;
+    5262             : 
+    5263         471 :   return true;
+    5264             : }
+    5265             : 
+    5266             : //}
+    5267             : 
+    5268             : /* //{ callbackVelocityReferenceTopic() */
+    5269             : 
+    5270           0 : void ControlManager::callbackVelocityReferenceTopic(const mrs_msgs::VelocityReferenceStamped::ConstPtr msg) {
+    5271             : 
+    5272           0 :   if (!is_initialized_)
+    5273           0 :     return;
+    5274             : 
+    5275           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackVelocityReferenceTopic");
+    5276           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackVelocityReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5277             : 
+    5278           0 :   setVelocityReference(*msg);
+    5279             : }
+    5280             : 
+    5281             : //}
+    5282             : 
+    5283             : /* //{ callbackTrajectoryReferenceService() */
+    5284             : 
+    5285           4 : bool ControlManager::callbackTrajectoryReferenceService(mrs_msgs::TrajectoryReferenceSrv::Request& req, mrs_msgs::TrajectoryReferenceSrv::Response& res) {
+    5286             : 
+    5287           4 :   if (!is_initialized_) {
+    5288           0 :     res.message = "not initialized";
+    5289           0 :     res.success = false;
+    5290           0 :     return true;
+    5291             :   }
+    5292             : 
+    5293          12 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceService");
+    5294          12 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceService", scope_timer_logger_, scope_timer_enabled_);
+    5295             : 
+    5296           8 :   auto [success, message, modified, tracker_names, tracker_successes, tracker_messages] = setTrajectoryReference(req.trajectory);
+    5297             : 
+    5298           4 :   res.success          = success;
+    5299           4 :   res.message          = message;
+    5300           4 :   res.modified         = modified;
+    5301           4 :   res.tracker_names    = tracker_names;
+    5302           4 :   res.tracker_messages = tracker_messages;
+    5303             : 
+    5304          28 :   for (size_t i = 0; i < tracker_successes.size(); i++) {
+    5305          24 :     res.tracker_successes.push_back(tracker_successes[i]);
+    5306             :   }
+    5307             : 
+    5308           4 :   return true;
+    5309             : }
+    5310             : 
+    5311             : //}
+    5312             : 
+    5313             : /* //{ callbackTrajectoryReferenceTopic() */
+    5314             : 
+    5315           0 : void ControlManager::callbackTrajectoryReferenceTopic(const mrs_msgs::TrajectoryReference::ConstPtr msg) {
+    5316             : 
+    5317           0 :   if (!is_initialized_)
+    5318           0 :     return;
+    5319             : 
+    5320           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackTrajectoryReferenceTopic");
+    5321           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackTrajectoryReferenceTopic", scope_timer_logger_, scope_timer_enabled_);
+    5322             : 
+    5323           0 :   setTrajectoryReference(*msg);
+    5324             : }
+    5325             : 
+    5326             : //}
+    5327             : 
+    5328             : // | ------------- human-callable "goto" services ------------- |
+    5329             : 
+    5330             : /* //{ callbackGoto() */
+    5331             : 
+    5332          24 : bool ControlManager::callbackGoto(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5333             : 
+    5334          24 :   if (!is_initialized_) {
+    5335           0 :     res.message = "not initialized";
+    5336           0 :     res.success = false;
+    5337           0 :     return true;
+    5338             :   }
+    5339             : 
+    5340          72 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGoto");
+    5341          72 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGoto", scope_timer_logger_, scope_timer_enabled_);
+    5342             : 
+    5343          48 :   mrs_msgs::ReferenceStamped des_reference;
+    5344          24 :   des_reference.header.frame_id      = "";
+    5345          24 :   des_reference.header.stamp         = ros::Time(0);
+    5346          24 :   des_reference.reference.position.x = req.goal[REF_X];
+    5347          24 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5348          24 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5349          24 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5350             : 
+    5351          48 :   auto [success, message] = setReference(des_reference);
+    5352             : 
+    5353          24 :   res.success = success;
+    5354          24 :   res.message = message;
+    5355             : 
+    5356          24 :   return true;
+    5357             : }
+    5358             : 
+    5359             : //}
+    5360             : 
+    5361             : /* //{ callbackGotoFcu() */
+    5362             : 
+    5363           0 : bool ControlManager::callbackGotoFcu(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5364             : 
+    5365           0 :   if (!is_initialized_) {
+    5366           0 :     res.message = "not initialized";
+    5367           0 :     res.success = false;
+    5368           0 :     return true;
+    5369             :   }
+    5370             : 
+    5371           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoFcu");
+    5372           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoFcu", scope_timer_logger_, scope_timer_enabled_);
+    5373             : 
+    5374           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5375           0 :   des_reference.header.frame_id      = "fcu_untilted";
+    5376           0 :   des_reference.header.stamp         = ros::Time(0);
+    5377           0 :   des_reference.reference.position.x = req.goal[REF_X];
+    5378           0 :   des_reference.reference.position.y = req.goal[REF_Y];
+    5379           0 :   des_reference.reference.position.z = req.goal[REF_Z];
+    5380           0 :   des_reference.reference.heading    = req.goal[REF_HEADING];
+    5381             : 
+    5382           0 :   auto [success, message] = setReference(des_reference);
+    5383             : 
+    5384           0 :   res.success = success;
+    5385           0 :   res.message = message;
+    5386             : 
+    5387           0 :   return true;
+    5388             : }
+    5389             : 
+    5390             : //}
+    5391             : 
+    5392             : /* //{ callbackGotoRelative() */
+    5393             : 
+    5394          22 : bool ControlManager::callbackGotoRelative(mrs_msgs::Vec4::Request& req, mrs_msgs::Vec4::Response& res) {
+    5395             : 
+    5396          22 :   if (!is_initialized_) {
+    5397           0 :     res.message = "not initialized";
+    5398           0 :     res.success = false;
+    5399           0 :     return true;
+    5400             :   }
+    5401             : 
+    5402          66 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoRelative");
+    5403          66 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoRelative", scope_timer_logger_, scope_timer_enabled_);
+    5404             : 
+    5405          44 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5406             : 
+    5407          22 :   if (!last_tracker_cmd) {
+    5408           0 :     res.message = "not flying";
+    5409           0 :     res.success = false;
+    5410           0 :     return true;
+    5411             :   }
+    5412             : 
+    5413          44 :   mrs_msgs::ReferenceStamped des_reference;
+    5414          22 :   des_reference.header.frame_id      = "";
+    5415          22 :   des_reference.header.stamp         = ros::Time(0);
+    5416          22 :   des_reference.reference.position.x = last_tracker_cmd->position.x + req.goal[REF_X];
+    5417          22 :   des_reference.reference.position.y = last_tracker_cmd->position.y + req.goal[REF_Y];
+    5418          22 :   des_reference.reference.position.z = last_tracker_cmd->position.z + req.goal[REF_Z];
+    5419          22 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal[REF_HEADING];
+    5420             : 
+    5421          44 :   auto [success, message] = setReference(des_reference);
+    5422             : 
+    5423          22 :   res.success = success;
+    5424          22 :   res.message = message;
+    5425             : 
+    5426          22 :   return true;
+    5427             : }
+    5428             : 
+    5429             : //}
+    5430             : 
+    5431             : /* //{ callbackGotoAltitude() */
+    5432             : 
+    5433           0 : bool ControlManager::callbackGotoAltitude(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5434             : 
+    5435           0 :   if (!is_initialized_) {
+    5436           0 :     res.message = "not initialized";
+    5437           0 :     res.success = false;
+    5438           0 :     return true;
+    5439             :   }
+    5440             : 
+    5441           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackGotoAltitude");
+    5442           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackGotoAltitude", scope_timer_logger_, scope_timer_enabled_);
+    5443             : 
+    5444           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5445             : 
+    5446           0 :   if (!last_tracker_cmd) {
+    5447           0 :     res.message = "not flying";
+    5448           0 :     res.success = false;
+    5449           0 :     return true;
+    5450             :   }
+    5451             : 
+    5452           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5453           0 :   des_reference.header.frame_id      = "";
+    5454           0 :   des_reference.header.stamp         = ros::Time(0);
+    5455           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5456           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5457           0 :   des_reference.reference.position.z = req.goal;
+    5458           0 :   des_reference.reference.heading    = last_tracker_cmd->heading;
+    5459             : 
+    5460           0 :   auto [success, message] = setReference(des_reference);
+    5461             : 
+    5462           0 :   res.success = success;
+    5463           0 :   res.message = message;
+    5464             : 
+    5465           0 :   return true;
+    5466             : }
+    5467             : 
+    5468             : //}
+    5469             : 
+    5470             : /* //{ callbackSetHeading() */
+    5471             : 
+    5472           0 : bool ControlManager::callbackSetHeading(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5473             : 
+    5474           0 :   if (!is_initialized_) {
+    5475           0 :     res.message = "not initialized";
+    5476           0 :     res.success = false;
+    5477           0 :     return true;
+    5478             :   }
+    5479             : 
+    5480           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeading");
+    5481           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeading", scope_timer_logger_, scope_timer_enabled_);
+    5482             : 
+    5483           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5484             : 
+    5485           0 :   if (!last_tracker_cmd) {
+    5486           0 :     res.message = "not flying";
+    5487           0 :     res.success = false;
+    5488           0 :     return true;
+    5489             :   }
+    5490             : 
+    5491           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5492           0 :   des_reference.header.frame_id      = "";
+    5493           0 :   des_reference.header.stamp         = ros::Time(0);
+    5494           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5495           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5496           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5497           0 :   des_reference.reference.heading    = req.goal;
+    5498             : 
+    5499           0 :   auto [success, message] = setReference(des_reference);
+    5500             : 
+    5501           0 :   res.success = success;
+    5502           0 :   res.message = message;
+    5503             : 
+    5504           0 :   return true;
+    5505             : }
+    5506             : 
+    5507             : //}
+    5508             : 
+    5509             : /* //{ callbackSetHeadingRelative() */
+    5510             : 
+    5511           0 : bool ControlManager::callbackSetHeadingRelative(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    5512             : 
+    5513           0 :   if (!is_initialized_) {
+    5514           0 :     res.message = "not initialized";
+    5515           0 :     res.success = false;
+    5516           0 :     return true;
+    5517             :   }
+    5518             : 
+    5519           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackSetHeadingRelative");
+    5520           0 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::callbackSetHeadingRelative", scope_timer_logger_, scope_timer_enabled_);
+    5521             : 
+    5522           0 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5523             : 
+    5524           0 :   if (!last_tracker_cmd) {
+    5525           0 :     res.message = "not flying";
+    5526           0 :     res.success = false;
+    5527           0 :     return true;
+    5528             :   }
+    5529             : 
+    5530           0 :   mrs_msgs::ReferenceStamped des_reference;
+    5531           0 :   des_reference.header.frame_id      = "";
+    5532           0 :   des_reference.header.stamp         = ros::Time(0);
+    5533           0 :   des_reference.reference.position.x = last_tracker_cmd->position.x;
+    5534           0 :   des_reference.reference.position.y = last_tracker_cmd->position.y;
+    5535           0 :   des_reference.reference.position.z = last_tracker_cmd->position.z;
+    5536           0 :   des_reference.reference.heading    = last_tracker_cmd->heading + req.goal;
+    5537             : 
+    5538           0 :   auto [success, message] = setReference(des_reference);
+    5539             : 
+    5540           0 :   res.success = success;
+    5541           0 :   res.message = message;
+    5542             : 
+    5543           0 :   return true;
+    5544             : }
+    5545             : 
+    5546             : //}
+    5547             : 
+    5548             : // --------------------------------------------------------------
+    5549             : // |                          routines                          |
+    5550             : // --------------------------------------------------------------
+    5551             : 
+    5552             : /* setReference() //{ */
+    5553             : 
+    5554          46 : std::tuple<bool, std::string> ControlManager::setReference(const mrs_msgs::ReferenceStamped reference_in) {
+    5555             : 
+    5556          92 :   std::stringstream ss;
+    5557             : 
+    5558          46 :   if (!callbacks_enabled_) {
+    5559           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5560           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5561           0 :     return std::tuple(false, ss.str());
+    5562             :   }
+    5563             : 
+    5564          46 :   if (!validateReference(reference_in.reference, "ControlManager", "reference")) {
+    5565           0 :     ss << "incoming reference is not finite!!!";
+    5566           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5567           0 :     return std::tuple(false, ss.str());
+    5568             :   }
+    5569             : 
+    5570             :   // copy member variables
+    5571          92 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5572          92 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5573             : 
+    5574             :   // transform the reference to the current frame
+    5575          92 :   auto ret = transformer_->transformSingle(reference_in, uav_state.header.frame_id);
+    5576             : 
+    5577          46 :   if (!ret) {
+    5578             : 
+    5579           0 :     ss << "the reference could not be transformed";
+    5580           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5581           0 :     return std::tuple(false, ss.str());
+    5582             :   }
+    5583             : 
+    5584          92 :   mrs_msgs::ReferenceStamped transformed_reference = ret.value();
+    5585             : 
+    5586             :   // safety area check
+    5587          46 :   if (!isPointInSafetyArea3d(transformed_reference)) {
+    5588           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5589           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5590           0 :     return std::tuple(false, ss.str());
+    5591             :   }
+    5592             : 
+    5593          46 :   if (last_tracker_cmd) {
+    5594             : 
+    5595          46 :     mrs_msgs::ReferenceStamped from_point;
+    5596          46 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5597          46 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5598          46 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5599          46 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5600             : 
+    5601          46 :     if (!isPathToPointInSafetyArea3d(from_point, transformed_reference)) {
+    5602           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5603           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5604           0 :       return std::tuple(false, ss.str());
+    5605             :     }
+    5606             :   }
+    5607             : 
+    5608          46 :   mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    5609             : 
+    5610             :   // prepare the message for current tracker
+    5611          46 :   mrs_msgs::ReferenceSrvRequest reference_request;
+    5612          46 :   reference_request.reference = transformed_reference.reference;
+    5613             : 
+    5614             :   {
+    5615          92 :     std::scoped_lock lock(mutex_tracker_list_);
+    5616             : 
+    5617         138 :     tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    5618         138 :         mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(reference_request)));
+    5619             : 
+    5620          46 :     if (tracker_response != mrs_msgs::ReferenceSrvResponse::Ptr()) {
+    5621             : 
+    5622          92 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5623             : 
+    5624             :     } else {
+    5625             : 
+    5626           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setReference()' function!";
+    5627           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the reference: " << ss.str());
+    5628           0 :       return std::tuple(false, ss.str());
+    5629             :     }
+    5630             :   }
+    5631             : }
+    5632             : 
+    5633             : //}
+    5634             : 
+    5635             : /* setVelocityReference() //{ */
+    5636             : 
+    5637         471 : std::tuple<bool, std::string> ControlManager::setVelocityReference(const mrs_msgs::VelocityReferenceStamped& reference_in) {
+    5638             : 
+    5639         942 :   std::stringstream ss;
+    5640             : 
+    5641         471 :   if (!callbacks_enabled_) {
+    5642           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5643           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5644           0 :     return std::tuple(false, ss.str());
+    5645             :   }
+    5646             : 
+    5647         471 :   if (!validateVelocityReference(reference_in.reference, "ControlManager", "velocity_reference")) {
+    5648           0 :     ss << "velocity command is not valid!";
+    5649           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5650           0 :     return std::tuple(false, ss.str());
+    5651             :   }
+    5652             : 
+    5653             :   {
+    5654         471 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    5655             : 
+    5656         471 :     if (!last_tracker_cmd_) {
+    5657           0 :       ss << "could not set velocity command, not flying!";
+    5658           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5659           0 :       return std::tuple(false, ss.str());
+    5660             :     }
+    5661             :   }
+    5662             : 
+    5663             :   // copy member variables
+    5664         942 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5665         942 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5666             : 
+    5667             :   // | -- transform the velocity reference to the current frame - |
+    5668             : 
+    5669         942 :   mrs_msgs::VelocityReferenceStamped transformed_reference = reference_in;
+    5670             : 
+    5671         942 :   auto ret = transformer_->getTransform(reference_in.header.frame_id, uav_state.header.frame_id, reference_in.header.stamp);
+    5672             : 
+    5673         942 :   geometry_msgs::TransformStamped tf;
+    5674             : 
+    5675         471 :   if (!ret) {
+    5676           0 :     ss << "could not find tf from " << reference_in.header.frame_id << " to " << uav_state.header.frame_id;
+    5677           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5678           0 :     return std::tuple(false, ss.str());
+    5679             :   } else {
+    5680         471 :     tf = ret.value();
+    5681             :   }
+    5682             : 
+    5683             :   // transform the velocity
+    5684             :   {
+    5685         471 :     geometry_msgs::Vector3Stamped velocity;
+    5686         471 :     velocity.header   = reference_in.header;
+    5687         471 :     velocity.vector.x = reference_in.reference.velocity.x;
+    5688         471 :     velocity.vector.y = reference_in.reference.velocity.y;
+    5689         471 :     velocity.vector.z = reference_in.reference.velocity.z;
+    5690             : 
+    5691         471 :     auto ret = transformer_->transform(velocity, tf);
+    5692             : 
+    5693         471 :     if (!ret) {
+    5694             : 
+    5695           0 :       ss << "the velocity reference could not be transformed";
+    5696           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5697           0 :       return std::tuple(false, ss.str());
+    5698             : 
+    5699             :     } else {
+    5700         471 :       transformed_reference.reference.velocity.x = ret->vector.x;
+    5701         471 :       transformed_reference.reference.velocity.y = ret->vector.y;
+    5702         471 :       transformed_reference.reference.velocity.z = ret->vector.z;
+    5703             :     }
+    5704             :   }
+    5705             : 
+    5706             :   // transform the z and the heading
+    5707             :   {
+    5708         471 :     geometry_msgs::PoseStamped pose;
+    5709         471 :     pose.header           = reference_in.header;
+    5710         471 :     pose.pose.position.x  = 0;
+    5711         471 :     pose.pose.position.y  = 0;
+    5712         471 :     pose.pose.position.z  = reference_in.reference.altitude;
+    5713         471 :     pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, reference_in.reference.heading);
+    5714             : 
+    5715         471 :     auto ret = transformer_->transform(pose, tf);
+    5716             : 
+    5717         471 :     if (!ret) {
+    5718             : 
+    5719           0 :       ss << "the velocity reference could not be transformed";
+    5720           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5721           0 :       return std::tuple(false, ss.str());
+    5722             : 
+    5723             :     } else {
+    5724         471 :       transformed_reference.reference.altitude = ret->pose.position.z;
+    5725         471 :       transformed_reference.reference.heading  = mrs_lib::AttitudeConverter(ret->pose.orientation).getHeading();
+    5726             :     }
+    5727             :   }
+    5728             : 
+    5729             :   // the heading rate doees not need to be transformed
+    5730         471 :   transformed_reference.reference.heading_rate = reference_in.reference.heading_rate;
+    5731             : 
+    5732         471 :   transformed_reference.header.stamp    = tf.header.stamp;
+    5733         471 :   transformed_reference.header.frame_id = transformer_->frame_to(tf);
+    5734             : 
+    5735         942 :   mrs_msgs::ReferenceStamped eqivalent_reference = velocityReferenceToReference(transformed_reference);
+    5736             : 
+    5737         471 :   ROS_DEBUG("[ControlManager]: equivalent reference: %.2f, %.2f, %.2f, %.2f", eqivalent_reference.reference.position.x,
+    5738             :             eqivalent_reference.reference.position.y, eqivalent_reference.reference.position.z, eqivalent_reference.reference.heading);
+    5739             : 
+    5740             :   // safety area check
+    5741         471 :   if (!isPointInSafetyArea3d(eqivalent_reference)) {
+    5742           0 :     ss << "failed to set the reference, the point is outside of the safety area!";
+    5743           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5744           0 :     return std::tuple(false, ss.str());
+    5745             :   }
+    5746             : 
+    5747         471 :   if (last_tracker_cmd) {
+    5748             : 
+    5749         471 :     mrs_msgs::ReferenceStamped from_point;
+    5750         471 :     from_point.header.frame_id      = uav_state.header.frame_id;
+    5751         471 :     from_point.reference.position.x = last_tracker_cmd->position.x;
+    5752         471 :     from_point.reference.position.y = last_tracker_cmd->position.y;
+    5753         471 :     from_point.reference.position.z = last_tracker_cmd->position.z;
+    5754             : 
+    5755         471 :     if (!isPathToPointInSafetyArea3d(from_point, eqivalent_reference)) {
+    5756           0 :       ss << "failed to set the reference, the path is going outside the safety area!";
+    5757           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5758           0 :       return std::tuple(false, ss.str());
+    5759             :     }
+    5760             :   }
+    5761             : 
+    5762         471 :   mrs_msgs::VelocityReferenceSrvResponse::ConstPtr tracker_response;
+    5763             : 
+    5764             :   // prepare the message for current tracker
+    5765         471 :   mrs_msgs::VelocityReferenceSrvRequest reference_request;
+    5766         471 :   reference_request.reference = transformed_reference.reference;
+    5767             : 
+    5768             :   {
+    5769         942 :     std::scoped_lock lock(mutex_tracker_list_);
+    5770             : 
+    5771        1413 :     tracker_response = tracker_list_[active_tracker_idx_]->setVelocityReference(
+    5772        1413 :         mrs_msgs::VelocityReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::VelocityReferenceSrvRequest>(reference_request)));
+    5773             : 
+    5774         471 :     if (tracker_response != mrs_msgs::VelocityReferenceSrvResponse::Ptr()) {
+    5775             : 
+    5776         942 :       return std::tuple(tracker_response->success, tracker_response->message);
+    5777             : 
+    5778             :     } else {
+    5779             : 
+    5780           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setVelocityReference()' function!";
+    5781           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: failed to set the velocity reference: " << ss.str());
+    5782           0 :       return std::tuple(false, ss.str());
+    5783             :     }
+    5784             :   }
+    5785             : }
+    5786             : 
+    5787             : //}
+    5788             : 
+    5789             : /* setTrajectoryReference() //{ */
+    5790             : 
+    5791           4 : std::tuple<bool, std::string, bool, std::vector<std::string>, std::vector<bool>, std::vector<std::string>> ControlManager::setTrajectoryReference(
+    5792             :     const mrs_msgs::TrajectoryReference trajectory_in) {
+    5793             : 
+    5794           8 :   auto uav_state        = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    5795           8 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    5796             : 
+    5797           8 :   std::stringstream ss;
+    5798             : 
+    5799           4 :   if (!callbacks_enabled_) {
+    5800           0 :     ss << "can not set the reference, the callbacks are disabled";
+    5801           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5802           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5803             :   }
+    5804             : 
+    5805             :   /* validate the size and check for NaNs //{ */
+    5806             : 
+    5807             :   // check for the size 0, which is invalid
+    5808           4 :   if (trajectory_in.points.size() == 0) {
+    5809             : 
+    5810           0 :     ss << "can not load trajectory with size 0";
+    5811           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5812           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5813             :   }
+    5814             : 
+    5815         584 :   for (int i = 0; i < int(trajectory_in.points.size()); i++) {
+    5816             : 
+    5817             :     // check the point for NaN/inf
+    5818         580 :     bool valid = validateReference(trajectory_in.points[i], "ControlManager", "trajectory_in.points[]");
+    5819             : 
+    5820         580 :     if (!valid) {
+    5821             : 
+    5822           0 :       ss << "trajectory contains NaNs/infs.";
+    5823           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5824           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5825             :     }
+    5826             :   }
+    5827             : 
+    5828             :   //}
+    5829             : 
+    5830             :   /* publish the debugging topics of the original trajectory //{ */
+    5831             : 
+    5832             :   {
+    5833             : 
+    5834           8 :     geometry_msgs::PoseArray debug_trajectory_out;
+    5835           4 :     debug_trajectory_out.header = trajectory_in.header;
+    5836             : 
+    5837           4 :     debug_trajectory_out.header.frame_id = transformer_->resolveFrame(debug_trajectory_out.header.frame_id);
+    5838             : 
+    5839           4 :     if (debug_trajectory_out.header.stamp == ros::Time(0)) {
+    5840           2 :       debug_trajectory_out.header.stamp = ros::Time::now();
+    5841             :     }
+    5842             : 
+    5843         580 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5844             : 
+    5845         576 :       geometry_msgs::Pose new_pose;
+    5846             : 
+    5847         576 :       new_pose.position.x = trajectory_in.points[i].position.x;
+    5848         576 :       new_pose.position.y = trajectory_in.points[i].position.y;
+    5849         576 :       new_pose.position.z = trajectory_in.points[i].position.z;
+    5850             : 
+    5851         576 :       new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, trajectory_in.points[i].heading);
+    5852             : 
+    5853         576 :       debug_trajectory_out.poses.push_back(new_pose);
+    5854             :     }
+    5855             : 
+    5856           4 :     pub_debug_original_trajectory_poses_.publish(debug_trajectory_out);
+    5857             : 
+    5858           8 :     visualization_msgs::MarkerArray msg_out;
+    5859             : 
+    5860           8 :     visualization_msgs::Marker marker;
+    5861             : 
+    5862           4 :     marker.header = trajectory_in.header;
+    5863             : 
+    5864           4 :     marker.header.frame_id = transformer_->resolveFrame(marker.header.frame_id);
+    5865             : 
+    5866           4 :     if (marker.header.frame_id == "") {
+    5867           0 :       marker.header.frame_id = uav_state.header.frame_id;
+    5868             :     }
+    5869             : 
+    5870           4 :     if (marker.header.stamp == ros::Time(0)) {
+    5871           2 :       marker.header.stamp = ros::Time::now();
+    5872             :     }
+    5873             : 
+    5874           4 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    5875           4 :     marker.color.a          = 1;
+    5876           4 :     marker.scale.x          = 0.05;
+    5877           4 :     marker.color.r          = 0;
+    5878           4 :     marker.color.g          = 1;
+    5879           4 :     marker.color.b          = 0;
+    5880           4 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    5881             : 
+    5882         580 :     for (int i = 0; i < int(trajectory_in.points.size()) - 1; i++) {
+    5883             : 
+    5884         576 :       geometry_msgs::Point point1;
+    5885             : 
+    5886         576 :       point1.x = trajectory_in.points[i].position.x;
+    5887         576 :       point1.y = trajectory_in.points[i].position.y;
+    5888         576 :       point1.z = trajectory_in.points[i].position.z;
+    5889             : 
+    5890         576 :       marker.points.push_back(point1);
+    5891             : 
+    5892         576 :       geometry_msgs::Point point2;
+    5893             : 
+    5894         576 :       point2.x = trajectory_in.points[i + 1].position.x;
+    5895         576 :       point2.y = trajectory_in.points[i + 1].position.y;
+    5896         576 :       point2.z = trajectory_in.points[i + 1].position.z;
+    5897             : 
+    5898         576 :       marker.points.push_back(point2);
+    5899             :     }
+    5900             : 
+    5901           4 :     msg_out.markers.push_back(marker);
+    5902             : 
+    5903           4 :     pub_debug_original_trajectory_markers_.publish(msg_out);
+    5904             :   }
+    5905             : 
+    5906             :   //}
+    5907             : 
+    5908           8 :   mrs_msgs::TrajectoryReference processed_trajectory = trajectory_in;
+    5909             : 
+    5910           4 :   int trajectory_size = int(processed_trajectory.points.size());
+    5911             : 
+    5912           4 :   bool trajectory_modified = false;
+    5913             : 
+    5914             :   /* safety area check //{ */
+    5915             : 
+    5916           4 :   if (use_safety_area_) {
+    5917             : 
+    5918           4 :     int last_valid_idx    = 0;
+    5919           4 :     int first_invalid_idx = -1;
+    5920             : 
+    5921           4 :     double min_z = getMinZ(processed_trajectory.header.frame_id);
+    5922           4 :     double max_z = getMaxZ(processed_trajectory.header.frame_id);
+    5923             : 
+    5924         584 :     for (int i = 0; i < trajectory_size; i++) {
+    5925             : 
+    5926         580 :       if (_snap_trajectory_to_safety_area_) {
+    5927             : 
+    5928             :         // saturate the trajectory to min and max Z
+    5929           0 :         if (processed_trajectory.points[i].position.z < min_z) {
+    5930             : 
+    5931           0 :           processed_trajectory.points[i].position.z = min_z;
+    5932           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the minimum Z!");
+    5933           0 :           trajectory_modified = true;
+    5934             :         }
+    5935             : 
+    5936           0 :         if (processed_trajectory.points[i].position.z > max_z) {
+    5937             : 
+    5938           0 :           processed_trajectory.points[i].position.z = max_z;
+    5939           0 :           ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory violates the maximum Z!");
+    5940           0 :           trajectory_modified = true;
+    5941             :         }
+    5942             :       }
+    5943             : 
+    5944             :       // check the point against the safety area
+    5945         580 :       mrs_msgs::ReferenceStamped des_reference;
+    5946         580 :       des_reference.header    = processed_trajectory.header;
+    5947         580 :       des_reference.reference = processed_trajectory.points[i];
+    5948             : 
+    5949         580 :       if (!isPointInSafetyArea3d(des_reference)) {
+    5950             : 
+    5951           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: the trajectory contains points outside of the safety area!");
+    5952           0 :         trajectory_modified = true;
+    5953             : 
+    5954             :         // the first invalid point
+    5955           0 :         if (first_invalid_idx == -1) {
+    5956             : 
+    5957           0 :           first_invalid_idx = i;
+    5958             : 
+    5959           0 :           last_valid_idx = i - 1;
+    5960             :         }
+    5961             : 
+    5962             :         // the point is ok
+    5963             :       } else {
+    5964             : 
+    5965             :         // we found a point, which is ok, after finding a point which was not ok
+    5966         580 :         if (first_invalid_idx != -1) {
+    5967             : 
+    5968             :           // special case, we had no valid point so far
+    5969           0 :           if (last_valid_idx == -1) {
+    5970             : 
+    5971           0 :             ss << "the trajectory starts outside of the safety area!";
+    5972           0 :             ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    5973           0 :             return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    5974             : 
+    5975             :             // we have a valid point in the past
+    5976             :           } else {
+    5977             : 
+    5978           0 :             if (!_snap_trajectory_to_safety_area_) {
+    5979           0 :               break;
+    5980             :             }
+    5981             : 
+    5982           0 :             bool interpolation_success = true;
+    5983             : 
+    5984             :             // iterpolate between the last valid point and this new valid point
+    5985           0 :             double angle = atan2((processed_trajectory.points[i].position.y - processed_trajectory.points[last_valid_idx].position.y),
+    5986           0 :                                  (processed_trajectory.points[i].position.x - processed_trajectory.points[last_valid_idx].position.x));
+    5987             : 
+    5988             :             double dist_two_points =
+    5989           0 :                 mrs_lib::geometry::dist(vec2_t(processed_trajectory.points[i].position.x, processed_trajectory.points[i].position.y),
+    5990           0 :                                         vec2_t(processed_trajectory.points[last_valid_idx].position.x, processed_trajectory.points[last_valid_idx].position.y));
+    5991           0 :             double step = dist_two_points / (i - last_valid_idx);
+    5992             : 
+    5993           0 :             for (int j = last_valid_idx; j < i; j++) {
+    5994             : 
+    5995           0 :               mrs_msgs::ReferenceStamped temp_point;
+    5996           0 :               temp_point.header.frame_id      = processed_trajectory.header.frame_id;
+    5997           0 :               temp_point.reference.position.x = processed_trajectory.points[last_valid_idx].position.x + (j - last_valid_idx) * cos(angle) * step;
+    5998           0 :               temp_point.reference.position.y = processed_trajectory.points[last_valid_idx].position.y + (j - last_valid_idx) * sin(angle) * step;
+    5999             : 
+    6000           0 :               if (!isPointInSafetyArea2d(temp_point)) {
+    6001             : 
+    6002           0 :                 interpolation_success = false;
+    6003           0 :                 break;
+    6004             : 
+    6005             :               } else {
+    6006             : 
+    6007           0 :                 processed_trajectory.points[j].position.x = temp_point.reference.position.x;
+    6008           0 :                 processed_trajectory.points[j].position.y = temp_point.reference.position.y;
+    6009             :               }
+    6010             :             }
+    6011             : 
+    6012           0 :             if (!interpolation_success) {
+    6013           0 :               break;
+    6014             :             }
+    6015             :           }
+    6016             : 
+    6017           0 :           first_invalid_idx = -1;
+    6018             :         }
+    6019             :       }
+    6020             :     }
+    6021             : 
+    6022             :     // special case, the trajectory does not end with a valid point
+    6023           4 :     if (first_invalid_idx != -1) {
+    6024             : 
+    6025             :       // super special case, the whole trajectory is invalid
+    6026           0 :       if (first_invalid_idx == 0) {
+    6027             : 
+    6028           0 :         ss << "the whole trajectory is outside of the safety area!";
+    6029           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6030           0 :         return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6031             : 
+    6032             :         // there is a good portion of the trajectory in the beginning
+    6033             :       } else {
+    6034             : 
+    6035           0 :         trajectory_size = last_valid_idx + 1;
+    6036           0 :         processed_trajectory.points.resize(trajectory_size);
+    6037           0 :         trajectory_modified = true;
+    6038             :       }
+    6039             :     }
+    6040             :   }
+    6041             : 
+    6042           4 :   if (trajectory_size == 0) {
+    6043             : 
+    6044           0 :     ss << "the trajectory happened to be empty after all the checks! This message should not appear!";
+    6045           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6046           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6047             :   }
+    6048             : 
+    6049             :   //}
+    6050             : 
+    6051             :   /* transform the trajectory to the current control frame //{ */
+    6052             : 
+    6053           4 :   std::optional<geometry_msgs::TransformStamped> tf_traj_state;
+    6054             : 
+    6055           4 :   if (processed_trajectory.header.stamp > ros::Time::now()) {
+    6056           0 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", processed_trajectory.header.stamp);
+    6057             :   } else {
+    6058           4 :     tf_traj_state = transformer_->getTransform(processed_trajectory.header.frame_id, "", uav_state_.header.stamp);
+    6059             :   }
+    6060             : 
+    6061           4 :   if (!tf_traj_state) {
+    6062           0 :     ss << "could not create TF transformer for the trajectory";
+    6063           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6064           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6065             :   }
+    6066             : 
+    6067           4 :   processed_trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    6068             : 
+    6069         584 :   for (int i = 0; i < trajectory_size; i++) {
+    6070             : 
+    6071         580 :     mrs_msgs::ReferenceStamped trajectory_point;
+    6072         580 :     trajectory_point.header    = processed_trajectory.header;
+    6073         580 :     trajectory_point.reference = processed_trajectory.points[i];
+    6074             : 
+    6075         580 :     auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    6076             : 
+    6077         580 :     if (!ret) {
+    6078             : 
+    6079           0 :       ss << "trajectory cannnot be transformed";
+    6080           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6081           0 :       return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6082             : 
+    6083             :     } else {
+    6084             : 
+    6085             :       // transform the points in the trajectory to the current frame
+    6086         580 :       processed_trajectory.points[i] = ret.value().reference;
+    6087             :     }
+    6088             :   }
+    6089             : 
+    6090             :   //}
+    6091             : 
+    6092           4 :   mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr response;
+    6093           8 :   mrs_msgs::TrajectoryReferenceSrvRequest            request;
+    6094             : 
+    6095             :   // check for empty trajectory
+    6096           4 :   if (processed_trajectory.points.size() == 0) {
+    6097           0 :     ss << "reference trajectory was processing and it is now empty, this should not happen!";
+    6098           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6099           0 :     return std::tuple(false, ss.str(), false, std::vector<std::string>(), std::vector<bool>(), std::vector<std::string>());
+    6100             :   }
+    6101             : 
+    6102             :   // prepare the message for current tracker
+    6103           4 :   request.trajectory = processed_trajectory;
+    6104             : 
+    6105             :   bool                     success;
+    6106           8 :   std::string              message;
+    6107             :   bool                     modified;
+    6108           8 :   std::vector<std::string> tracker_names;
+    6109           8 :   std::vector<bool>        tracker_successes;
+    6110           8 :   std::vector<std::string> tracker_messages;
+    6111             : 
+    6112             :   {
+    6113           8 :     std::scoped_lock lock(mutex_tracker_list_);
+    6114             : 
+    6115             :     // set the trajectory to the currently active tracker
+    6116          12 :     response = tracker_list_[active_tracker_idx_]->setTrajectoryReference(
+    6117          12 :         mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6118             : 
+    6119           4 :     tracker_names.push_back(_tracker_names_[active_tracker_idx_]);
+    6120             : 
+    6121           4 :     if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6122             : 
+    6123           3 :       success  = response->success;
+    6124           3 :       message  = response->message;
+    6125           3 :       modified = response->modified || trajectory_modified;
+    6126           3 :       tracker_successes.push_back(response->success);
+    6127           3 :       tracker_messages.push_back(response->message);
+    6128             : 
+    6129             :     } else {
+    6130             : 
+    6131           1 :       ss << "the active tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'setTrajectoryReference()' function!";
+    6132           1 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6133             : 
+    6134           1 :       success  = true;
+    6135           1 :       message  = ss.str();
+    6136           1 :       modified = false;
+    6137           1 :       tracker_successes.push_back(false);
+    6138           1 :       tracker_messages.push_back(ss.str());
+    6139             :     }
+    6140             : 
+    6141             :     // set the trajectory to the non-active trackers
+    6142          28 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6143             : 
+    6144          24 :       if (i != active_tracker_idx_) {
+    6145             : 
+    6146          20 :         tracker_names.push_back(_tracker_names_[i]);
+    6147             : 
+    6148          60 :         response = tracker_list_[i]->setTrajectoryReference(
+    6149          60 :             mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::TrajectoryReferenceSrvRequest>(request)));
+    6150             : 
+    6151          20 :         if (response != mrs_msgs::TrajectoryReferenceSrvResponse::Ptr()) {
+    6152             : 
+    6153           1 :           tracker_successes.push_back(response->success);
+    6154           1 :           tracker_messages.push_back(response->message);
+    6155             : 
+    6156           1 :           if (response->success) {
+    6157           2 :             std::stringstream ss;
+    6158           1 :             ss << "trajectory loaded to non-active tracker '" << _tracker_names_[i];
+    6159           1 :             ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    6160             :           }
+    6161             : 
+    6162             :         } else {
+    6163             : 
+    6164          19 :           std::stringstream ss;
+    6165          19 :           ss << "the tracker \"" << _tracker_names_[i] << "\" does not implement setTrajectoryReference()";
+    6166          19 :           tracker_successes.push_back(false);
+    6167          19 :           tracker_messages.push_back(ss.str());
+    6168             :         }
+    6169             :       }
+    6170             :     }
+    6171             :   }
+    6172             : 
+    6173           4 :   return std::tuple(success, message, modified, tracker_names, tracker_successes, tracker_messages);
+    6174             : }
+    6175             : 
+    6176             : //}
+    6177             : 
+    6178             : /* isOffboard() //{ */
+    6179             : 
+    6180          16 : bool ControlManager::isOffboard(void) {
+    6181             : 
+    6182          16 :   if (!sh_hw_api_status_.hasMsg()) {
+    6183           0 :     return false;
+    6184             :   }
+    6185             : 
+    6186          16 :   mrs_msgs::HwApiStatusConstPtr hw_api_status = sh_hw_api_status_.getMsg();
+    6187             : 
+    6188          16 :   return hw_api_status->connected && hw_api_status->offboard;
+    6189             : }
+    6190             : 
+    6191             : //}
+    6192             : 
+    6193             : /* setCallbacks() //{ */
+    6194             : 
+    6195          78 : void ControlManager::setCallbacks(bool in) {
+    6196             : 
+    6197          78 :   callbacks_enabled_ = in;
+    6198             : 
+    6199          78 :   std_srvs::SetBoolRequest req_enable_callbacks;
+    6200          78 :   req_enable_callbacks.data = callbacks_enabled_;
+    6201             : 
+    6202             :   {
+    6203         156 :     std::scoped_lock lock(mutex_tracker_list_);
+    6204             : 
+    6205             :     // set callbacks to all trackers
+    6206         546 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6207         468 :       tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6208             :     }
+    6209             :   }
+    6210          78 : }
+    6211             : 
+    6212             : //}
+    6213             : 
+    6214             : /* publishDiagnostics() //{ */
+    6215             : 
+    6216       14940 : void ControlManager::publishDiagnostics(void) {
+    6217             : 
+    6218       14940 :   if (!is_initialized_) {
+    6219           0 :     return;
+    6220             :   }
+    6221             : 
+    6222       44820 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publishDiagnostics");
+    6223       44820 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publishDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    6224             : 
+    6225       29880 :   std::scoped_lock lock(mutex_diagnostics_);
+    6226             : 
+    6227       29880 :   mrs_msgs::ControlManagerDiagnostics diagnostics_msg;
+    6228             : 
+    6229       14940 :   diagnostics_msg.stamp    = ros::Time::now();
+    6230       14940 :   diagnostics_msg.uav_name = _uav_name_;
+    6231             : 
+    6232       14940 :   diagnostics_msg.desired_uav_state_rate = desired_uav_state_rate_;
+    6233             : 
+    6234       14940 :   diagnostics_msg.output_enabled = output_enabled_;
+    6235             : 
+    6236       14940 :   diagnostics_msg.joystick_active = rc_goto_active_;
+    6237             : 
+    6238             :   {
+    6239       14940 :     std::scoped_lock lock(mutex_tracker_list_, mutex_controller_list_);
+    6240             : 
+    6241       14940 :     diagnostics_msg.flying_normally = isFlyingNormally();
+    6242             :   }
+    6243             : 
+    6244       14940 :   diagnostics_msg.bumper_active = bumper_repulsing_;
+    6245             : 
+    6246             :   // | ----------------- fill the tracker status ---------------- |
+    6247             : 
+    6248             :   {
+    6249       29880 :     std::scoped_lock lock(mutex_tracker_list_);
+    6250             : 
+    6251       14940 :     mrs_msgs::TrackerStatus tracker_status;
+    6252             : 
+    6253       14940 :     diagnostics_msg.active_tracker = _tracker_names_[active_tracker_idx_];
+    6254       14940 :     diagnostics_msg.tracker_status = tracker_list_[active_tracker_idx_]->getStatus();
+    6255             :   }
+    6256             : 
+    6257             :   // | --------------- fill the controller status --------------- |
+    6258             : 
+    6259             :   {
+    6260       29880 :     std::scoped_lock lock(mutex_controller_list_);
+    6261             : 
+    6262       14940 :     mrs_msgs::ControllerStatus controller_status;
+    6263             : 
+    6264       14940 :     diagnostics_msg.active_controller = _controller_names_[active_controller_idx_];
+    6265       14940 :     diagnostics_msg.controller_status = controller_list_[active_controller_idx_]->getStatus();
+    6266             :   }
+    6267             : 
+    6268             :   // | ------------ fill in the available controllers ----------- |
+    6269             : 
+    6270       89640 :   for (int i = 0; i < int(_controller_names_.size()); i++) {
+    6271       74700 :     if ((_controller_names_[i] != _failsafe_controller_name_) && (_controller_names_[i] != _eland_controller_name_)) {
+    6272       44820 :       diagnostics_msg.available_controllers.push_back(_controller_names_[i]);
+    6273       44820 :       diagnostics_msg.human_switchable_controllers.push_back(controllers_.at(_controller_names_[i]).human_switchable);
+    6274             :     }
+    6275             :   }
+    6276             : 
+    6277             :   // | ------------- fill in the available trackers ------------- |
+    6278             : 
+    6279      104810 :   for (int i = 0; i < int(_tracker_names_.size()); i++) {
+    6280       89870 :     if (_tracker_names_[i] != _null_tracker_name_) {
+    6281       74930 :       diagnostics_msg.available_trackers.push_back(_tracker_names_[i]);
+    6282       74930 :       diagnostics_msg.human_switchable_trackers.push_back(trackers_.at(_tracker_names_[i]).human_switchable);
+    6283             :     }
+    6284             :   }
+    6285             : 
+    6286             :   // | ------------------------- publish ------------------------ |
+    6287             : 
+    6288       14940 :   ph_diagnostics_.publish(diagnostics_msg);
+    6289             : }
+    6290             : 
+    6291             : //}
+    6292             : 
+    6293             : /* setConstraintsToTrackers() //{ */
+    6294             : 
+    6295         258 : void ControlManager::setConstraintsToTrackers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6296             : 
+    6297         774 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToTrackers");
+    6298         774 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToTrackers", scope_timer_logger_, scope_timer_enabled_);
+    6299             : 
+    6300         258 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6301             : 
+    6302             :   {
+    6303         516 :     std::scoped_lock lock(mutex_tracker_list_);
+    6304             : 
+    6305             :     // for each tracker
+    6306        1809 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    6307             : 
+    6308             :       // if it is the active one, update and retrieve the command
+    6309        4653 :       response = tracker_list_[i]->setConstraints(
+    6310        4653 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6311             :     }
+    6312             :   }
+    6313         258 : }
+    6314             : 
+    6315             : //}
+    6316             : 
+    6317             : /* setConstraintsToControllers() //{ */
+    6318             : 
+    6319         315 : void ControlManager::setConstraintsToControllers(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6320             : 
+    6321         945 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraintsToControllers");
+    6322         945 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraintsToControllers", scope_timer_logger_, scope_timer_enabled_);
+    6323             : 
+    6324         315 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6325             : 
+    6326             :   {
+    6327         630 :     std::scoped_lock lock(mutex_controller_list_);
+    6328             : 
+    6329             :     // for each controller
+    6330        1890 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    6331             : 
+    6332             :       // if it is the active one, update and retrieve the command
+    6333        4725 :       response = controller_list_[i]->setConstraints(
+    6334        4725 :           mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr(std::make_unique<mrs_msgs::DynamicsConstraintsSrvRequest>(constraints)));
+    6335             :     }
+    6336             :   }
+    6337         315 : }
+    6338             : 
+    6339             : //}
+    6340             : 
+    6341             : /* setConstraints() //{ */
+    6342             : 
+    6343          81 : void ControlManager::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6344             : 
+    6345         243 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("setConstraints");
+    6346         243 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::setConstraints", scope_timer_logger_, scope_timer_enabled_);
+    6347             : 
+    6348          81 :   mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr response;
+    6349             : 
+    6350          81 :   setConstraintsToTrackers(constraints);
+    6351             : 
+    6352          81 :   setConstraintsToControllers(constraints);
+    6353          81 : }
+    6354             : 
+    6355             : //}
+    6356             : 
+    6357             : 
+    6358             : /* enforceControllerConstraints() //{ */
+    6359             : 
+    6360      111610 : std::optional<mrs_msgs::DynamicsConstraintsSrvRequest> ControlManager::enforceControllersConstraints(
+    6361             :     const mrs_msgs::DynamicsConstraintsSrvRequest& constraints) {
+    6362             : 
+    6363             :   // copy member variables
+    6364      223220 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6365             : 
+    6366      111610 :   if (!last_control_output.control_output || !last_control_output.diagnostics.controller_enforcing_constraints) {
+    6367       94326 :     return {};
+    6368             :   }
+    6369             : 
+    6370       17284 :   bool enforcing = false;
+    6371             : 
+    6372       17284 :   auto constraints_out = constraints;
+    6373             : 
+    6374       34568 :   std::scoped_lock lock(mutex_tracker_list_);
+    6375             : 
+    6376             :   // enforce horizontal speed
+    6377       17284 :   if (last_control_output.diagnostics.horizontal_speed_constraint < constraints.constraints.horizontal_speed) {
+    6378       12724 :     constraints_out.constraints.horizontal_speed = last_control_output.diagnostics.horizontal_speed_constraint;
+    6379             : 
+    6380       12724 :     enforcing = true;
+    6381             :   }
+    6382             : 
+    6383             :   // enforce horizontal acceleration
+    6384       17284 :   if (last_control_output.diagnostics.horizontal_acc_constraint < constraints.constraints.horizontal_acceleration) {
+    6385       15586 :     constraints_out.constraints.horizontal_acceleration = last_control_output.diagnostics.horizontal_acc_constraint;
+    6386             : 
+    6387       15586 :     enforcing = true;
+    6388             :   }
+    6389             : 
+    6390             :   // enforce vertical ascending speed
+    6391       17284 :   if (last_control_output.diagnostics.vertical_asc_speed_constraint < constraints.constraints.vertical_ascending_speed) {
+    6392       12724 :     constraints_out.constraints.vertical_ascending_speed = last_control_output.diagnostics.vertical_asc_speed_constraint;
+    6393             : 
+    6394       12724 :     enforcing = true;
+    6395             :   }
+    6396             : 
+    6397             :   // enforce vertical ascending acceleration
+    6398       17284 :   if (last_control_output.diagnostics.vertical_asc_acc_constraint < constraints.constraints.vertical_ascending_acceleration) {
+    6399           0 :     constraints_out.constraints.vertical_ascending_acceleration = last_control_output.diagnostics.vertical_asc_acc_constraint;
+    6400             : 
+    6401           0 :     enforcing = true;
+    6402             :   }
+    6403             : 
+    6404             :   // enforce vertical descending speed
+    6405       17284 :   if (last_control_output.diagnostics.vertical_desc_speed_constraint < constraints.constraints.vertical_descending_speed) {
+    6406       12724 :     constraints_out.constraints.vertical_descending_speed = last_control_output.diagnostics.vertical_desc_speed_constraint;
+    6407             : 
+    6408       12724 :     enforcing = true;
+    6409             :   }
+    6410             : 
+    6411             :   // enforce vertical descending acceleration
+    6412       17284 :   if (last_control_output.diagnostics.vertical_desc_acc_constraint < constraints.constraints.vertical_descending_acceleration) {
+    6413           0 :     constraints_out.constraints.vertical_descending_acceleration = last_control_output.diagnostics.vertical_desc_acc_constraint;
+    6414             : 
+    6415           0 :     enforcing = true;
+    6416             :   }
+    6417             : 
+    6418       17284 :   if (enforcing) {
+    6419       15586 :     return {constraints_out};
+    6420             :   } else {
+    6421        1698 :     return {};
+    6422             :   }
+    6423             : }
+    6424             : 
+    6425             : //}
+    6426             : 
+    6427             : /* isFlyingNormally() //{ */
+    6428             : 
+    6429       15245 : bool ControlManager::isFlyingNormally(void) {
+    6430             : 
+    6431       12921 :   return callbacks_enabled_ && (output_enabled_) && (offboard_mode_) && (armed_) &&
+    6432        8035 :          (((active_tracker_idx_ != _ehover_tracker_idx_) && (active_controller_idx_ != _eland_controller_idx_) &&
+    6433        8035 :            (active_controller_idx_ != _failsafe_controller_idx_)) ||
+    6434       30253 :           _controller_names_.size() == 1) &&
+    6435       21193 :          (((active_tracker_idx_ != _null_tracker_idx_) && (active_tracker_idx_ != _landoff_tracker_idx_)) || _tracker_names_.size() == 1);
+    6436             : }
+    6437             : 
+    6438             : //}
+    6439             : 
+    6440             : /* //{ getMass() */
+    6441             : 
+    6442         419 : double ControlManager::getMass(void) {
+    6443             : 
+    6444         838 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    6445             : 
+    6446         419 :   if (last_control_output.diagnostics.mass_estimator) {
+    6447          12 :     return _uav_mass_ + last_control_output.diagnostics.mass_difference;
+    6448             :   } else {
+    6449         407 :     return _uav_mass_;
+    6450             :   }
+    6451             : }
+    6452             : 
+    6453             : //}
+    6454             : 
+    6455             : /* loadConfigFile() //{ */
+    6456             : 
+    6457           0 : bool ControlManager::loadConfigFile(const std::string& file_path, const std::string ns) {
+    6458             : 
+    6459           0 :   const std::string name_space = nh_.getNamespace() + "/" + ns;
+    6460             : 
+    6461           0 :   ROS_INFO("[ControlManager]: loading '%s' under the namespace '%s'", file_path.c_str(), name_space.c_str());
+    6462             : 
+    6463             :   // load the user-requested file
+    6464             :   {
+    6465           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    6466           0 :     int         result  = std::system(command.c_str());
+    6467             : 
+    6468           0 :     if (result != 0) {
+    6469           0 :       ROS_ERROR("[ControlManager]: failed to load '%s'", file_path.c_str());
+    6470           0 :       return false;
+    6471             :     }
+    6472             :   }
+    6473             : 
+    6474             :   // load the platform config
+    6475           0 :   if (_platform_config_ != "") {
+    6476           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    6477           0 :     int         result  = std::system(command.c_str());
+    6478             : 
+    6479           0 :     if (result != 0) {
+    6480           0 :       ROS_ERROR("[ControlManager]: failed to load the platform config file '%s'", _platform_config_.c_str());
+    6481           0 :       return false;
+    6482             :     }
+    6483             :   }
+    6484             : 
+    6485             :   // load the custom config
+    6486           0 :   if (_custom_config_ != "") {
+    6487           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    6488           0 :     int         result  = std::system(command.c_str());
+    6489             : 
+    6490           0 :     if (result != 0) {
+    6491           0 :       ROS_ERROR("[ControlManager]: failed to load the custom config file '%s'", _custom_config_.c_str());
+    6492           0 :       return false;
+    6493             :     }
+    6494             :   }
+    6495             : 
+    6496           0 :   return true;
+    6497             : }
+    6498             : 
+    6499             : //}
+    6500             : 
+    6501             : // | ----------------------- safety area ---------------------- |
+    6502             : 
+    6503             : /* //{ isPointInSafetyArea3d() */
+    6504             : 
+    6505        1157 : bool ControlManager::isPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& point) {
+    6506             : 
+    6507        1157 :   if (!use_safety_area_) {
+    6508         487 :     return true;
+    6509             :   }
+    6510             : 
+    6511        1340 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6512             : 
+    6513         670 :   if (!tfed_horizontal) {
+    6514           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6515           0 :     return false;
+    6516             :   }
+    6517             : 
+    6518         670 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6519           0 :     return false;
+    6520             :   }
+    6521             : 
+    6522         670 :   if (point.reference.position.z < getMinZ(point.header.frame_id) || point.reference.position.z > getMaxZ(point.header.frame_id)) {
+    6523           0 :     return false;
+    6524             :   }
+    6525             : 
+    6526         670 :   return true;
+    6527             : }
+    6528             : 
+    6529             : //}
+    6530             : 
+    6531             : /* //{ isPointInSafetyArea2d() */
+    6532             : 
+    6533        9694 : bool ControlManager::isPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& point) {
+    6534             : 
+    6535        9694 :   if (!use_safety_area_) {
+    6536         590 :     return true;
+    6537             :   }
+    6538             : 
+    6539       18208 :   auto tfed_horizontal = transformer_->transformSingle(point, _safety_area_horizontal_frame_);
+    6540             : 
+    6541        9104 :   if (!tfed_horizontal) {
+    6542           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform the point to the safety area horizontal frame");
+    6543           0 :     return false;
+    6544             :   }
+    6545             : 
+    6546        9104 :   if (!safety_zone_->isPointValid(tfed_horizontal->reference.position.x, tfed_horizontal->reference.position.y)) {
+    6547          77 :     return false;
+    6548             :   }
+    6549             : 
+    6550        9027 :   return true;
+    6551             : }
+    6552             : 
+    6553             : //}
+    6554             : 
+    6555             : /* //{ isPathToPointInSafetyArea3d() */
+    6556             : 
+    6557         517 : bool ControlManager::isPathToPointInSafetyArea3d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6558             : 
+    6559         517 :   if (!use_safety_area_) {
+    6560         487 :     return true;
+    6561             :   }
+    6562             : 
+    6563          30 :   if (!isPointInSafetyArea3d(start) || !isPointInSafetyArea3d(end)) {
+    6564           0 :     return false;
+    6565             :   }
+    6566             : 
+    6567          60 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6568             : 
+    6569             :   {
+    6570          30 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6571             : 
+    6572          30 :     if (!ret) {
+    6573             : 
+    6574           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6575             : 
+    6576           0 :       return false;
+    6577             :     }
+    6578             : 
+    6579          30 :     start_transformed = ret.value();
+    6580             :   }
+    6581             : 
+    6582             :   {
+    6583          30 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6584             : 
+    6585          30 :     if (!ret) {
+    6586             : 
+    6587           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6588             : 
+    6589           0 :       return false;
+    6590             :     }
+    6591             : 
+    6592          30 :     end_transformed = ret.value();
+    6593             :   }
+    6594             : 
+    6595          30 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6596          30 :                                    end_transformed.reference.position.y);
+    6597             : }
+    6598             : 
+    6599             : //}
+    6600             : 
+    6601             : /* //{ isPathToPointInSafetyArea2d() */
+    6602             : 
+    6603          31 : bool ControlManager::isPathToPointInSafetyArea2d(const mrs_msgs::ReferenceStamped& start, const mrs_msgs::ReferenceStamped& end) {
+    6604          31 :   if (!use_safety_area_) {
+    6605           0 :     return true;
+    6606             :   }
+    6607             : 
+    6608          62 :   mrs_msgs::ReferenceStamped start_transformed, end_transformed;
+    6609             : 
+    6610          31 :   if (!isPointInSafetyArea2d(start) || !isPointInSafetyArea2d(end)) {
+    6611           0 :     return false;
+    6612             :   }
+    6613             : 
+    6614             :   {
+    6615          31 :     auto ret = transformer_->transformSingle(start, _safety_area_horizontal_frame_);
+    6616             : 
+    6617          31 :     if (!ret) {
+    6618             : 
+    6619           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6620             : 
+    6621           0 :       return false;
+    6622             :     }
+    6623             : 
+    6624          31 :     start_transformed = ret.value();
+    6625             :   }
+    6626             : 
+    6627             :   {
+    6628          31 :     auto ret = transformer_->transformSingle(end, _safety_area_horizontal_frame_);
+    6629             : 
+    6630          31 :     if (!ret) {
+    6631             : 
+    6632           0 :       ROS_ERROR("[ControlManager]: SafetyArea: Could not transform the first point in the path");
+    6633             : 
+    6634           0 :       return false;
+    6635             :     }
+    6636             : 
+    6637          31 :     end_transformed = ret.value();
+    6638             :   }
+    6639             : 
+    6640          31 :   return safety_zone_->isPathValid(start_transformed.reference.position.x, start_transformed.reference.position.y, end_transformed.reference.position.x,
+    6641          31 :                                    end_transformed.reference.position.y);
+    6642             : }
+    6643             : 
+    6644             : //}
+    6645             : 
+    6646             : /* //{ getMaxZ() */
+    6647             : 
+    6648       10651 : double ControlManager::getMaxZ(const std::string& frame_id) {
+    6649             : 
+    6650             :   // | ------- first, calculate max_z from the safety area ------ |
+    6651             : 
+    6652       10651 :   double safety_area_max_z = std::numeric_limits<float>::max();
+    6653             : 
+    6654             :   {
+    6655             : 
+    6656       21302 :     geometry_msgs::PointStamped point;
+    6657             : 
+    6658       10651 :     point.header.frame_id = _safety_area_vertical_frame_;
+    6659       10651 :     point.point.x         = 0;
+    6660       10651 :     point.point.y         = 0;
+    6661       10651 :     point.point.z         = _safety_area_max_z_;
+    6662             : 
+    6663       10651 :     auto ret = transformer_->transformSingle(point, frame_id);
+    6664             : 
+    6665       10651 :     if (!ret) {
+    6666           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's max_z to '%s'", frame_id.c_str());
+    6667             :     }
+    6668             : 
+    6669       10651 :     safety_area_max_z = ret->point.z;
+    6670             :   }
+    6671             : 
+    6672             :   // | ------------ overwrite from estimation manager ----------- |
+    6673             : 
+    6674       10651 :   double estimation_manager_max_z = std::numeric_limits<float>::max();
+    6675             : 
+    6676             :   {
+    6677             :     // if possible, override it with max z from the estimation manager
+    6678       10651 :     if (sh_max_z_.hasMsg()) {
+    6679             : 
+    6680       21280 :       auto msg = sh_max_z_.getMsg();
+    6681             : 
+    6682             :       // transform it into the safety area frame
+    6683       21280 :       geometry_msgs::PointStamped point;
+    6684       10640 :       point.header  = msg->header;
+    6685       10640 :       point.point.x = 0;
+    6686       10640 :       point.point.y = 0;
+    6687       10640 :       point.point.z = msg->value;
+    6688             : 
+    6689       10640 :       auto ret = transformer_->transformSingle(point, frame_id);
+    6690             : 
+    6691       10640 :       if (!ret) {
+    6692           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform estimation manager's max_z to the current control frame");
+    6693             :       }
+    6694             : 
+    6695       10640 :       estimation_manager_max_z = ret->point.z;
+    6696             :     }
+    6697             :   }
+    6698             : 
+    6699       10651 :   if (estimation_manager_max_z < safety_area_max_z) {
+    6700       10059 :     return estimation_manager_max_z;
+    6701             :   } else {
+    6702         592 :     return safety_area_max_z;
+    6703             :   }
+    6704             : }
+    6705             : 
+    6706             : //}
+    6707             : 
+    6708             : /* //{ getMinZ() */
+    6709             : 
+    6710       75271 : double ControlManager::getMinZ(const std::string& frame_id) {
+    6711             : 
+    6712       75271 :   if (!use_safety_area_) {
+    6713       14868 :     return std::numeric_limits<double>::lowest();
+    6714             :   }
+    6715             : 
+    6716      120810 :   geometry_msgs::PointStamped point;
+    6717             : 
+    6718       60405 :   point.header.frame_id = _safety_area_vertical_frame_;
+    6719       60405 :   point.point.x         = 0;
+    6720       60405 :   point.point.y         = 0;
+    6721       60405 :   point.point.z         = _safety_area_min_z_;
+    6722             : 
+    6723      120810 :   auto ret = transformer_->transformSingle(point, frame_id);
+    6724             : 
+    6725       60405 :   if (!ret) {
+    6726           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: SafetyArea: Could not transform safety area's min_z to '%s'", frame_id.c_str());
+    6727           0 :     return std::numeric_limits<double>::lowest();
+    6728             :   }
+    6729             : 
+    6730       60405 :   return ret->point.z;
+    6731             : }
+    6732             : 
+    6733             : //}
+    6734             : 
+    6735             : // | --------------------- obstacle bumper -------------------- |
+    6736             : 
+    6737             : /* bumperPushFromObstacle() //{ */
+    6738             : 
+    6739         299 : void ControlManager::bumperPushFromObstacle(void) {
+    6740             : 
+    6741             :   // | --------------- fabricate the min distances -------------- |
+    6742             : 
+    6743         299 :   double min_distance_horizontal = _bumper_horizontal_distance_;
+    6744         299 :   double min_distance_vertical   = _bumper_vertical_distance_;
+    6745             : 
+    6746         299 :   if (_bumper_horizontal_derive_from_dynamics_ || _bumper_vertical_derive_from_dynamics_) {
+    6747             : 
+    6748         299 :     auto constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    6749             : 
+    6750         299 :     if (_bumper_horizontal_derive_from_dynamics_) {
+    6751             : 
+    6752         299 :       const double horizontal_t_stop    = constraints.constraints.horizontal_speed / constraints.constraints.horizontal_acceleration;
+    6753         299 :       const double horizontal_stop_dist = (horizontal_t_stop * constraints.constraints.horizontal_speed) / 2.0;
+    6754             : 
+    6755         299 :       min_distance_horizontal += 1.5 * horizontal_stop_dist;
+    6756             :     }
+    6757             : 
+    6758         299 :     if (_bumper_vertical_derive_from_dynamics_) {
+    6759             : 
+    6760             : 
+    6761             :       // larger from the two accelerations
+    6762         598 :       const double vert_acc = constraints.constraints.vertical_ascending_acceleration > constraints.constraints.vertical_descending_acceleration
+    6763         299 :                                   ? constraints.constraints.vertical_ascending_acceleration
+    6764             :                                   : constraints.constraints.vertical_descending_acceleration;
+    6765             : 
+    6766             :       // larger from the two speeds
+    6767         598 :       const double vert_speed = constraints.constraints.vertical_ascending_speed > constraints.constraints.vertical_descending_speed
+    6768         299 :                                     ? constraints.constraints.vertical_ascending_speed
+    6769             :                                     : constraints.constraints.vertical_descending_speed;
+    6770             : 
+    6771         299 :       const double vertical_t_stop    = vert_speed / vert_acc;
+    6772         299 :       const double vertical_stop_dist = (vertical_t_stop * vert_speed) / 2.0;
+    6773             : 
+    6774         299 :       min_distance_vertical += 1.5 * vertical_stop_dist;
+    6775             :     }
+    6776             :   }
+    6777             : 
+    6778             :   // | ----------------------------  ---------------------------- |
+    6779             : 
+    6780             :   // copy member variables
+    6781         299 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6782         299 :   auto                              uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    6783             : 
+    6784         299 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    6785             : 
+    6786         299 :   double direction          = 0;
+    6787         299 :   double repulsion_distance = std::numeric_limits<double>::max();
+    6788             : 
+    6789         299 :   bool horizontal_collision_detected = false;
+    6790         299 :   bool vertical_collision_detected   = false;
+    6791             : 
+    6792         299 :   double min_horizontal_sector_distance = std::numeric_limits<double>::max();
+    6793         299 :   size_t min_sector_id                  = 0;
+    6794             : 
+    6795        2691 :   for (unsigned long i = 0; i < bumper_data->n_horizontal_sectors; i++) {
+    6796             : 
+    6797        2392 :     if (bumper_data->sectors[i] < 0) {
+    6798           0 :       continue;
+    6799             :     }
+    6800             : 
+    6801        2392 :     if (bumper_data->sectors[i] < min_horizontal_sector_distance) {
+    6802         299 :       min_horizontal_sector_distance = bumper_data->sectors[i];
+    6803         299 :       min_sector_id                  = i;
+    6804             :     }
+    6805             :   }
+    6806             : 
+    6807             :   // if the sector is under the threshold distance
+    6808         299 :   if (min_horizontal_sector_distance < min_distance_horizontal) {
+    6809             : 
+    6810             :     // get the desired direction of motion
+    6811         120 :     double oposite_direction  = double(min_sector_id) * sector_size + M_PI;
+    6812         120 :     int    oposite_sector_idx = bumperGetSectorId(cos(oposite_direction), sin(oposite_direction), 0);
+    6813             : 
+    6814             :     // get the id of the oposite sector
+    6815         120 :     direction = oposite_direction;
+    6816             : 
+    6817         120 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: found potential collision (sector %lu vs. %d), obstacle distance: %.2f, repulsing", min_sector_id,
+    6818             :                       oposite_sector_idx, bumper_data->sectors[min_sector_id]);
+    6819             : 
+    6820         120 :     repulsion_distance = min_distance_horizontal + _bumper_horizontal_overshoot_ - bumper_data->sectors[min_sector_id];
+    6821             : 
+    6822         120 :     horizontal_collision_detected = true;
+    6823             :   }
+    6824             : 
+    6825         299 :   double vertical_repulsion_distance = 0;
+    6826             : 
+    6827             :   // check for vertical collision down
+    6828         299 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors] > 0 && bumper_data->sectors[bumper_data->n_horizontal_sectors] <= min_distance_vertical) {
+    6829             : 
+    6830           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision below");
+    6831           0 :     vertical_collision_detected = true;
+    6832           0 :     vertical_repulsion_distance = min_distance_vertical - bumper_data->sectors[bumper_data->n_horizontal_sectors];
+    6833             :   }
+    6834             : 
+    6835             :   // check for vertical collision up
+    6836         299 :   if (bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] > 0 && bumper_data->sectors[bumper_data->n_horizontal_sectors + 1] <= min_distance_vertical) {
+    6837             : 
+    6838           0 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: potential collision above");
+    6839           0 :     vertical_collision_detected = true;
+    6840           0 :     vertical_repulsion_distance = -(min_distance_vertical - bumper_data->sectors[bumper_data->n_horizontal_sectors + 1]);
+    6841             :   }
+    6842             : 
+    6843             :   // if potential collision was detected and we should start the repulsing_
+    6844         299 :   if (horizontal_collision_detected || vertical_collision_detected) {
+    6845             : 
+    6846         120 :     if (!bumper_repulsing_) {
+    6847             : 
+    6848           1 :       if (_bumper_switch_tracker_) {
+    6849             : 
+    6850           1 :         auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6851           2 :         std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6852             : 
+    6853             :         // remember the previously active tracker
+    6854           1 :         bumper_previous_tracker_ = active_tracker_name;
+    6855             : 
+    6856           1 :         if (active_tracker_name != _bumper_tracker_name_) {
+    6857             : 
+    6858           0 :           switchTracker(_bumper_tracker_name_);
+    6859             :         }
+    6860             :       }
+    6861             : 
+    6862           1 :       if (_bumper_switch_controller_) {
+    6863             : 
+    6864           1 :         auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6865           2 :         std::string active_controller_name = _controller_names_[active_controller_idx];
+    6866             : 
+    6867             :         // remember the previously active controller
+    6868           1 :         bumper_previous_controller_ = active_controller_name;
+    6869             : 
+    6870           1 :         if (active_controller_name != _bumper_controller_name_) {
+    6871             : 
+    6872           1 :           switchController(_bumper_controller_name_);
+    6873             :         }
+    6874             :       }
+    6875             :     }
+    6876             : 
+    6877         120 :     bumper_repulsing_ = true;
+    6878             : 
+    6879         120 :     callbacks_enabled_ = false;
+    6880             : 
+    6881           0 :     mrs_msgs::ReferenceSrvResponse::ConstPtr tracker_response;
+    6882             : 
+    6883         120 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6884             : 
+    6885             :     // create the reference in the fcu_untilted frame
+    6886         120 :     mrs_msgs::ReferenceStamped reference_fcu_untilted;
+    6887             : 
+    6888         120 :     reference_fcu_untilted.header.frame_id = "fcu_untilted";
+    6889             : 
+    6890         120 :     if (horizontal_collision_detected) {
+    6891         120 :       reference_fcu_untilted.reference.position.x = cos(direction) * repulsion_distance;
+    6892         120 :       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         120 :     reference_fcu_untilted.reference.heading = 0;
+    6899             : 
+    6900         120 :     if (vertical_collision_detected) {
+    6901           0 :       reference_fcu_untilted.reference.position.z = vertical_repulsion_distance;
+    6902             :     } else {
+    6903         120 :       reference_fcu_untilted.reference.position.z = 0;
+    6904             :     }
+    6905             : 
+    6906             :     {
+    6907         120 :       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         120 :       auto ret = transformer_->transformSingle(reference_fcu_untilted, uav_state.header.frame_id);
+    6914             : 
+    6915         120 :       if (!ret) {
+    6916           0 :         ROS_WARN_THROTTLE(1.0, "[ControlManager]: Bumper: bumper reference could not be transformed");
+    6917           0 :         return;
+    6918             :       }
+    6919             : 
+    6920         120 :       reference_fcu_untilted = ret.value();
+    6921             : 
+    6922             :       // copy the reference into the service type message
+    6923         120 :       mrs_msgs::ReferenceSrvRequest req_goto_out;
+    6924         120 :       req_goto_out.reference = reference_fcu_untilted.reference;
+    6925             : 
+    6926             :       // disable callbacks of all trackers
+    6927         120 :       req_enable_callbacks.data = false;
+    6928         840 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6929         720 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6930             :       }
+    6931             : 
+    6932             :       // enable the callbacks for the active tracker
+    6933         120 :       req_enable_callbacks.data = true;
+    6934         120 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6935             : 
+    6936             :       // call the goto
+    6937         360 :       tracker_response = tracker_list_[active_tracker_idx_]->setReference(
+    6938         360 :           mrs_msgs::ReferenceSrvRequest::ConstPtr(std::make_unique<mrs_msgs::ReferenceSrvRequest>(req_goto_out)));
+    6939             : 
+    6940             :       // disable the callbacks back again
+    6941         120 :       req_enable_callbacks.data = false;
+    6942         120 :       tracker_list_[active_tracker_idx_]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6943             :     }
+    6944             :   }
+    6945             : 
+    6946             :   // if repulsing_ and the distance is safe once again
+    6947         299 :   if (bumper_repulsing_ && !horizontal_collision_detected && !vertical_collision_detected) {
+    6948             : 
+    6949           1 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: Bumper: no more collision, stopping repulsion");
+    6950             : 
+    6951           1 :     if (_bumper_switch_tracker_) {
+    6952             : 
+    6953           1 :       auto        active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    6954           2 :       std::string active_tracker_name = _tracker_names_[active_tracker_idx];
+    6955             : 
+    6956           1 :       if (active_tracker_name != bumper_previous_tracker_) {
+    6957             : 
+    6958           0 :         switchTracker(bumper_previous_tracker_);
+    6959             :       }
+    6960             :     }
+    6961             : 
+    6962           1 :     if (_bumper_switch_controller_) {
+    6963             : 
+    6964           1 :       auto        active_controller_idx  = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    6965           2 :       std::string active_controller_name = _controller_names_[active_controller_idx];
+    6966             : 
+    6967           1 :       if (active_controller_name != bumper_previous_controller_) {
+    6968             : 
+    6969           1 :         switchController(bumper_previous_controller_);
+    6970             :       }
+    6971             :     }
+    6972             : 
+    6973           1 :     std_srvs::SetBoolRequest req_enable_callbacks;
+    6974             : 
+    6975             :     {
+    6976           2 :       std::scoped_lock lock(mutex_tracker_list_);
+    6977             : 
+    6978             :       // enable callbacks of all trackers
+    6979           1 :       req_enable_callbacks.data = true;
+    6980           7 :       for (size_t i = 0; i < tracker_list_.size(); i++) {
+    6981           6 :         tracker_list_[i]->enableCallbacks(std_srvs::SetBoolRequest::ConstPtr(std::make_unique<std_srvs::SetBoolRequest>(req_enable_callbacks)));
+    6982             :       }
+    6983             :     }
+    6984             : 
+    6985           1 :     callbacks_enabled_ = true;
+    6986             : 
+    6987           1 :     bumper_repulsing_ = false;
+    6988             :   }
+    6989             : }
+    6990             : 
+    6991             : //}
+    6992             : 
+    6993             : /* bumperGetSectorId() //{ */
+    6994             : 
+    6995         120 : int ControlManager::bumperGetSectorId(const double& x, const double& y, [[maybe_unused]] const double& z) {
+    6996             : 
+    6997             :   // copy member variables
+    6998         120 :   mrs_msgs::ObstacleSectorsConstPtr bumper_data = sh_bumper_.getMsg();
+    6999             : 
+    7000             :   // heading of the point in drone frame
+    7001         120 :   double point_heading_horizontal = atan2(y, x);
+    7002             : 
+    7003         120 :   point_heading_horizontal += TAU;
+    7004             : 
+    7005             :   // if point_heading_horizontal is greater then 2*M_PI mod it
+    7006         120 :   if (fabs(point_heading_horizontal) >= TAU) {
+    7007         120 :     point_heading_horizontal = fmod(point_heading_horizontal, TAU);
+    7008             :   }
+    7009             : 
+    7010             :   // heading of the right edge of the first sector
+    7011         120 :   double sector_size = TAU / double(bumper_data->n_horizontal_sectors);
+    7012             : 
+    7013             :   // calculate the idx
+    7014         120 :   int idx = floor((point_heading_horizontal + (sector_size / 2.0)) / sector_size);
+    7015             : 
+    7016         120 :   if (idx > int(bumper_data->n_horizontal_sectors) - 1) {
+    7017           0 :     idx -= bumper_data->n_horizontal_sectors;
+    7018             :   }
+    7019             : 
+    7020         240 :   return idx;
+    7021             : }
+    7022             : 
+    7023             : //}
+    7024             : 
+    7025             : // | ------------------------- safety ------------------------- |
+    7026             : 
+    7027             : /* //{ changeLandingState() */
+    7028             : 
+    7029          10 : void ControlManager::changeLandingState(LandingStates_t new_state) {
+    7030             : 
+    7031             :   // copy member variables
+    7032          20 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7033             : 
+    7034             :   {
+    7035          10 :     std::scoped_lock lock(mutex_landing_state_machine_);
+    7036             : 
+    7037          10 :     previous_state_landing_ = current_state_landing_;
+    7038          10 :     current_state_landing_  = new_state;
+    7039             :   }
+    7040             : 
+    7041          10 :   switch (current_state_landing_) {
+    7042             : 
+    7043           3 :     case IDLE_STATE:
+    7044           3 :       break;
+    7045           7 :     case LANDING_STATE: {
+    7046             : 
+    7047           7 :       ROS_DEBUG("[ControlManager]: starting eland timer");
+    7048           7 :       timer_eland_.start();
+    7049           7 :       ROS_DEBUG("[ControlManager]: eland timer started");
+    7050           7 :       eland_triggered_ = true;
+    7051           7 :       bumper_enabled_  = false;
+    7052             : 
+    7053           7 :       landing_uav_mass_ = getMass();
+    7054             :     }
+    7055             : 
+    7056           7 :     break;
+    7057             :   }
+    7058             : 
+    7059          10 :   ROS_INFO("[ControlManager]: switching emergency landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+    7060          10 : }
+    7061             : 
+    7062             : //}
+    7063             : 
+    7064             : /* hover() //{ */
+    7065             : 
+    7066           0 : std::tuple<bool, std::string> ControlManager::hover(void) {
+    7067           0 :   if (!is_initialized_)
+    7068           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7069             : 
+    7070           0 :   if (eland_triggered_)
+    7071           0 :     return std::tuple(false, "cannot hover, eland already triggered");
+    7072             : 
+    7073           0 :   if (failsafe_triggered_)
+    7074           0 :     return std::tuple(false, "cannot hover, failsafe already triggered");
+    7075             : 
+    7076             :   {
+    7077           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7078             : 
+    7079           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7080           0 :     std_srvs::TriggerRequest            request;
+    7081             : 
+    7082           0 :     response = tracker_list_[active_tracker_idx_]->hover(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7083             : 
+    7084           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7085             : 
+    7086           0 :       return std::tuple(response->success, response->message);
+    7087             : 
+    7088             :     } else {
+    7089             : 
+    7090           0 :       std::stringstream ss;
+    7091           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'hover()' function!";
+    7092             : 
+    7093           0 :       return std::tuple(false, ss.str());
+    7094             :     }
+    7095             :   }
+    7096             : }
+    7097             : 
+    7098             : //}
+    7099             : 
+    7100             : /* //{ ehover() */
+    7101             : 
+    7102           2 : std::tuple<bool, std::string> ControlManager::ehover(void) {
+    7103             : 
+    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           7 : std::tuple<bool, std::string> ControlManager::eland(void) {
+    7172             : 
+    7173           7 :   if (!is_initialized_)
+    7174           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7175             : 
+    7176           7 :   if (eland_triggered_)
+    7177           0 :     return std::tuple(false, "cannot eland, eland already triggered");
+    7178             : 
+    7179           7 :   if (failsafe_triggered_)
+    7180           0 :     return std::tuple(false, "cannot eland, failsafe already triggered");
+    7181             : 
+    7182             :   // copy member variables
+    7183          14 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7184          14 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7185           7 :   auto active_tracker_idx  = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7186             : 
+    7187           7 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7188             : 
+    7189           0 :     std::stringstream ss;
+    7190           0 :     ss << "can not trigger eland while not flying";
+    7191           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7192             : 
+    7193           0 :     return std::tuple(false, ss.str());
+    7194             :   }
+    7195             : 
+    7196           7 :   if (_rc_emergency_handoff_) {
+    7197             : 
+    7198           0 :     toggleOutput(false);
+    7199             : 
+    7200           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7201             :   }
+    7202             : 
+    7203             :   {
+    7204           7 :     auto [success, message] = switchTracker(_ehover_tracker_name_);
+    7205             : 
+    7206             :     // check if the tracker was successfully switched
+    7207             :     // this is vital
+    7208           7 :     if (!success) {
+    7209             : 
+    7210           0 :       std::stringstream ss;
+    7211           0 :       ss << "error during switching to eland tracker: '" << message << "'";
+    7212           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7213             : 
+    7214           0 :       return std::tuple(success, ss.str());
+    7215             :     }
+    7216             :   }
+    7217             : 
+    7218             :   {
+    7219          14 :     auto [success, message] = switchController(_eland_controller_name_);
+    7220             : 
+    7221             :     // check if the controller was successfully switched
+    7222             :     // this is not vital, we can continue without it
+    7223           7 :     if (!success) {
+    7224             : 
+    7225           0 :       std::stringstream ss;
+    7226           0 :       ss << "error during switching to eland controller: '" << message << "'";
+    7227           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7228             :     }
+    7229             :   }
+    7230             : 
+    7231             :   // | ----------------- call the eland service ----------------- |
+    7232             : 
+    7233           7 :   std::stringstream ss;
+    7234             :   bool              success;
+    7235             : 
+    7236           7 :   if (elandSrv()) {
+    7237             : 
+    7238           7 :     changeLandingState(LANDING_STATE);
+    7239             : 
+    7240           7 :     odometryCallbacksSrv(false);
+    7241             : 
+    7242           7 :     ss << "eland activated";
+    7243           7 :     ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7244             : 
+    7245           7 :     success = true;
+    7246             : 
+    7247           7 :     callbacks_enabled_ = false;
+    7248             : 
+    7249             :   } else {
+    7250             : 
+    7251           0 :     ss << "error during activation of eland";
+    7252           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7253             : 
+    7254           0 :     success = false;
+    7255             :   }
+    7256             : 
+    7257          14 :   return std::tuple(success, ss.str());
+    7258             : }
+    7259             : 
+    7260             : //}
+    7261             : 
+    7262             : /* failsafe() //{ */
+    7263             : 
+    7264           7 : std::tuple<bool, std::string> ControlManager::failsafe(void) {
+    7265             : 
+    7266             :   // copy member variables
+    7267          14 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    7268          14 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7269           7 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7270           7 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7271             : 
+    7272           7 :   if (!is_initialized_) {
+    7273           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7274             :   }
+    7275             : 
+    7276           7 :   if (failsafe_triggered_) {
+    7277           0 :     return std::tuple(false, "cannot, failsafe already triggered");
+    7278             :   }
+    7279             : 
+    7280           7 :   if (active_tracker_idx == _null_tracker_idx_) {
+    7281             : 
+    7282           0 :     std::stringstream ss;
+    7283           0 :     ss << "can not trigger failsafe while not flying";
+    7284           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7285           0 :     return std::tuple(false, ss.str());
+    7286             :   }
+    7287             : 
+    7288           7 :   if (_rc_emergency_handoff_) {
+    7289             : 
+    7290           0 :     toggleOutput(false);
+    7291             : 
+    7292           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7293             :   }
+    7294             : 
+    7295           7 :   if (getLowestOuput(_hw_api_inputs_) == POSITION) {
+    7296           0 :     return eland();
+    7297             :   }
+    7298             : 
+    7299           7 :   if (_parachute_enabled_) {
+    7300             : 
+    7301           0 :     auto [success, message] = deployParachute();
+    7302             : 
+    7303           0 :     if (success) {
+    7304             : 
+    7305           0 :       std::stringstream ss;
+    7306           0 :       ss << "failsafe activated (parachute): '" << message << "'";
+    7307           0 :       ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7308             : 
+    7309           0 :       return std::tuple(true, ss.str());
+    7310             : 
+    7311             :     } else {
+    7312             : 
+    7313           0 :       std::stringstream ss;
+    7314           0 :       ss << "could not deploy parachute: '" << message << "', continuing with normal failsafe";
+    7315           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7316             :     }
+    7317             :   }
+    7318             : 
+    7319           7 :   if (_failsafe_controller_idx_ != active_controller_idx) {
+    7320             : 
+    7321             :     try {
+    7322             : 
+    7323          14 :       std::scoped_lock lock(mutex_controller_list_);
+    7324             : 
+    7325           7 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _failsafe_controller_name_.c_str());
+    7326           7 :       controller_list_[_failsafe_controller_idx_]->activate(last_control_output);
+    7327             : 
+    7328             :       {
+    7329          14 :         std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7330             : 
+    7331             :         // update the time (used in failsafe)
+    7332           7 :         controller_tracker_switch_time_ = ros::Time::now();
+    7333             :       }
+    7334             : 
+    7335           7 :       failsafe_triggered_ = true;
+    7336           7 :       ROS_DEBUG("[ControlManager]: stopping eland timer");
+    7337           7 :       timer_eland_.stop();
+    7338           7 :       ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7339             : 
+    7340           7 :       landing_uav_mass_ = getMass();
+    7341             : 
+    7342           7 :       eland_triggered_ = false;
+    7343           7 :       ROS_DEBUG("[ControlManager]: starting failsafe timer");
+    7344           7 :       timer_failsafe_.start();
+    7345           7 :       ROS_DEBUG("[ControlManager]: failsafe timer started");
+    7346             : 
+    7347           7 :       bumper_enabled_ = false;
+    7348             : 
+    7349           7 :       odometryCallbacksSrv(false);
+    7350             : 
+    7351           7 :       callbacks_enabled_ = false;
+    7352             : 
+    7353           7 :       ROS_INFO_THROTTLE(1.0, "[ControlManager]: the controller '%s' was activated", _failsafe_controller_name_.c_str());
+    7354             : 
+    7355             :       // super important, switch the active controller idx
+    7356             :       try {
+    7357           7 :         controller_list_[active_controller_idx_]->deactivate();
+    7358           7 :         active_controller_idx_ = _failsafe_controller_idx_;
+    7359             :       }
+    7360           0 :       catch (std::runtime_error& exrun) {
+    7361           0 :         ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not deactivate the controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    7362             :       }
+    7363             :     }
+    7364           0 :     catch (std::runtime_error& exrun) {
+    7365           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: error during activation of the controller '%s'", _failsafe_controller_name_.c_str());
+    7366           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    7367             :     }
+    7368             :   }
+    7369             : 
+    7370          14 :   return std::tuple(true, "failsafe activated");
+    7371             : }
+    7372             : 
+    7373             : //}
+    7374             : 
+    7375             : /* escalatingFailsafe() //{ */
+    7376             : 
+    7377         147 : std::tuple<bool, std::string> ControlManager::escalatingFailsafe(void) {
+    7378         294 :   std::stringstream ss;
+    7379             : 
+    7380         147 :   if ((ros::Time::now() - escalating_failsafe_time_).toSec() < _escalating_failsafe_timeout_) {
+    7381             : 
+    7382         139 :     ss << "too soon for escalating failsafe";
+    7383         139 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7384             : 
+    7385         139 :     return std::tuple(false, ss.str());
+    7386             :   }
+    7387             : 
+    7388           8 :   if (!output_enabled_) {
+    7389             : 
+    7390           0 :     ss << "not escalating failsafe, output is disabled";
+    7391           0 :     ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7392             : 
+    7393           0 :     return std::tuple(false, ss.str());
+    7394             :   }
+    7395             : 
+    7396           8 :   ROS_WARN("[ControlManager]: escalating failsafe triggered");
+    7397             : 
+    7398           8 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7399           8 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    7400             : 
+    7401          16 :   std::string active_tracker_name    = _tracker_names_[active_tracker_idx];
+    7402          16 :   std::string active_controller_name = _controller_names_[active_controller_idx];
+    7403             : 
+    7404           8 :   EscalatingFailsafeStates_t next_state = getNextEscFailsafeState();
+    7405             : 
+    7406           8 :   escalating_failsafe_time_ = ros::Time::now();
+    7407             : 
+    7408           8 :   switch (next_state) {
+    7409             : 
+    7410           0 :     case ESC_NONE_STATE: {
+    7411             : 
+    7412           0 :       ss << "escalating failsafe has run to impossible situation";
+    7413           0 :       ROS_ERROR_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7414             : 
+    7415           0 :       return std::tuple(false, "escalating failsafe has run to impossible situation");
+    7416             : 
+    7417             :       break;
+    7418             :     }
+    7419             : 
+    7420           2 :     case ESC_EHOVER_STATE: {
+    7421             : 
+    7422           2 :       ss << "escalating failsafe escalates to ehover";
+    7423           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7424             : 
+    7425           4 :       auto [success, message] = ehover();
+    7426             : 
+    7427           2 :       if (success) {
+    7428           2 :         state_escalating_failsafe_ = ESC_EHOVER_STATE;
+    7429             :       }
+    7430             : 
+    7431           2 :       return {success, message};
+    7432             : 
+    7433             :       break;
+    7434             :     }
+    7435             : 
+    7436           2 :     case ESC_ELAND_STATE: {
+    7437             : 
+    7438           2 :       ss << "escalating failsafe escalates to eland";
+    7439           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7440             : 
+    7441           4 :       auto [success, message] = eland();
+    7442             : 
+    7443           2 :       if (success) {
+    7444           2 :         state_escalating_failsafe_ = ESC_ELAND_STATE;
+    7445             :       }
+    7446             : 
+    7447           2 :       return {success, message};
+    7448             : 
+    7449             :       break;
+    7450             :     }
+    7451             : 
+    7452           2 :     case ESC_FAILSAFE_STATE: {
+    7453             : 
+    7454           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7455             : 
+    7456           2 :       ss << "escalating failsafe escalates to failsafe";
+    7457           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7458             : 
+    7459           4 :       auto [success, message] = failsafe();
+    7460             : 
+    7461           2 :       if (success) {
+    7462           2 :         state_escalating_failsafe_ = ESC_FINISHED_STATE;
+    7463             :       }
+    7464             : 
+    7465           2 :       return {success, message};
+    7466             : 
+    7467             :       break;
+    7468             :     }
+    7469             : 
+    7470           2 :     case ESC_FINISHED_STATE: {
+    7471             : 
+    7472           2 :       escalating_failsafe_time_ = ros::Time::now();
+    7473             : 
+    7474           2 :       ss << "escalating failsafe has nothing more to do";
+    7475           2 :       ROS_WARN_STREAM_THROTTLE(0.1, "[ControlManager]: " << ss.str());
+    7476             : 
+    7477           4 :       return std::tuple(false, "escalating failsafe has nothing more to do");
+    7478             : 
+    7479             :       break;
+    7480             :     }
+    7481             : 
+    7482           0 :     default: {
+    7483             : 
+    7484           0 :       break;
+    7485             :     }
+    7486             :   }
+    7487             : 
+    7488           0 :   ROS_ERROR("[ControlManager]: escalatingFailsafe() reached the final return, this should not happen!");
+    7489             : 
+    7490           0 :   return std::tuple(false, "escalating failsafe exception");
+    7491             : }
+    7492             : 
+    7493             : //}
+    7494             : 
+    7495             : /* getNextEscFailsafeState() //{ */
+    7496             : 
+    7497           8 : EscalatingFailsafeStates_t ControlManager::getNextEscFailsafeState(void) {
+    7498           8 :   EscalatingFailsafeStates_t current_state = state_escalating_failsafe_;
+    7499             : 
+    7500           8 :   switch (current_state) {
+    7501             : 
+    7502           2 :     case ESC_FINISHED_STATE: {
+    7503             : 
+    7504           2 :       return ESC_FINISHED_STATE;
+    7505             : 
+    7506             :       break;
+    7507             :     }
+    7508             : 
+    7509           2 :     case ESC_NONE_STATE: {
+    7510             : 
+    7511           2 :       if (_escalating_failsafe_ehover_) {
+    7512           2 :         return ESC_EHOVER_STATE;
+    7513           0 :       } else if (_escalating_failsafe_eland_) {
+    7514           0 :         return ESC_ELAND_STATE;
+    7515           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7516           0 :         return ESC_FAILSAFE_STATE;
+    7517             :       } else {
+    7518           0 :         return ESC_FINISHED_STATE;
+    7519             :       }
+    7520             : 
+    7521             :       break;
+    7522             :     }
+    7523             : 
+    7524           2 :     case ESC_EHOVER_STATE: {
+    7525             : 
+    7526           2 :       if (_escalating_failsafe_eland_) {
+    7527           2 :         return ESC_ELAND_STATE;
+    7528           0 :       } else if (_escalating_failsafe_failsafe_) {
+    7529           0 :         return ESC_FAILSAFE_STATE;
+    7530             :       } else {
+    7531           0 :         return ESC_FINISHED_STATE;
+    7532             :       }
+    7533             : 
+    7534             :       break;
+    7535             :     }
+    7536             : 
+    7537           2 :     case ESC_ELAND_STATE: {
+    7538             : 
+    7539           2 :       if (_escalating_failsafe_failsafe_) {
+    7540           2 :         return ESC_FAILSAFE_STATE;
+    7541             :       } else {
+    7542           0 :         return ESC_FINISHED_STATE;
+    7543             :       }
+    7544             : 
+    7545             :       break;
+    7546             :     }
+    7547             : 
+    7548           0 :     case ESC_FAILSAFE_STATE: {
+    7549             : 
+    7550           0 :       return ESC_FINISHED_STATE;
+    7551             : 
+    7552             :       break;
+    7553             :     }
+    7554             :   }
+    7555             : 
+    7556           0 :   ROS_ERROR("[ControlManager]: getNextEscFailsafeState() reached the final return, this should not happen!");
+    7557             : 
+    7558           0 :   return ESC_NONE_STATE;
+    7559             : }
+    7560             : 
+    7561             : //}
+    7562             : 
+    7563             : // | ------------------- trajectory tracking ------------------ |
+    7564             : 
+    7565             : /* startTrajectoryTracking() //{ */
+    7566             : 
+    7567           1 : std::tuple<bool, std::string> ControlManager::startTrajectoryTracking(void) {
+    7568           1 :   if (!is_initialized_)
+    7569           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7570             : 
+    7571             :   {
+    7572           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7573             : 
+    7574           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7575           1 :     std_srvs::TriggerRequest            request;
+    7576             : 
+    7577             :     response =
+    7578           1 :         tracker_list_[active_tracker_idx_]->startTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7579             : 
+    7580           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7581             : 
+    7582           2 :       return std::tuple(response->success, response->message);
+    7583             : 
+    7584             :     } else {
+    7585             : 
+    7586           0 :       std::stringstream ss;
+    7587           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'startTrajectoryTracking()' function!";
+    7588             : 
+    7589           0 :       return std::tuple(false, ss.str());
+    7590             :     }
+    7591             :   }
+    7592             : }
+    7593             : 
+    7594             : //}
+    7595             : 
+    7596             : /* stopTrajectoryTracking() //{ */
+    7597             : 
+    7598           0 : std::tuple<bool, std::string> ControlManager::stopTrajectoryTracking(void) {
+    7599           0 :   if (!is_initialized_)
+    7600           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7601             : 
+    7602             :   {
+    7603           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7604             : 
+    7605           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7606           0 :     std_srvs::TriggerRequest            request;
+    7607             : 
+    7608             :     response =
+    7609           0 :         tracker_list_[active_tracker_idx_]->stopTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7610             : 
+    7611           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7612             : 
+    7613           0 :       return std::tuple(response->success, response->message);
+    7614             : 
+    7615             :     } else {
+    7616             : 
+    7617           0 :       std::stringstream ss;
+    7618           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'stopTrajectoryTracking()' function!";
+    7619             : 
+    7620           0 :       return std::tuple(false, ss.str());
+    7621             :     }
+    7622             :   }
+    7623             : }
+    7624             : 
+    7625             : //}
+    7626             : 
+    7627             : /* resumeTrajectoryTracking() //{ */
+    7628             : 
+    7629           0 : std::tuple<bool, std::string> ControlManager::resumeTrajectoryTracking(void) {
+    7630           0 :   if (!is_initialized_)
+    7631           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7632             : 
+    7633             :   {
+    7634           0 :     std::scoped_lock lock(mutex_tracker_list_);
+    7635             : 
+    7636           0 :     std_srvs::TriggerResponse::ConstPtr response;
+    7637           0 :     std_srvs::TriggerRequest            request;
+    7638             : 
+    7639             :     response =
+    7640           0 :         tracker_list_[active_tracker_idx_]->resumeTrajectoryTracking(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7641             : 
+    7642           0 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7643             : 
+    7644           0 :       return std::tuple(response->success, response->message);
+    7645             : 
+    7646             :     } else {
+    7647             : 
+    7648           0 :       std::stringstream ss;
+    7649           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'resumeTrajectoryTracking()' function!";
+    7650             : 
+    7651           0 :       return std::tuple(false, ss.str());
+    7652             :     }
+    7653             :   }
+    7654             : }
+    7655             : 
+    7656             : //}
+    7657             : 
+    7658             : /* gotoTrajectoryStart() //{ */
+    7659             : 
+    7660           1 : std::tuple<bool, std::string> ControlManager::gotoTrajectoryStart(void) {
+    7661           1 :   if (!is_initialized_)
+    7662           0 :     return std::tuple(false, "the ControlManager is not initialized");
+    7663             : 
+    7664             :   {
+    7665           2 :     std::scoped_lock lock(mutex_tracker_list_);
+    7666             : 
+    7667           1 :     std_srvs::TriggerResponse::ConstPtr response;
+    7668           1 :     std_srvs::TriggerRequest            request;
+    7669             : 
+    7670           1 :     response = tracker_list_[active_tracker_idx_]->gotoTrajectoryStart(std_srvs::TriggerRequest::ConstPtr(std::make_unique<std_srvs::TriggerRequest>(request)));
+    7671             : 
+    7672           1 :     if (response != std_srvs::TriggerResponse::Ptr()) {
+    7673             : 
+    7674           2 :       return std::tuple(response->success, response->message);
+    7675             : 
+    7676             :     } else {
+    7677             : 
+    7678           0 :       std::stringstream ss;
+    7679           0 :       ss << "the tracker '" << _tracker_names_[active_tracker_idx_] << "' does not implement the 'gotoTrajectoryStart()' function!";
+    7680             : 
+    7681           0 :       return std::tuple(false, ss.str());
+    7682             :     }
+    7683             :   }
+    7684             : }
+    7685             : 
+    7686             : //}
+    7687             : 
+    7688             : // | ----------------- service client wrappers ---------------- |
+    7689             : 
+    7690             : /* arming() //{ */
+    7691             : 
+    7692          16 : std::tuple<bool, std::string> ControlManager::arming(const bool input) {
+    7693          32 :   std::stringstream ss;
+    7694             : 
+    7695          16 :   if (input) {
+    7696             : 
+    7697           0 :     ss << "not allowed to arm using the ControlManager, maybe later when we don't do bugs";
+    7698           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7699           0 :     return std::tuple(false, ss.str());
+    7700             :   }
+    7701             : 
+    7702          16 :   if (!input && !isOffboard()) {
+    7703             : 
+    7704           0 :     ss << "can not disarm, not in OFFBOARD mode";
+    7705           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7706           0 :     return std::tuple(false, ss.str());
+    7707             :   }
+    7708             : 
+    7709          16 :   if (!input && _rc_emergency_handoff_) {
+    7710             : 
+    7711           0 :     toggleOutput(false);
+    7712             : 
+    7713           0 :     return std::tuple(true, "RC emergency handoff is ON, disabling output");
+    7714             :   }
+    7715             : 
+    7716          16 :   std_srvs::SetBool srv_out;
+    7717             : 
+    7718          16 :   srv_out.request.data = input ? 1 : 0;  // arm or disarm?
+    7719             : 
+    7720          16 :   ROS_INFO("[ControlManager]: calling for %s", input ? "arming" : "disarming");
+    7721             : 
+    7722          16 :   if (sch_arming_.call(srv_out)) {
+    7723             : 
+    7724          16 :     if (srv_out.response.success) {
+    7725             : 
+    7726          16 :       ss << "service call for " << (input ? "arming" : "disarming") << " was successful";
+    7727          16 :       ROS_INFO_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7728             : 
+    7729          16 :       if (!input) {
+    7730             : 
+    7731          16 :         toggleOutput(false);
+    7732             : 
+    7733          16 :         ROS_DEBUG("[ControlManager]: stopping failsafe timer");
+    7734          16 :         timer_failsafe_.stop();
+    7735          16 :         ROS_DEBUG("[ControlManager]: failsafe timer stopped");
+    7736             : 
+    7737          16 :         ROS_DEBUG("[ControlManager]: stopping the eland timer");
+    7738          16 :         timer_eland_.stop();
+    7739          16 :         ROS_DEBUG("[ControlManager]: eland timer stopped");
+    7740             :       }
+    7741             : 
+    7742             :     } else {
+    7743           0 :       ss << "service call for " << (input ? "arming" : "disarming") << " failed";
+    7744           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7745             :     }
+    7746             : 
+    7747             :   } else {
+    7748           0 :     ss << "calling for " << (input ? "arming" : "disarming") << " resulted in failure: '" << srv_out.response.message << "'";
+    7749           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    7750             :   }
+    7751             : 
+    7752          32 :   return std::tuple(srv_out.response.success, ss.str());
+    7753             : }
+    7754             : 
+    7755             : //}
+    7756             : 
+    7757             : /* odometryCallbacksSrv() //{ */
+    7758             : 
+    7759          14 : void ControlManager::odometryCallbacksSrv(const bool input) {
+    7760          14 :   ROS_INFO("[ControlManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    7761             : 
+    7762          28 :   std_srvs::SetBool srv;
+    7763             : 
+    7764          14 :   srv.request.data = input;
+    7765             : 
+    7766          14 :   bool res = sch_set_odometry_callbacks_.call(srv);
+    7767             : 
+    7768          14 :   if (res) {
+    7769             : 
+    7770          14 :     if (!srv.response.success) {
+    7771           0 :       ROS_WARN("[ControlManager]: service call for toggle odometry callbacks returned: '%s'", srv.response.message.c_str());
+    7772             :     }
+    7773             : 
+    7774             :   } else {
+    7775           0 :     ROS_ERROR("[ControlManager]: service call for toggle odometry callbacks failed!");
+    7776             :   }
+    7777          14 : }
+    7778             : 
+    7779             : //}
+    7780             : 
+    7781             : /* elandSrv() //{ */
+    7782             : 
+    7783           7 : bool ControlManager::elandSrv(void) {
+    7784           7 :   ROS_INFO("[ControlManager]: calling for eland");
+    7785             : 
+    7786          14 :   std_srvs::Trigger srv;
+    7787             : 
+    7788           7 :   bool res = sch_eland_.call(srv);
+    7789             : 
+    7790           7 :   if (res) {
+    7791             : 
+    7792           7 :     if (!srv.response.success) {
+    7793           0 :       ROS_WARN("[ControlManager]: service call for eland returned: '%s'", srv.response.message.c_str());
+    7794             :     }
+    7795             : 
+    7796           7 :     return srv.response.success;
+    7797             : 
+    7798             :   } else {
+    7799             : 
+    7800           0 :     ROS_ERROR("[ControlManager]: service call for eland failed!");
+    7801             : 
+    7802           0 :     return false;
+    7803             :   }
+    7804             : }
+    7805             : 
+    7806             : //}
+    7807             : 
+    7808             : /* parachuteSrv() //{ */
+    7809             : 
+    7810           0 : bool ControlManager::parachuteSrv(void) {
+    7811           0 :   ROS_INFO("[ControlManager]: calling for parachute deployment");
+    7812             : 
+    7813           0 :   std_srvs::Trigger srv;
+    7814             : 
+    7815           0 :   bool res = sch_parachute_.call(srv);
+    7816             : 
+    7817           0 :   if (res) {
+    7818             : 
+    7819           0 :     if (!srv.response.success) {
+    7820           0 :       ROS_WARN("[ControlManager]: service call for parachute deployment returned: '%s'", srv.response.message.c_str());
+    7821             :     }
+    7822             : 
+    7823           0 :     return srv.response.success;
+    7824             : 
+    7825             :   } else {
+    7826             : 
+    7827           0 :     ROS_ERROR("[ControlManager]: service call for parachute deployment failed!");
+    7828             : 
+    7829           0 :     return false;
+    7830             :   }
+    7831             : }
+    7832             : 
+    7833             : //}
+    7834             : 
+    7835             : /* ungripSrv() //{ */
+    7836             : 
+    7837          76 : void ControlManager::ungripSrv(void) {
+    7838         152 :   std_srvs::Trigger srv;
+    7839             : 
+    7840          76 :   bool res = sch_ungrip_.call(srv);
+    7841             : 
+    7842          76 :   if (res) {
+    7843             : 
+    7844           0 :     if (!srv.response.success) {
+    7845           0 :       ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload returned: '%s'", srv.response.message.c_str());
+    7846             :     }
+    7847             : 
+    7848             :   } else {
+    7849          76 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: service call for ungripping payload failed!");
+    7850             :   }
+    7851          76 : }
+    7852             : 
+    7853             : //}
+    7854             : 
+    7855             : // | ------------------------ routines ------------------------ |
+    7856             : 
+    7857             : /* toggleOutput() //{ */
+    7858             : 
+    7859         101 : void ControlManager::toggleOutput(const bool& input) {
+    7860             : 
+    7861         101 :   if (input == output_enabled_) {
+    7862           5 :     ROS_WARN_THROTTLE(0.1, "[ControlManager]: output is already %s", input ? "ON" : "OFF");
+    7863           5 :     return;
+    7864             :   }
+    7865             : 
+    7866          96 :   ROS_INFO("[ControlManager]: switching output %s", input ? "ON" : "OFF");
+    7867             : 
+    7868          96 :   output_enabled_ = input;
+    7869             : 
+    7870             :   // if switching output off, switch to NullTracker
+    7871          96 :   if (!output_enabled_) {
+    7872             : 
+    7873          18 :     ROS_INFO("[ControlManager]: switching to 'NullTracker' after switching output off");
+    7874             : 
+    7875          18 :     switchTracker(_null_tracker_name_);
+    7876             : 
+    7877          18 :     ROS_INFO_STREAM("[ControlManager]: switching to the controller '" << _eland_controller_name_ << "' after switching output off");
+    7878             : 
+    7879          18 :     switchController(_eland_controller_name_);
+    7880             : 
+    7881             :     // | --------- deactivate all trackers and controllers -------- |
+    7882             : 
+    7883         126 :     for (int i = 0; i < int(tracker_list_.size()); i++) {
+    7884             : 
+    7885         108 :       std::map<std::string, TrackerParams>::iterator it;
+    7886         108 :       it = trackers_.find(_tracker_names_[i]);
+    7887             : 
+    7888             :       try {
+    7889         108 :         ROS_INFO("[ControlManager]: deactivating the tracker '%s'", it->second.address.c_str());
+    7890         108 :         tracker_list_[i]->deactivate();
+    7891             :       }
+    7892           0 :       catch (std::runtime_error& ex) {
+    7893           0 :         ROS_ERROR("[ControlManager]: exception caught during tracker deactivation: '%s'", ex.what());
+    7894             :       }
+    7895             :     }
+    7896             : 
+    7897         108 :     for (int i = 0; i < int(controller_list_.size()); i++) {
+    7898             : 
+    7899          90 :       std::map<std::string, ControllerParams>::iterator it;
+    7900          90 :       it = controllers_.find(_controller_names_[i]);
+    7901             : 
+    7902             :       try {
+    7903          90 :         ROS_INFO("[ControlManager]: deactivating the controller '%s'", it->second.address.c_str());
+    7904          90 :         controller_list_[i]->deactivate();
+    7905             :       }
+    7906           0 :       catch (std::runtime_error& ex) {
+    7907           0 :         ROS_ERROR("[ControlManager]: exception caught during controller deactivation: '%s'", ex.what());
+    7908             :       }
+    7909             :     }
+    7910             : 
+    7911          18 :     timer_failsafe_.stop();
+    7912          18 :     timer_eland_.stop();
+    7913          18 :     timer_pirouette_.stop();
+    7914             : 
+    7915          18 :     offboard_mode_was_true_ = false;
+    7916             :   }
+    7917             : }
+    7918             : 
+    7919             : //}
+    7920             : 
+    7921             : /* switchTracker() //{ */
+    7922             : 
+    7923         184 : std::tuple<bool, std::string> ControlManager::switchTracker(const std::string& tracker_name) {
+    7924             : 
+    7925         552 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchTracker");
+    7926         552 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchTracker", scope_timer_logger_, scope_timer_enabled_);
+    7927             : 
+    7928             :   // copy member variables
+    7929         368 :   auto last_tracker_cmd   = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    7930         184 :   auto active_tracker_idx = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    7931             : 
+    7932         368 :   std::stringstream ss;
+    7933             : 
+    7934         184 :   if (!got_uav_state_) {
+    7935             : 
+    7936           0 :     ss << "can not switch tracker, missing odometry!";
+    7937           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7938           0 :     return std::tuple(false, ss.str());
+    7939             :   }
+    7940             : 
+    7941         184 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    7942             : 
+    7943           0 :     ss << "can not switch tracker, missing odometry innovation!";
+    7944           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7945           0 :     return std::tuple(false, ss.str());
+    7946             :   }
+    7947             : 
+    7948         184 :   auto new_tracker_idx = idxInVector(tracker_name, _tracker_names_);
+    7949             : 
+    7950             :   // check if the tracker exists
+    7951         184 :   if (!new_tracker_idx) {
+    7952           1 :     ss << "the tracker '" << tracker_name << "' does not exist!";
+    7953           1 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7954           1 :     return std::tuple(false, ss.str());
+    7955             :   }
+    7956             : 
+    7957             :   // check if the tracker is already active
+    7958         183 :   if (new_tracker_idx.value() == active_tracker_idx) {
+    7959          10 :     ss << "not switching, the tracker '" << tracker_name << "' is already active!";
+    7960          10 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7961          10 :     return std::tuple(true, ss.str());
+    7962             :   }
+    7963             : 
+    7964             :   {
+    7965         173 :     std::scoped_lock lock(mutex_tracker_list_);
+    7966             : 
+    7967             :     try {
+    7968             : 
+    7969         173 :       ROS_INFO("[ControlManager]: activating the tracker '%s'", _tracker_names_[new_tracker_idx.value()].c_str());
+    7970             : 
+    7971         173 :       auto [success, message] = tracker_list_[new_tracker_idx.value()]->activate(last_tracker_cmd);
+    7972             : 
+    7973         173 :       if (!success) {
+    7974             : 
+    7975           0 :         ss << "the tracker '" << tracker_name << "' could not be activated: '" << message << "'";
+    7976           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    7977           0 :         return std::tuple(false, ss.str());
+    7978             : 
+    7979             :       } else {
+    7980             : 
+    7981         173 :         ss << "the tracker '" << tracker_name << "' was activated";
+    7982         173 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    7983             : 
+    7984             :         {
+    7985         346 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    7986             : 
+    7987             :           // update the time (used in failsafe)
+    7988         173 :           controller_tracker_switch_time_ = ros::Time::now();
+    7989             :         }
+    7990             : 
+    7991             :         // super important, switch the active tracker idx
+    7992             :         try {
+    7993             : 
+    7994         173 :           ROS_INFO("[ControlManager]: deactivating '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    7995         173 :           tracker_list_[active_tracker_idx_]->deactivate();
+    7996             : 
+    7997             :           // if switching from null tracker, re-activate the already active the controller
+    7998         173 :           if (active_tracker_idx_ == _null_tracker_idx_) {
+    7999             : 
+    8000          74 :             ROS_INFO("[ControlManager]: reactivating '%s' due to switching from 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8001             :             {
+    8002         148 :               std::scoped_lock lock(mutex_controller_list_);
+    8003             : 
+    8004          74 :               initializeControlOutput();
+    8005             : 
+    8006         148 :               auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8007             : 
+    8008          74 :               controller_list_[active_controller_idx_]->activate(last_control_output);
+    8009             : 
+    8010             :               {
+    8011         148 :                 std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8012             : 
+    8013             :                 // update the time (used in failsafe)
+    8014          74 :                 controller_tracker_switch_time_ = ros::Time::now();
+    8015             :               }
+    8016             :             }
+    8017             : 
+    8018             :             // if switching to null tracker, deactivate the active controller
+    8019          99 :           } else if (new_tracker_idx == _null_tracker_idx_) {
+    8020             : 
+    8021          15 :             ROS_INFO("[ControlManager]: deactivating '%s' due to switching to 'NullTracker'", _controller_names_[active_controller_idx_].c_str());
+    8022             :             {
+    8023          30 :               std::scoped_lock lock(mutex_controller_list_);
+    8024             : 
+    8025          15 :               controller_list_[active_controller_idx_]->deactivate();
+    8026             :             }
+    8027             : 
+    8028             :             {
+    8029          15 :               std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8030             : 
+    8031          15 :               last_tracker_cmd_ = {};
+    8032             :             }
+    8033             : 
+    8034          15 :             initializeControlOutput();
+    8035             :           }
+    8036             : 
+    8037         173 :           active_tracker_idx_ = new_tracker_idx.value();
+    8038             :         }
+    8039           0 :         catch (std::runtime_error& exrun) {
+    8040           0 :           ROS_ERROR("[ControlManager]: could not deactivate the tracker '%s'", _tracker_names_[active_tracker_idx_].c_str());
+    8041             :         }
+    8042             :       }
+    8043             :     }
+    8044           0 :     catch (std::runtime_error& exrun) {
+    8045           0 :       ROS_ERROR("[ControlManager]: error during activation of the tracker '%s'", tracker_name.c_str());
+    8046           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8047             :     }
+    8048             :   }
+    8049             : 
+    8050         173 :   return std::tuple(true, ss.str());
+    8051             : }
+    8052             : 
+    8053             : //}
+    8054             : 
+    8055             : /* switchController() //{ */
+    8056             : 
+    8057         185 : std::tuple<bool, std::string> ControlManager::switchController(const std::string& controller_name) {
+    8058         555 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("switchController");
+    8059         555 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::switchController", scope_timer_logger_, scope_timer_enabled_);
+    8060             : 
+    8061             :   // copy member variables
+    8062         370 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8063         370 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8064         185 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8065             : 
+    8066         370 :   std::stringstream ss;
+    8067             : 
+    8068         185 :   if (!got_uav_state_) {
+    8069             : 
+    8070           0 :     ss << "can not switch controller, missing odometry!";
+    8071           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8072           0 :     return std::tuple(false, ss.str());
+    8073             :   }
+    8074             : 
+    8075         185 :   if (_state_input_ == INPUT_UAV_STATE && _odometry_innovation_check_enabled_ && !sh_odometry_innovation_.hasMsg()) {
+    8076             : 
+    8077           0 :     ss << "can not switch controller, missing odometry innovation!";
+    8078           0 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8079           0 :     return std::tuple(false, ss.str());
+    8080             :   }
+    8081             : 
+    8082         185 :   auto new_controller_idx = idxInVector(controller_name, _controller_names_);
+    8083             : 
+    8084             :   // check if the controller exists
+    8085         185 :   if (!new_controller_idx) {
+    8086           1 :     ss << "the controller '" << controller_name << "' does not exist!";
+    8087           1 :     ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8088           1 :     return std::tuple(false, ss.str());
+    8089             :   }
+    8090             : 
+    8091             :   // check if the controller is not active
+    8092         184 :   if (new_controller_idx.value() == active_controller_idx) {
+    8093             : 
+    8094          31 :     ss << "not switching, the controller '" << controller_name << "' is already active!";
+    8095          31 :     ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8096          31 :     return std::tuple(true, ss.str());
+    8097             :   }
+    8098             : 
+    8099             :   {
+    8100         153 :     std::scoped_lock lock(mutex_controller_list_);
+    8101             : 
+    8102             :     try {
+    8103             : 
+    8104         153 :       ROS_INFO("[ControlManager]: activating the controller '%s'", _controller_names_[new_controller_idx.value()].c_str());
+    8105         153 :       if (!controller_list_[new_controller_idx.value()]->activate(last_control_output)) {
+    8106             : 
+    8107           0 :         ss << "the controller '" << controller_name << "' was not activated";
+    8108           0 :         ROS_ERROR_STREAM("[ControlManager]: " << ss.str());
+    8109           0 :         return std::tuple(false, ss.str());
+    8110             : 
+    8111             :       } else {
+    8112             : 
+    8113         153 :         ss << "the controller '" << controller_name << "' was activated";
+    8114         153 :         ROS_INFO_STREAM("[ControlManager]: " << ss.str());
+    8115             : 
+    8116         153 :         ROS_INFO("[ControlManager]: triggering hover after switching to '%s', re-activating '%s'", _controller_names_[new_controller_idx.value()].c_str(),
+    8117             :                  _tracker_names_[active_tracker_idx_].c_str());
+    8118             : 
+    8119             :         // reactivate the current tracker
+    8120             :         // TODO this is not the most elegant way to restart the tracker after a controller switch
+    8121             :         // but it serves the purpose
+    8122             :         {
+    8123         153 :           std::scoped_lock lock(mutex_tracker_list_);
+    8124             : 
+    8125         153 :           tracker_list_[active_tracker_idx_]->deactivate();
+    8126         153 :           tracker_list_[active_tracker_idx_]->activate({});
+    8127             :         }
+    8128             : 
+    8129             :         {
+    8130         306 :           std::scoped_lock lock(mutex_controller_tracker_switch_time_);
+    8131             : 
+    8132             :           // update the time (used in failsafe)
+    8133         153 :           controller_tracker_switch_time_ = ros::Time::now();
+    8134             :         }
+    8135             : 
+    8136             :         // super important, switch the active controller idx
+    8137             :         try {
+    8138             : 
+    8139         153 :           controller_list_[active_controller_idx_]->deactivate();
+    8140         153 :           active_controller_idx_ = new_controller_idx.value();
+    8141             :         }
+    8142           0 :         catch (std::runtime_error& exrun) {
+    8143           0 :           ROS_ERROR("[ControlManager]: could not deactivate controller '%s'", _controller_names_[active_controller_idx_].c_str());
+    8144             :         }
+    8145             :       }
+    8146             :     }
+    8147           0 :     catch (std::runtime_error& exrun) {
+    8148           0 :       ROS_ERROR("[ControlManager]: error during activation of controller '%s'", controller_name.c_str());
+    8149           0 :       ROS_ERROR("[ControlManager]: exception: '%s'", exrun.what());
+    8150             :     }
+    8151             :   }
+    8152             : 
+    8153         153 :   mrs_msgs::DynamicsConstraintsSrvRequest sanitized_constraints;
+    8154             : 
+    8155             :   {
+    8156         153 :     std::scoped_lock lock(mutex_constraints_);
+    8157             : 
+    8158         153 :     sanitized_constraints_ = current_constraints_;
+    8159         153 :     sanitized_constraints  = sanitized_constraints_;
+    8160             :   }
+    8161             : 
+    8162         153 :   setConstraintsToControllers(sanitized_constraints);
+    8163             : 
+    8164         153 :   return std::tuple(true, ss.str());
+    8165             : }
+    8166             : 
+    8167             : //}
+    8168             : 
+    8169             : /* updateTrackers() //{ */
+    8170             : 
+    8171      112063 : void ControlManager::updateTrackers(void) {
+    8172             : 
+    8173      224126 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateTrackers");
+    8174      224126 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateTrackers", scope_timer_logger_, scope_timer_enabled_);
+    8175             : 
+    8176             :   // copy member variables
+    8177      112063 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8178      112063 :   auto last_control_output = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8179             : 
+    8180             :   // --------------------------------------------------------------
+    8181             :   // |                     Update the trackers                    |
+    8182             :   // --------------------------------------------------------------
+    8183             : 
+    8184           0 :   std::optional<mrs_msgs::TrackerCommand> tracker_command;
+    8185             : 
+    8186             :   unsigned int active_tracker_idx;
+    8187             : 
+    8188             :   {
+    8189      112063 :     std::scoped_lock lock(mutex_tracker_list_);
+    8190             : 
+    8191      112063 :     active_tracker_idx = active_tracker_idx_;
+    8192             : 
+    8193             :     // for each tracker
+    8194      786106 :     for (size_t i = 0; i < tracker_list_.size(); i++) {
+    8195             : 
+    8196      674043 :       if (i == active_tracker_idx) {
+    8197             : 
+    8198             :         try {
+    8199             :           // active tracker => update and retrieve the command
+    8200      112063 :           tracker_command = tracker_list_[i]->update(uav_state, last_control_output);
+    8201             :         }
+    8202           0 :         catch (std::runtime_error& exrun) {
+    8203           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the active tracker (%s)", _tracker_names_[active_tracker_idx].c_str());
+    8204           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8205           0 :           tracker_command = {};
+    8206             :         }
+    8207             : 
+    8208             :       } else {
+    8209             : 
+    8210             :         try {
+    8211             :           // nonactive tracker => just update without retrieving the command
+    8212      561980 :           tracker_list_[i]->update(uav_state, last_control_output);
+    8213             :         }
+    8214           0 :         catch (std::runtime_error& exrun) {
+    8215           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: caught an exception while updating the tracker '%s'", _tracker_names_[i].c_str());
+    8216           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8217             :         }
+    8218             :       }
+    8219             :     }
+    8220             : 
+    8221      112063 :     if (active_tracker_idx == _null_tracker_idx_) {
+    8222       35811 :       return;
+    8223             :     }
+    8224             :   }
+    8225             : 
+    8226       76252 :   if (validateTrackerCommand(tracker_command, "ControlManager", "tracker_command")) {
+    8227             : 
+    8228      152504 :     std::scoped_lock lock(mutex_last_tracker_cmd_);
+    8229             : 
+    8230       76252 :     last_tracker_cmd_ = tracker_command;
+    8231             : 
+    8232             :     // | --------- fill in the potentially missing header --------- |
+    8233             : 
+    8234       76252 :     if (last_tracker_cmd_->header.frame_id == "") {
+    8235           0 :       last_tracker_cmd_->header.frame_id = uav_state.header.frame_id;
+    8236             :     }
+    8237             : 
+    8238       76252 :     if (last_tracker_cmd_->header.stamp == ros::Time(0)) {
+    8239           0 :       last_tracker_cmd_->header.stamp = ros::Time::now();
+    8240             :     }
+    8241             : 
+    8242             :   } else {
+    8243             : 
+    8244           0 :     if (active_tracker_idx == _ehover_tracker_idx_) {
+    8245             : 
+    8246           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the emergency tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8247           0 :       failsafe();
+    8248             : 
+    8249             :     } else {
+    8250             : 
+    8251           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the tracker '%s' returned empty or invalid command!", _tracker_names_[active_tracker_idx].c_str());
+    8252             : 
+    8253           0 :       if (_tracker_error_action_ == ELAND_STR) {
+    8254           0 :         eland();
+    8255           0 :       } else if (_tracker_error_action_ == EHOVER_STR) {
+    8256           0 :         ehover();
+    8257             :       } else {
+    8258           0 :         failsafe();
+    8259             :       }
+    8260             :     }
+    8261             :   }
+    8262             : }
+    8263             : 
+    8264             : //}
+    8265             : 
+    8266             : /* updateControllers() //{ */
+    8267             : 
+    8268      121773 : void ControlManager::updateControllers(const mrs_msgs::UavState& uav_state) {
+    8269             : 
+    8270      243546 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateControllers");
+    8271      243546 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::updateControllers", scope_timer_logger_, scope_timer_enabled_);
+    8272             : 
+    8273             :   // copy member variables
+    8274      121773 :   auto last_tracker_cmd = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8275             : 
+    8276             :   // | ----------------- update the controllers ----------------- |
+    8277             : 
+    8278             :   // the trackers are not running
+    8279      121773 :   if (!last_tracker_cmd) {
+    8280             : 
+    8281       35811 :     ROS_DEBUG_THROTTLE(1.0, "[ControlManager]: tracker command is empty, giving controllers just the uav_state");
+    8282             : 
+    8283             :     // give the controllers current uav state
+    8284             :     {
+    8285       71622 :       std::scoped_lock lock(mutex_controller_list_);
+    8286             : 
+    8287             :       // nonactive controller => just update without retrieving the command
+    8288      214866 :       for (int i = 0; i < int(controller_list_.size()); i++) {
+    8289      179055 :         controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8290             :       }
+    8291             :     }
+    8292             : 
+    8293       35811 :     return;
+    8294             :   }
+    8295             : 
+    8296      171924 :   Controller::ControlOutput control_output;
+    8297             : 
+    8298             :   unsigned int active_controller_idx;
+    8299             : 
+    8300             :   {
+    8301      171924 :     std::scoped_lock lock(mutex_controller_list_);
+    8302             : 
+    8303       85962 :     active_controller_idx = active_controller_idx_;
+    8304             : 
+    8305             :     // for each controller
+    8306      515772 :     for (size_t i = 0; i < controller_list_.size(); i++) {
+    8307             : 
+    8308      429810 :       if (i == active_controller_idx) {
+    8309             : 
+    8310             :         try {
+    8311             :           // active controller => update and retrieve the command
+    8312       85962 :           control_output = controller_list_[active_controller_idx]->updateActive(uav_state, last_tracker_cmd.value());
+    8313             :         }
+    8314           0 :         catch (std::runtime_error& exrun) {
+    8315             : 
+    8316           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: an exception while updating the active controller (%s)",
+    8317             :                              _controller_names_[active_controller_idx].c_str());
+    8318           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the exception: '%s'", exrun.what());
+    8319             :         }
+    8320             : 
+    8321             :       } else {
+    8322             : 
+    8323             :         try {
+    8324             :           // nonactive controller => just update without retrieving the command
+    8325      343848 :           controller_list_[i]->updateInactive(uav_state, last_tracker_cmd);
+    8326             :         }
+    8327           0 :         catch (std::runtime_error& exrun) {
+    8328             : 
+    8329           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception while updating the controller '%s'", _controller_names_[i].c_str());
+    8330           0 :           ROS_ERROR_THROTTLE(1.0, "[ControlManager]: exception: '%s'", exrun.what());
+    8331             :         }
+    8332             :       }
+    8333             :     }
+    8334             :   }
+    8335             : 
+    8336             :   // normally, the active controller returns a valid command
+    8337       85962 :   if (validateControlOutput(control_output, _hw_api_inputs_, "ControlManager", "control_output")) {
+    8338             : 
+    8339       85962 :     mrs_lib::set_mutexed(mutex_last_control_output_, control_output, last_control_output_);
+    8340             : 
+    8341             :     // but it can return an empty command, due to some critical internal error
+    8342             :     // which means we should trigger the failsafe landing
+    8343             :   } else {
+    8344             : 
+    8345             :     // only if the controller is still active, trigger escalating failsafe
+    8346             :     // if not active, we don't care, we should not ask the controller for
+    8347             :     // the result anyway -> this could mean a race condition occured
+    8348             :     // like it once happend during landing
+    8349           0 :     bool controller_status = false;
+    8350             : 
+    8351             :     {
+    8352           0 :       std::scoped_lock lock(mutex_controller_list_);
+    8353             : 
+    8354           0 :       controller_status = controller_list_[active_controller_idx]->getStatus().active;
+    8355             :     }
+    8356             : 
+    8357           0 :     if (controller_status) {
+    8358             : 
+    8359           0 :       if (failsafe_triggered_) {
+    8360             : 
+    8361           0 :         ROS_ERROR("[ControlManager]: disabling control, the active controller returned an empty command when failsafe was active");
+    8362             : 
+    8363           0 :         toggleOutput(false);
+    8364             : 
+    8365           0 :       } else if (eland_triggered_) {
+    8366             : 
+    8367           0 :         ROS_ERROR("[ControlManager]: triggering failsafe, the active controller returned an empty command when eland was active");
+    8368             : 
+    8369           0 :         failsafe();
+    8370             : 
+    8371             :       } else {
+    8372             : 
+    8373           0 :         ROS_ERROR("[ControlManager]: triggering eland, the active controller returned an empty command");
+    8374             : 
+    8375           0 :         eland();
+    8376             :       }
+    8377             :     }
+    8378             :   }
+    8379             : }
+    8380             : 
+    8381             : //}
+    8382             : 
+    8383             : /* publish() //{ */
+    8384             : 
+    8385      121773 : void ControlManager::publish(void) {
+    8386             : 
+    8387      243546 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("publish");
+    8388      243546 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::publish", scope_timer_logger_, scope_timer_enabled_);
+    8389             : 
+    8390             :   // copy member variables
+    8391      121773 :   auto last_control_output   = mrs_lib::get_mutexed(mutex_last_control_output_, last_control_output_);
+    8392      121773 :   auto last_tracker_cmd      = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8393      121773 :   auto active_tracker_idx    = mrs_lib::get_mutexed(mutex_tracker_list_, active_tracker_idx_);
+    8394      121773 :   auto active_controller_idx = mrs_lib::get_mutexed(mutex_controller_list_, active_controller_idx_);
+    8395      121773 :   auto uav_state             = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8396             : 
+    8397      121773 :   publishControlReferenceOdom(last_tracker_cmd, last_control_output);
+    8398             : 
+    8399             :   // --------------------------------------------------------------
+    8400             :   // |                 Publish the control command                |
+    8401             :   // --------------------------------------------------------------
+    8402             : 
+    8403      121773 :   mrs_msgs::HwApiAttitudeCmd attitude_target;
+    8404      121773 :   attitude_target.stamp = ros::Time::now();
+    8405             : 
+    8406      121773 :   mrs_msgs::HwApiAttitudeRateCmd attitude_rate_target;
+    8407      121773 :   attitude_rate_target.stamp = ros::Time::now();
+    8408             : 
+    8409      121773 :   if (!output_enabled_) {
+    8410             : 
+    8411       21775 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: output is disabled");
+    8412             : 
+    8413       99998 :   } else if (active_tracker_idx == _null_tracker_idx_) {
+    8414             : 
+    8415       14039 :     ROS_WARN_THROTTLE(5.0, "[ControlManager]: 'NullTracker' is active, not controlling");
+    8416             : 
+    8417             :     Controller::HwApiOutputVariant output =
+    8418       28078 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8419             : 
+    8420             :     {
+    8421       28078 :       std::scoped_lock lock(mutex_last_control_output_);
+    8422             : 
+    8423       14039 :       last_control_output_.control_output = output;
+    8424             :     }
+    8425             : 
+    8426       14039 :     control_output_publisher_.publish(output);
+    8427             : 
+    8428       85959 :   } else if (active_tracker_idx != _null_tracker_idx_ && !last_control_output.control_output) {
+    8429             : 
+    8430           0 :     ROS_WARN_THROTTLE(1.0, "[ControlManager]: the controller '%s' returned nil command, not publishing anything",
+    8431             :                       _controller_names_[active_controller_idx].c_str());
+    8432             : 
+    8433             :     Controller::HwApiOutputVariant output =
+    8434           0 :         initializeDefaultOutput(_hw_api_inputs_, uav_state, _min_throttle_null_tracker_, common_handlers_->throttle_model.n_motors);
+    8435             : 
+    8436           0 :     control_output_publisher_.publish(output);
+    8437             : 
+    8438       85959 :   } else if (last_control_output.control_output) {
+    8439             : 
+    8440       85959 :     if (validateHwApiAttitudeCmd(attitude_target, "ControlManager", "last_control_output.control_output")) {
+    8441       85959 :       control_output_publisher_.publish(last_control_output.control_output.value());
+    8442             :     } else {
+    8443           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: the attitude cmd is not valid just before publishing!");
+    8444           0 :       return;
+    8445             :     }
+    8446             : 
+    8447             :   } else {
+    8448           0 :     ROS_ERROR_THROTTLE(1.0, "[ControlManager]: not publishing a control command");
+    8449             :   }
+    8450             : 
+    8451             :   // | ----------- publish the controller diagnostics ----------- |
+    8452             : 
+    8453      121773 :   ph_controller_diagnostics_.publish(last_control_output.diagnostics);
+    8454             : 
+    8455             :   // | --------- publish the applied throttle and thrust -------- |
+    8456             : 
+    8457      121773 :   auto throttle = extractThrottle(last_control_output);
+    8458             : 
+    8459      121773 :   if (throttle) {
+    8460             : 
+    8461             :     {
+    8462       94867 :       std_msgs::Float64 msg;
+    8463       94867 :       msg.data = throttle.value();
+    8464       94867 :       ph_throttle_.publish(msg);
+    8465             :     }
+    8466             : 
+    8467       94867 :     double thrust = mrs_lib::quadratic_throttle_model::throttleToForce(common_handlers_->throttle_model, throttle.value());
+    8468             : 
+    8469             :     {
+    8470       94867 :       std_msgs::Float64 msg;
+    8471       94867 :       msg.data = thrust;
+    8472       94867 :       ph_thrust_.publish(msg);
+    8473             :     }
+    8474             :   }
+    8475             : 
+    8476             :   // | ----------------- publish tracker command ---------------- |
+    8477             : 
+    8478      121773 :   if (last_tracker_cmd) {
+    8479       85959 :     ph_tracker_cmd_.publish(last_tracker_cmd.value());
+    8480             :   }
+    8481             : 
+    8482             :   // | --------------- publish the odometry input --------------- |
+    8483             : 
+    8484      121773 :   if (last_control_output.control_output) {
+    8485             : 
+    8486      201834 :     mrs_msgs::EstimatorInput msg;
+    8487             : 
+    8488      100917 :     msg.header.frame_id = _uav_name_ + "/fcu";
+    8489      100917 :     msg.header.stamp    = ros::Time::now();
+    8490             : 
+    8491      100917 :     if (last_control_output.desired_unbiased_acceleration) {
+    8492       72079 :       msg.control_acceleration.x = last_control_output.desired_unbiased_acceleration.value()[0];
+    8493       72079 :       msg.control_acceleration.y = last_control_output.desired_unbiased_acceleration.value()[1];
+    8494       72079 :       msg.control_acceleration.z = last_control_output.desired_unbiased_acceleration.value()[2];
+    8495             :     }
+    8496             : 
+    8497      100917 :     if (last_control_output.desired_heading_rate) {
+    8498       68868 :       msg.control_hdg_rate = last_control_output.desired_heading_rate.value();
+    8499             :     }
+    8500             : 
+    8501      100917 :     if (last_control_output.desired_unbiased_acceleration) {
+    8502       72079 :       ph_mrs_odom_input_.publish(msg);
+    8503             :     }
+    8504             :   }
+    8505             : }
+    8506             : 
+    8507             : //}
+    8508             : 
+    8509             : /* deployParachute() //{ */
+    8510             : 
+    8511           0 : std::tuple<bool, std::string> ControlManager::deployParachute(void) {
+    8512             :   // if not enabled, return false
+    8513           0 :   if (!_parachute_enabled_) {
+    8514             : 
+    8515           0 :     std::stringstream ss;
+    8516           0 :     ss << "can not deploy parachute, it is disabled";
+    8517           0 :     return std::tuple(false, ss.str());
+    8518             :   }
+    8519             : 
+    8520             :   // we can not disarm if the drone is not in offboard mode
+    8521             :   // this is super important!
+    8522           0 :   if (!isOffboard()) {
+    8523             : 
+    8524           0 :     std::stringstream ss;
+    8525           0 :     ss << "can not deploy parachute, not in offboard mode";
+    8526           0 :     return std::tuple(false, ss.str());
+    8527             :   }
+    8528             : 
+    8529             :   // call the parachute service
+    8530           0 :   bool succ = parachuteSrv();
+    8531             : 
+    8532             :   // if the deployment was successful,
+    8533           0 :   if (succ) {
+    8534             : 
+    8535           0 :     arming(false);
+    8536             : 
+    8537           0 :     std::stringstream ss;
+    8538           0 :     ss << "parachute deployed";
+    8539             : 
+    8540           0 :     return std::tuple(true, ss.str());
+    8541             : 
+    8542             :   } else {
+    8543             : 
+    8544           0 :     std::stringstream ss;
+    8545           0 :     ss << "error during deployment of parachute";
+    8546             : 
+    8547           0 :     return std::tuple(false, ss.str());
+    8548             :   }
+    8549             : }
+    8550             : 
+    8551             : //}
+    8552             : 
+    8553             : /* velocityReferenceToReference() //{ */
+    8554             : 
+    8555         471 : mrs_msgs::ReferenceStamped ControlManager::velocityReferenceToReference(const mrs_msgs::VelocityReferenceStamped& vel_reference) {
+    8556             : 
+    8557         942 :   auto last_tracker_cmd    = mrs_lib::get_mutexed(mutex_last_tracker_cmd_, last_tracker_cmd_);
+    8558         942 :   auto uav_state           = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8559         471 :   auto current_constraints = mrs_lib::get_mutexed(mutex_constraints_, current_constraints_);
+    8560             : 
+    8561         471 :   mrs_msgs::ReferenceStamped reference_out;
+    8562             : 
+    8563         471 :   reference_out.header = vel_reference.header;
+    8564             : 
+    8565         471 :   if (vel_reference.reference.use_heading) {
+    8566           0 :     reference_out.reference.heading = vel_reference.reference.heading;
+    8567         471 :   } else if (vel_reference.reference.use_heading_rate) {
+    8568         471 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading() + vel_reference.reference.use_heading_rate;
+    8569             :   } else {
+    8570           0 :     reference_out.reference.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    8571             :   }
+    8572             : 
+    8573         471 :   if (vel_reference.reference.use_altitude) {
+    8574           0 :     reference_out.reference.position.z = vel_reference.reference.altitude;
+    8575             :   } else {
+    8576             : 
+    8577         471 :     double stopping_time_z = 0;
+    8578             : 
+    8579         471 :     if (vel_reference.reference.velocity.x >= 0) {
+    8580         239 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_ascending_acceleration) + 1.0;
+    8581             :     } else {
+    8582         232 :       stopping_time_z = 1.5 * (fabs(vel_reference.reference.velocity.z) / current_constraints.constraints.vertical_descending_acceleration) + 1.0;
+    8583             :     }
+    8584             : 
+    8585         471 :     reference_out.reference.position.z = last_tracker_cmd->position.z + vel_reference.reference.velocity.z * stopping_time_z;
+    8586             :   }
+    8587             : 
+    8588             :   {
+    8589         471 :     double stopping_time_x = 1.5 * (fabs(vel_reference.reference.velocity.x) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8590         471 :     double stopping_time_y = 1.5 * (fabs(vel_reference.reference.velocity.y) / current_constraints.constraints.horizontal_acceleration) + 1.0;
+    8591             : 
+    8592         471 :     reference_out.reference.position.x = last_tracker_cmd->position.x + vel_reference.reference.velocity.x * stopping_time_x;
+    8593         471 :     reference_out.reference.position.y = last_tracker_cmd->position.y + vel_reference.reference.velocity.y * stopping_time_y;
+    8594             :   }
+    8595             : 
+    8596         942 :   return reference_out;
+    8597             : }
+    8598             : 
+    8599             : //}
+    8600             : 
+    8601             : /* publishControlReferenceOdom() //{ */
+    8602             : 
+    8603      121773 : void ControlManager::publishControlReferenceOdom([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& tracker_command,
+    8604             :                                                  [[maybe_unused]] const Controller::ControlOutput&               control_output) {
+    8605      121773 :   if (!tracker_command || !control_output.control_output) {
+    8606       35814 :     return;
+    8607             :   }
+    8608             : 
+    8609      171918 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    8610             : 
+    8611      171918 :   nav_msgs::Odometry msg;
+    8612             : 
+    8613       85959 :   msg.header = tracker_command->header;
+    8614             : 
+    8615       85959 :   if (tracker_command->use_position_horizontal) {
+    8616       85959 :     msg.pose.pose.position.x = tracker_command->position.x;
+    8617       85959 :     msg.pose.pose.position.y = tracker_command->position.y;
+    8618             :   } else {
+    8619           0 :     msg.pose.pose.position.x = uav_state.pose.position.x;
+    8620           0 :     msg.pose.pose.position.y = uav_state.pose.position.y;
+    8621             :   }
+    8622             : 
+    8623       85959 :   if (tracker_command->use_position_vertical) {
+    8624       85959 :     msg.pose.pose.position.z = tracker_command->position.z;
+    8625             :   } else {
+    8626           0 :     msg.pose.pose.position.z = uav_state.pose.position.z;
+    8627             :   }
+    8628             : 
+    8629             :   // transform the velocity in the reference to the child_frame
+    8630       85959 :   if (tracker_command->use_velocity_horizontal || tracker_command->use_velocity_vertical) {
+    8631             : 
+    8632       85959 :     msg.child_frame_id = _uav_name_ + "/" + _body_frame_;
+    8633             : 
+    8634      171918 :     geometry_msgs::Vector3Stamped velocity;
+    8635       85959 :     velocity.header = tracker_command->header;
+    8636             : 
+    8637       85959 :     if (tracker_command->use_velocity_horizontal) {
+    8638       85959 :       velocity.vector.x = tracker_command->velocity.x;
+    8639       85959 :       velocity.vector.y = tracker_command->velocity.y;
+    8640             :     }
+    8641             : 
+    8642       85959 :     if (tracker_command->use_velocity_vertical) {
+    8643       85959 :       velocity.vector.z = tracker_command->velocity.z;
+    8644             :     }
+    8645             : 
+    8646      171918 :     auto res = transformer_->transformSingle(velocity, msg.child_frame_id);
+    8647             : 
+    8648       85959 :     if (res) {
+    8649       85959 :       msg.twist.twist.linear.x = res.value().vector.x;
+    8650       85959 :       msg.twist.twist.linear.y = res.value().vector.y;
+    8651       85959 :       msg.twist.twist.linear.z = res.value().vector.z;
+    8652             :     } else {
+    8653           0 :       ROS_ERROR_THROTTLE(1.0, "[ControlManager]: could not transform the reference speed from '%s' to '%s'", velocity.header.frame_id.c_str(),
+    8654             :                          msg.child_frame_id.c_str());
+    8655             :     }
+    8656             :   }
+    8657             : 
+    8658             :   // fill in the orientation or heading
+    8659       85959 :   if (control_output.desired_orientation) {
+    8660       69996 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(control_output.desired_orientation.value());
+    8661       15963 :   } else if (tracker_command->use_heading) {
+    8662       15963 :     msg.pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, tracker_command->heading);
+    8663             :   }
+    8664             : 
+    8665             :   // fill in the attitude rate
+    8666       85959 :   if (std::holds_alternative<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value())) {
+    8667             : 
+    8668       65587 :     auto attitude_cmd = std::get<mrs_msgs::HwApiAttitudeRateCmd>(control_output.control_output.value());
+    8669             : 
+    8670       65587 :     msg.twist.twist.angular.x = attitude_cmd.body_rate.x;
+    8671       65587 :     msg.twist.twist.angular.y = attitude_cmd.body_rate.y;
+    8672       65587 :     msg.twist.twist.angular.z = attitude_cmd.body_rate.z;
+    8673             :   }
+    8674             : 
+    8675       85959 :   ph_control_reference_odom_.publish(msg);
+    8676             : }
+    8677             : 
+    8678             : //}
+    8679             : 
+    8680             : /* initializeControlOutput() //{ */
+    8681             : 
+    8682         170 : void ControlManager::initializeControlOutput(void) {
+    8683             : 
+    8684         170 :   Controller::ControlOutput controller_output;
+    8685             : 
+    8686         170 :   controller_output.diagnostics.total_mass       = _uav_mass_;
+    8687         170 :   controller_output.diagnostics.mass_difference  = 0.0;
+    8688         170 :   controller_output.diagnostics.disturbance_bx_b = _initial_body_disturbance_x_;
+    8689         170 :   controller_output.diagnostics.disturbance_by_b = _initial_body_disturbance_y_;
+    8690         170 :   controller_output.diagnostics.disturbance_wx_w = 0.0;
+    8691         170 :   controller_output.diagnostics.disturbance_wy_w = 0.0;
+    8692         170 :   controller_output.diagnostics.disturbance_bx_w = 0.0;
+    8693         170 :   controller_output.diagnostics.disturbance_by_w = 0.0;
+    8694         170 :   controller_output.diagnostics.controller       = "none";
+    8695             : 
+    8696         170 :   mrs_lib::set_mutexed(mutex_last_control_output_, controller_output, last_control_output_);
+    8697         170 : }
+    8698             : 
+    8699             : //}
+    8700             : 
+    8701             : }  // namespace control_manager
+    8702             : 
+    8703             : }  // namespace mrs_uav_managers
+    8704             : 
+    8705             : #include <pluginlib/class_list_macros.h>
+    8706          81 : 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..a2ad1c77de --- /dev/null +++ b/mrs_uav_managers/src/control_manager/control_manager.cpp.gcov.overview.html @@ -0,0 +1,2197 @@ + + + + + + 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:2362367864.2 %
Date:2024-02-24 08:13:25Functions:8812272.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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control_manager.cpp +
63.8%63.8%
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<unnamed>63.8 %2319 / 363569.1 %76 / 110
output_publisher.cpp +
100.0%
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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Test:MRS UAV System - Test coverage reportLines:2362367864.2 %
Date:2024-02-24 08:13:25Functions:8812272.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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control_manager.cpp +
63.8%63.8%
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<unnamed>63.8 %2319 / 363569.1 %76 / 110
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100.0%
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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Test:MRS UAV System - Test coverage reportLines:2362367864.2 %
Date:2024-02-24 08:13:25Functions:8812272.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
63.8%63.8%
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<unnamed>63.8 %2319 / 363569.1 %76 / 110
output_publisher.cpp +
100.0%
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<unnamed>100.0 %43 / 43100.0 %12 / 12
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Test:MRS UAV System - Test coverage reportLines:2362367864.2 %
Date:2024-02-24 08:13:25Functions:8812272.1 %
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control_manager.cpp +
63.8%63.8%
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100.0%
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Test:MRS UAV System - Test coverage reportLines:2362367864.2 %
Date:2024-02-24 08:13:25Functions:8812272.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
63.8%63.8%
+ 		63.8 %2319 / 363569.1 %76 / 110
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
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Generated by: LCOV version 1.14
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Test:MRS UAV System - Test coverage reportLines:2362367864.2 %
Date:2024-02-24 08:13:25Functions:8812272.1 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
control_manager.cpp +
63.8%63.8%
+ 		63.8 %2319 / 363569.1 %76 / 110
output_publisher.cpp +
100.0%
+ 		100.0 %43 / 43100.0 %12 / 12
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Test:MRS UAV System - Test coverage reportLines:4343100.0 %
Date:2024-02-24 08:13:25Functions: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&)81
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()81
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1196
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiActuatorCmd_<std::allocator<void> > const&)2606
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)79626
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&)99998
+
+
+ + + +
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..5f62fa6b8e --- /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:2024-02-24 08:13:25Functions: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&)2606
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeCmd_<std::allocator<void> > const&)7872
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiPositionCmd_<std::allocator<void> > const&)470
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgCmd_<std::allocator<void> > const&)1196
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAttitudeRateCmd_<std::allocator<void> > const&)79626
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiControlGroupCmd_<std::allocator<void> > const&)3844
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgCmd_<std::allocator<void> > const&)1019
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiVelocityHdgRateCmd_<std::allocator<void> > const&)2291
mrs_uav_managers::control_manager::OutputPublisher::publish(mrs_msgs::HwApiAccelerationHdgRateCmd_<std::allocator<void> > const&)1074
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&)99998
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher(ros::NodeHandle&)81
mrs_uav_managers::control_manager::OutputPublisher::OutputPublisher()81
+
+
+ + + +
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..83b500ff60 --- /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:2024-02-24 08:13:25Functions: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          81 : OutputPublisher::OutputPublisher() {
+      10          81 : }
+      11             : 
+      12          81 : OutputPublisher::OutputPublisher(ros::NodeHandle& nh) {
+      13             : 
+      14          81 :   ph_hw_api_actuator_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiActuatorCmd>(nh, "hw_api_actuator_cmd_out", 1);
+      15          81 :   ph_hw_api_control_group_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiControlGroupCmd>(nh, "hw_api_control_group_cmd_out", 1);
+      16          81 :   ph_hw_api_attitude_rate_cmd_         = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeRateCmd>(nh, "hw_api_attitude_rate_cmd_out", 1);
+      17          81 :   ph_hw_api_attitude_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiAttitudeCmd>(nh, "hw_api_attitude_cmd_out", 1);
+      18          81 :   ph_hw_api_acceleration_hdg_rate_cmd_ = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgRateCmd>(nh, "hw_api_acceleration_hdg_rate_cmd_out", 1);
+      19          81 :   ph_hw_api_acceleration_hdg_cmd_      = mrs_lib::PublisherHandler<mrs_msgs::HwApiAccelerationHdgCmd>(nh, "hw_api_acceleration_hdg_cmd_out", 1);
+      20          81 :   ph_hw_api_velocity_hdg_rate_cmd_     = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgRateCmd>(nh, "hw_api_velocity_hdg_rate_cmd_out", 1);
+      21          81 :   ph_hw_api_velocity_hdg_cmd_          = mrs_lib::PublisherHandler<mrs_msgs::HwApiVelocityHdgCmd>(nh, "hw_api_velocity_hdg_cmd_out", 1);
+      22          81 :   ph_hw_api_position_cmd_              = mrs_lib::PublisherHandler<mrs_msgs::HwApiPositionCmd>(nh, "hw_api_position_cmd_out", 1);
+      23          81 : }
+      24             : 
+      25       99998 : void OutputPublisher::publish(const Controller::HwApiOutputVariant& control_output) {
+      26             : 
+      27       99998 :   std::visit(OutputPublisher::PublisherVisitor(this), control_output);
+      28       99998 : }
+      29             : 
+      30             : // | ------------------------- private ------------------------ |
+      31             : 
+      32        2606 : void OutputPublisher::publish(const mrs_msgs::HwApiActuatorCmd& msg) {
+      33        2606 :   ph_hw_api_actuator_cmd_.publish(msg);
+      34        2606 : }
+      35             : 
+      36        3844 : void OutputPublisher::publish(const mrs_msgs::HwApiControlGroupCmd& msg) {
+      37        3844 :   ph_hw_api_control_group_cmd_.publish(msg);
+      38        3844 : }
+      39             : 
+      40       79626 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeRateCmd& msg) {
+      41       79626 :   ph_hw_api_attitude_rate_cmd_.publish(msg);
+      42       79626 : }
+      43             : 
+      44        7872 : void OutputPublisher::publish(const mrs_msgs::HwApiAttitudeCmd& msg) {
+      45        7872 :   ph_hw_api_attitude_cmd_.publish(msg);
+      46        7872 : }
+      47             : 
+      48        1074 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgRateCmd& msg) {
+      49        1074 :   ph_hw_api_acceleration_hdg_rate_cmd_.publish(msg);
+      50        1074 : }
+      51             : 
+      52        1019 : void OutputPublisher::publish(const mrs_msgs::HwApiAccelerationHdgCmd& msg) {
+      53        1019 :   ph_hw_api_acceleration_hdg_cmd_.publish(msg);
+      54        1019 : }
+      55             : 
+      56        2291 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgRateCmd& msg) {
+      57        2291 :   ph_hw_api_velocity_hdg_rate_cmd_.publish(msg);
+      58        2291 : }
+      59             : 
+      60        1196 : void OutputPublisher::publish(const mrs_msgs::HwApiVelocityHdgCmd& msg) {
+      61        1196 :   ph_hw_api_velocity_hdg_cmd_.publish(msg);
+      62        1196 : }
+      63             : 
+      64         470 : void OutputPublisher::publish(const mrs_msgs::HwApiPositionCmd& msg) {
+      65         470 :   ph_hw_api_position_cmd_.publish(msg);
+      66         470 : }
+      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..27bdc226f2 --- /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
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37153469.5 %
Date:2024-02-24 08:13:25Functions:212487.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::estimation_manager::EstimationManager::loadConfigFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
mrs_uav_managers::estimation_manager::EstimationManager::callFailsafeService()0
mrs_uav_managers::estimation_manager::EstimationManager::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()81
mrs_uav_managers::estimation_manager::StateMachine::StateMachine(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)81
mrs_uav_managers::estimation_manager::EstimationManager::timerInitialization(ros::TimerEvent const&)81
mrs_uav_managers::estimation_manager::EstimationManager::onInit()81
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()81
mrs_uav_managers::estimation_manager::EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)112
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)262
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const262
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const524
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const2740
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const15966
mrs_uav_managers::estimation_manager::EstimationManager::timerPublishDiagnostics(ros::TimerEvent const&)16805
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)157824
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const157824
mrs_uav_managers::estimation_manager::EstimationManager::timerCheckHealth(ros::TimerEvent const&)157826
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const174617
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const332373
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1514509
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.func.html new file mode 100644 index 0000000000..ebebe966e6 --- /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:37153469.5 %
Date:2024-02-24 08:13:25Functions:212487.5 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::estimation_manager::StateMachine::changeState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&)262
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&)81
mrs_uav_managers::estimation_manager::EstimationManager::timerPublish(ros::TimerEvent const&)157824
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&)157826
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&)81
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&)16805
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> >&)112
mrs_uav_managers::estimation_manager::EstimationManager::onInit()81
mrs_uav_managers::estimation_manager::EstimationManager::EstimationManager()81
mrs_uav_managers::estimation_manager::StateMachine::isInTheAir() const157824
mrs_uav_managers::estimation_manager::StateMachine::getPrintName[abi:cxx11]() const262
mrs_uav_managers::estimation_manager::StateMachine::isInitialized() const332373
mrs_uav_managers::estimation_manager::StateMachine::getStateAsString[abi:cxx11](mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const524
mrs_uav_managers::estimation_manager::StateMachine::isInPublishableState() const174617
mrs_uav_managers::estimation_manager::StateMachine::getCurrentStateString[abi:cxx11]() const15966
mrs_uav_managers::estimation_manager::StateMachine::isInState(mrs_uav_managers::estimation_manager::StateMachine::SMState_t const&) const1514509
mrs_uav_managers::estimation_manager::EstimationManager::getName[abi:cxx11]() const2740
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..0e76ed7e74 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html new file mode 100644 index 0000000000..09bf9a1401 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.html @@ -0,0 +1,1330 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src/estimation_manager - estimation_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37153469.5 %
Date:2024-02-24 08:13:25Functions:212487.5 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /*//{ includes */
+       2             : #include <ros/ros.h>
+       3             : #include <nodelet/nodelet.h>
+       4             : 
+       5             : #include <pluginlib/class_loader.h>
+       6             : #include <nodelet/loader.h>
+       7             : 
+       8             : #include <geometry_msgs/QuaternionStamped.h>
+       9             : #include <geometry_msgs/Vector3Stamped.h>
+      10             : 
+      11             : #include <nav_msgs/Odometry.h>
+      12             : 
+      13             : #include <std_srvs/Trigger.h>
+      14             : #include <std_srvs/SetBool.h>
+      15             : 
+      16             : #include <mrs_msgs/UavState.h>
+      17             : #include <mrs_msgs/Float64Stamped.h>
+      18             : #include <mrs_msgs/String.h>
+      19             : #include <mrs_msgs/EstimationDiagnostics.h>
+      20             : #include <mrs_msgs/HwApiCapabilities.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : 
+      23             : #include <mrs_lib/param_loader.h>
+      24             : #include <mrs_lib/publisher_handler.h>
+      25             : #include <mrs_lib/service_client_handler.h>
+      26             : #include <mrs_lib/transformer.h>
+      27             : #include <mrs_lib/subscribe_handler.h>
+      28             : #include <mrs_lib/gps_conversions.h>
+      29             : #include <mrs_lib/scope_timer.h>
+      30             : 
+      31             : 
+      32             : #include <mrs_uav_managers/state_estimator.h>
+      33             : #include <mrs_uav_managers/agl_estimator.h>
+      34             : #include <mrs_uav_managers/estimation_manager/support.h>
+      35             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      36             : #include <mrs_uav_managers/estimation_manager/private_handlers.h>
+      37             : /*//}*/
+      38             : 
+      39             : namespace mrs_uav_managers
+      40             : {
+      41             : 
+      42             : namespace estimation_manager
+      43             : {
+      44             : 
+      45             : // --------------------------------------------------------------
+      46             : // |                           classes                          |
+      47             : // --------------------------------------------------------------
+      48             : 
+      49             : /*//{ class StateMachine */
+      50             : class StateMachine {
+      51             : 
+      52             :   /*//{ states */
+      53             : public:
+      54             :   typedef enum
+      55             :   {
+      56             : 
+      57             :     UNINITIALIZED_STATE,
+      58             :     INITIALIZED_STATE,
+      59             :     READY_FOR_FLIGHT_STATE,
+      60             :     TAKING_OFF_STATE,
+      61             :     FLYING_STATE,
+      62             :     HOVER_STATE,
+      63             :     LANDING_STATE,
+      64             :     LANDED_STATE,
+      65             :     ESTIMATOR_SWITCHING_STATE,
+      66             :     DUMMY_STATE,
+      67             :     EMERGENCY_STATE,
+      68             :     FAILSAFE_STATE,
+      69             :     ERROR_STATE
+      70             : 
+      71             :   } SMState_t;
+      72             : 
+      73             :   /*//}*/
+      74             : 
+      75             : public:
+      76        1134 :   StateMachine(const std::string& nodelet_name) : nodelet_name_(nodelet_name) {
+      77          81 :   }
+      78             : 
+      79     1514509 :   bool isInState(const SMState_t& state) const {
+      80     1514509 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) == state;
+      81             :   }
+      82             : 
+      83      332373 :   bool isInitialized() const {
+      84      332373 :     return mrs_lib::get_mutexed(mtx_state_, current_state_) != UNINITIALIZED_STATE;
+      85             :   }
+      86             : 
+      87      174617 :   bool isInPublishableState() const {
+      88      174617 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      89      131585 :     return current_state == READY_FOR_FLIGHT_STATE || current_state == TAKING_OFF_STATE || current_state == HOVER_STATE || current_state == FLYING_STATE ||
+      90      306212 :            current_state == LANDING_STATE || current_state == DUMMY_STATE || current_state == FAILSAFE_STATE;
+      91             :   }
+      92             : 
+      93      157824 :   bool isInTheAir() const {
+      94      157824 :     const SMState_t current_state = mrs_lib::get_mutexed(mtx_state_, current_state_);
+      95      157824 :     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       15966 :   std::string getCurrentStateString() const {
+     103       15966 :     return mrs_lib::get_mutexed(mtx_state_, sm_state_names_[current_state_]);
+     104             :   }
+     105             : 
+     106         524 :   std::string getStateAsString(const SMState_t& state) const {
+     107         524 :     return sm_state_names_[state];
+     108             :   }
+     109             : 
+     110             :   /*//{ changeState() */
+     111         262 :   bool changeState(const SMState_t& target_state) {
+     112             : 
+     113         262 :     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         262 :     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          81 :       case INITIALIZED_STATE: {
+     129          81 :         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          81 :         break;
+     135             :       }
+     136             : 
+     137          81 :       case READY_FOR_FLIGHT_STATE: {
+     138          81 :         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_FLIGHT_STATE).c_str(), getStateAsString(INITIALIZED_STATE).c_str(),
+     141             :                              getStateAsString(LANDED_STATE).c_str());
+     142           0 :           return false;
+     143             :         }
+     144          81 :         break;
+     145             :       }
+     146             : 
+     147          19 :       case TAKING_OFF_STATE: {
+     148          19 :         if (current_state_ != READY_FOR_FLIGHT_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_FLIGHT_STATE).c_str());
+     151           0 :           return false;
+     152             :         }
+     153          19 :         break;
+     154             :       }
+     155             : 
+     156          77 :       case FLYING_STATE: {
+     157          77 :         if (current_state_ != TAKING_OFF_STATE && current_state_ != READY_FOR_FLIGHT_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          77 :         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         262 :     std::scoped_lock lock(mtx_state_);
+     235             :     {
+     236         262 :       previous_state_ = current_state_;
+     237         262 :       current_state_  = target_state;
+     238             :     }
+     239             : 
+     240         262 :     ROS_INFO("[%s]: successfully changed states %s -> %s", getPrintName().c_str(), getStateAsString(previous_state_).c_str(),
+     241             :              getStateAsString(current_state_).c_str());
+     242             : 
+     243         262 :     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         262 :   std::string getPrintName() const {
+     268         524 :     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_FLIGHT_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             :   std::string after_midair_activation_tracker_name_;
+     309             :   std::string takeoff_tracker_name_;
+     310             : 
+     311             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     312             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>            sh_control_input_;
+     313             : 
+     314             :   mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics> ph_diagnostics_;
+     315             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>        ph_max_flight_z_;
+     316             :   mrs_lib::PublisherHandler<mrs_msgs::UavState>              ph_uav_state_;
+     317             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_main_;
+     318             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_odom_slow_;  // use topic throttler instead?
+     319             :   mrs_lib::PublisherHandler<nav_msgs::Odometry>              ph_innovation_;
+     320             : 
+     321             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_amsl_;
+     322             :   mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped> ph_altitude_agl_;
+     323             : 
+     324             :   mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped> ph_orientation_;
+     325             : 
+     326             :   ros::Timer timer_publish_;
+     327             :   void       timerPublish(const ros::TimerEvent& event);
+     328             : 
+     329             :   ros::Timer timer_publish_diagnostics_;
+     330             :   void       timerPublishDiagnostics(const ros::TimerEvent& event);
+     331             : 
+     332             :   ros::Timer timer_check_health_;
+     333             :   void       timerCheckHealth(const ros::TimerEvent& event);
+     334             : 
+     335             :   ros::Timer timer_initialization_;
+     336             :   void       timerInitialization(const ros::TimerEvent& event);
+     337             : 
+     338             :   ros::ServiceServer srvs_change_estimator_;
+     339             :   bool               callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+     340             :   int                estimator_switch_count_ = 0;
+     341             : 
+     342             : 
+     343             :   ros::ServiceServer srvs_toggle_callbacks_;
+     344             :   bool               callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     345             :   bool               callbacks_enabled_             = false;
+     346             :   bool               callbacks_disabled_by_service_ = false;
+     347             : 
+     348             :   bool                                             callFailsafeService();
+     349             :   mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvch_failsafe_;
+     350             :   bool                                             failsafe_call_succeeded_ = false;
+     351             : 
+     352             :   // TODO service clients
+     353             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_hover_; */
+     354             :   /* mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv> srvc_reference_; */
+     355             :   /* mrs_lib::ServiceClientHandler<std_srvs::Trigger> srvc_ehover_; */
+     356             :   /* mrs_lib::ServiceClientHandler<std_srvs::SetBool> srvc_enable_callbacks_; */
+     357             : 
+     358             :   // | ------------- dynamic loading of estimators ------------- |
+     359             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>> state_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     360             :   std::vector<std::string>                                                  estimator_names_;         // list of estimator names
+     361             :   std::vector<boost::shared_ptr<mrs_uav_managers::StateEstimator>>          estimator_list_;          // list of estimators
+     362             :   std::mutex                                                                mutex_estimator_list_;
+     363             :   std::vector<std::string>                                                  switchable_estimator_names_;
+     364             :   std::mutex                                                                mutex_switchable_estimator_names_;
+     365             :   std::string                                                               initial_estimator_name_ = "UNDEFINED_INITIAL_ESTIMATOR";
+     366             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       initial_estimator_;
+     367             :   boost::shared_ptr<mrs_uav_managers::StateEstimator>                       active_estimator_;
+     368             :   std::mutex                                                                mutex_active_estimator_;
+     369             : 
+     370             :   std::unique_ptr<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>> agl_estimator_loader_;  // pluginlib loader of dynamically loaded estimators
+     371             :   std::string                                                             est_alt_agl_name_ = "UNDEFINED_AGL_ESTIMATOR";
+     372             :   boost::shared_ptr<mrs_uav_managers::AglEstimator>                       est_alt_agl_;
+     373             :   bool                                                                    is_using_agl_estimator_;
+     374             : 
+     375             :   double max_flight_z_;
+     376             : 
+     377             :   bool switchToHealthyEstimator();
+     378             :   void switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator);
+     379             : 
+     380             :   bool loadConfigFile(const std::string& file_path);
+     381             : 
+     382             : public:
+     383          81 :   EstimationManager() {
+     384          81 :   }
+     385             : 
+     386             :   void onInit();
+     387             : 
+     388             :   std::string getName() const;
+     389             : };
+     390             : /*//}*/
+     391             : 
+     392             : /*//{ onInit() */
+     393          81 : void EstimationManager::onInit() {
+     394             : 
+     395          81 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     396             : 
+     397          81 :   ros::Time::waitForValid();
+     398             : 
+     399          81 :   ROS_INFO("[%s]: initializing", getName().c_str());
+     400             : 
+     401          81 :   sm_ = std::make_shared<StateMachine>(nodelet_name_);
+     402             : 
+     403          81 :   ch_ = std::make_shared<CommonHandlers_t>();
+     404             : 
+     405          81 :   ch_->nodelet_name = nodelet_name_;
+     406          81 :   ch_->package_name = package_name_;
+     407             : 
+     408             :   // finish initialization in a oneshot timer, so that we don't block loading of other nodelets by the nodelet manager
+     409          81 :   timer_initialization_ = nh_.createTimer(ros::Rate(1.0), &EstimationManager::timerInitialization, this, true, true);
+     410          81 : }
+     411             : /*//}*/
+     412             : 
+     413             : // --------------------------------------------------------------
+     414             : // |                          callbacks                         |
+     415             : // --------------------------------------------------------------
+     416             : 
+     417             : // | --------------------- timer callbacks -------------------- |
+     418             : 
+     419             : /*//{ timerPublish() */
+     420      157824 : void EstimationManager::timerPublish([[maybe_unused]] const ros::TimerEvent& event) {
+     421             : 
+     422      157824 :   if (!sm_->isInitialized()) {
+     423       15421 :     return;
+     424             :   }
+     425             : 
+     426      315644 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublish", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     427             : 
+     428      157822 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     429           0 :     ROS_WARN("[%s]: Not publishing during estimator switching.", getName().c_str());
+     430           0 :     return;
+     431             :   }
+     432             : 
+     433      157822 :   if (!sm_->isInPublishableState()) {
+     434       15419 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     435       15419 :     return;
+     436             :   }
+     437             : 
+     438      142403 :   mrs_msgs::UavState uav_state;
+     439      142403 :   auto               ret = active_estimator_->getUavState();
+     440      142403 :   if (ret) {
+     441      142403 :     uav_state = ret.value();
+     442             :   } else {
+     443           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     444           0 :     return;
+     445             :   }
+     446             : 
+     447      142403 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     448           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     449           0 :     return;
+     450             :   }
+     451             : 
+     452             : 
+     453      142403 :   if (active_estimator_->isMitigatingJump()) {
+     454           0 :     estimator_switch_count_++;
+     455             :   }
+     456      142403 :   uav_state.estimator_iteration = estimator_switch_count_;
+     457             : 
+     458      142403 :   scope_timer.checkpoint("get uav state");
+     459             :   // TODO state health checks
+     460             : 
+     461      142403 :   ph_uav_state_.publish(uav_state);
+     462             : 
+     463      142403 :   scope_timer.checkpoint("pub uav state");
+     464      284806 :   nav_msgs::Odometry odom_main = Support::uavStateToOdom(uav_state);
+     465             : 
+     466      142403 :   scope_timer.checkpoint("uav state to odom");
+     467      284806 :   const std::vector<double> pose_covariance = active_estimator_->getPoseCovariance();
+     468     5268882 :   for (size_t i = 0; i < pose_covariance.size(); i++) {
+     469     5126476 :     odom_main.pose.covariance[i] = pose_covariance[i];
+     470             :   }
+     471             : 
+     472      284806 :   const std::vector<double> twist_covariance = active_estimator_->getTwistCovariance();
+     473     5268882 :   for (size_t i = 0; i < twist_covariance.size(); i++) {
+     474     5126476 :     odom_main.twist.covariance[i] = twist_covariance[i];
+     475             :   }
+     476             : 
+     477      142403 :   scope_timer.checkpoint("get covariance");
+     478      142403 :   ph_odom_main_.publish(odom_main);
+     479             : 
+     480      284806 :   nav_msgs::Odometry innovation = active_estimator_->getInnovation();
+     481      142403 :   ph_innovation_.publish(innovation);
+     482             : 
+     483             : 
+     484      284806 :   mrs_msgs::Float64Stamped agl_height;
+     485             : 
+     486      142403 :   if (is_using_agl_estimator_) {
+     487      113423 :     agl_height = est_alt_agl_->getUavAglHeight();
+     488      113423 :     ph_altitude_agl_.publish(agl_height);
+     489             :   }
+     490             : }
+     491             : /*//}*/
+     492             : 
+     493             : /*//{ timerPublishDiagnostics() */
+     494       16805 : void EstimationManager::timerPublishDiagnostics([[maybe_unused]] const ros::TimerEvent& event) {
+     495             : 
+     496       16805 :   if (!sm_->isInitialized()) {
+     497        1525 :     return;
+     498             :   }
+     499             : 
+     500       33610 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerPublishDiagnostics", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     501             : 
+     502       16805 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     503           0 :     ROS_WARN("[%s]: Not publishing diagnostics during estimator switching.", getName().c_str());
+     504           0 :     return;
+     505             :   }
+     506             : 
+     507       16805 :   if (!sm_->isInPublishableState()) {
+     508        1525 :     ROS_WARN_THROTTLE(1.0, "[%s]: not publishing uav state in %s", getName().c_str(), sm_->getCurrentStateString().c_str());
+     509        1525 :     return;
+     510             :   }
+     511             : 
+     512       15280 :   mrs_msgs::UavState uav_state;
+     513       15280 :   auto               ret = active_estimator_->getUavState();
+     514       15280 :   if (ret) {
+     515       15280 :     uav_state = ret.value();
+     516             :   } else {
+     517           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Active estimator did not provide uav_state.", getName().c_str());
+     518           0 :     return;
+     519             :   }
+     520             : 
+     521       15280 :   if (!Support::noNans(uav_state.pose.orientation)) {
+     522           0 :     ROS_ERROR("[%s]: nan in uav state orientation", getName().c_str());
+     523           0 :     return;
+     524             :   }
+     525             : 
+     526       30560 :   mrs_msgs::Float64Stamped agl_height;
+     527             : 
+     528       15280 :   if (is_using_agl_estimator_) {
+     529       11290 :     agl_height = est_alt_agl_->getUavAglHeight();
+     530       11290 :     ph_altitude_agl_.publish(agl_height);
+     531             :   }
+     532             : 
+     533       30560 :   mrs_msgs::Float64Stamped max_flight_z_msg;
+     534       15280 :   max_flight_z_msg.header.stamp = ros::Time::now();
+     535       15280 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     536       15280 :     max_flight_z_msg.header.frame_id = active_estimator_->getFrameId();
+     537       15280 :     max_flight_z_msg.value           = active_estimator_->getMaxFlightZ();
+     538             :   }
+     539       15280 :   max_flight_z_ = max_flight_z_msg.value;
+     540       15280 :   ph_max_flight_z_.publish(max_flight_z_msg);
+     541             : 
+     542             :   // publish diagnostics
+     543       30560 :   mrs_msgs::EstimationDiagnostics diagnostics;
+     544             : 
+     545       15280 :   diagnostics.header.stamp   = uav_state.header.stamp;
+     546       15280 :   diagnostics.child_frame_id = uav_state.child_frame_id;
+     547             : 
+     548       15280 :   diagnostics.pose         = uav_state.pose;
+     549       15280 :   diagnostics.velocity     = uav_state.velocity;
+     550       15280 :   diagnostics.acceleration = uav_state.acceleration;
+     551             : 
+     552       15280 :   diagnostics.sm_state                 = sm_->getCurrentStateString();
+     553       15280 :   diagnostics.max_flight_z             = max_flight_z_msg.value;
+     554       15280 :   diagnostics.estimator_iteration      = estimator_switch_count_;
+     555       15280 :   diagnostics.estimation_rate          = ch_->desired_uav_state_rate;
+     556       15280 :   diagnostics.running_state_estimators = estimator_names_;
+     557             : 
+     558             :   {
+     559       30560 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     560       15280 :     diagnostics.switchable_state_estimators = switchable_estimator_names_;
+     561             :   }
+     562             : 
+     563             : 
+     564       15280 :   if (active_estimator_ && active_estimator_->isInitialized()) {
+     565       15280 :     diagnostics.header.frame_id         = active_estimator_->getFrameId();
+     566       15280 :     diagnostics.current_state_estimator = active_estimator_->getName();
+     567             :   } else {
+     568           0 :     diagnostics.header.frame_id         = "";
+     569           0 :     diagnostics.current_state_estimator = "";
+     570             :   }
+     571             : 
+     572       15280 :   diagnostics.estimator_horizontal = uav_state.estimator_horizontal;
+     573       15280 :   diagnostics.estimator_vertical   = uav_state.estimator_vertical;
+     574       15280 :   diagnostics.estimator_heading    = uav_state.estimator_heading;
+     575             : 
+     576       15280 :   if (is_using_agl_estimator_) {
+     577       11290 :     diagnostics.estimator_agl_height = est_alt_agl_name_;
+     578       11290 :     diagnostics.agl_height           = agl_height.value;
+     579             :   } else {
+     580        3990 :     diagnostics.estimator_agl_height = "NOT_USED";
+     581        3990 :     diagnostics.agl_height           = std::nanf("");
+     582             :   }
+     583             : 
+     584       15280 :   diagnostics.platform_config = _platform_config_;
+     585       15280 :   diagnostics.custom_config   = _custom_config_;
+     586             : 
+     587       15280 :   ph_diagnostics_.publish(diagnostics);
+     588             : 
+     589       15280 :   ROS_INFO_THROTTLE(5.0, "[%s]: %s. pos: [%.2f, %.2f, %.2f] m. Estimator: %s. Max. z.: %.2f m. Estimator switches: %d.", getName().c_str(),
+     590             :                     sm_->getCurrentStateString().c_str(), uav_state.pose.position.x, uav_state.pose.position.y, uav_state.pose.position.z,
+     591             :                     active_estimator_->getName().c_str(), max_flight_z_, estimator_switch_count_);
+     592             : }
+     593             : /*//}*/
+     594             : 
+     595             : /*//{ timerCheckHealth() */
+     596      157826 : void EstimationManager::timerCheckHealth([[maybe_unused]] const ros::TimerEvent& event) {
+     597             : 
+     598      157826 :   if (!sm_->isInitialized()) {
+     599           2 :     return;
+     600             :   }
+     601             : 
+     602      473472 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("EstimationManager::timerCheckHealth", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     603             : 
+     604             :   /*//{ start ready estimators, check switchable estimators */
+     605      315648 :   std::vector<std::string> switchable_estimator_names;
+     606      330811 :   for (auto estimator : estimator_list_) {
+     607             : 
+     608      172987 :     if (estimator->isReady()) {
+     609             :       try {
+     610        6627 :         ROS_INFO_THROTTLE(1.0, "[%s]: starting the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     611        6627 :         estimator->start();
+     612             :       }
+     613           0 :       catch (std::runtime_error& ex) {
+     614           0 :         ROS_ERROR("[%s]: exception caught during estimator starting: '%s'", getName().c_str(), ex.what());
+     615           0 :         ros::shutdown();
+     616             :       }
+     617             :     }
+     618             : 
+     619      172987 :     if (estimator->isRunning() && estimator->getName() != "dummy" && estimator->getName() != "ground_truth") {
+     620      164178 :       switchable_estimator_names.push_back(estimator->getName());
+     621             :     }
+     622             :   }
+     623             : 
+     624             :   {
+     625      315648 :     std::scoped_lock lock(mutex_switchable_estimator_names_);
+     626      157824 :     switchable_estimator_names_ = switchable_estimator_names;
+     627             :   }
+     628             : 
+     629      157824 :   if (is_using_agl_estimator_ && est_alt_agl_->isReady()) {
+     630          60 :     est_alt_agl_->start();
+     631             :   }
+     632             : 
+     633             :   /*//}*/
+     634             : 
+     635      284512 :   if (!callbacks_disabled_by_service_ &&
+     636      284512 :       (sm_->isInState(StateMachine::FLYING_STATE) || sm_->isInState(StateMachine::HOVER_STATE) || sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE))) {
+     637      111128 :     callbacks_enabled_ = true;
+     638             :   } else {
+     639       46696 :     callbacks_enabled_ = false;
+     640             :   }
+     641             : 
+     642             :   // TODO fuj if, zmenit na switch
+     643             :   // activate initial estimator
+     644      157824 :   if (sm_->isInState(StateMachine::INITIALIZED_STATE) && initial_estimator_->isRunning()) {
+     645       13524 :     std::scoped_lock lock(mutex_active_estimator_);
+     646        6762 :     ROS_INFO_THROTTLE(1.0, "[%s]: activating the initial estimator %s", getName().c_str(), initial_estimator_->getName().c_str());
+     647        6762 :     active_estimator_ = initial_estimator_;
+     648        6762 :     if (active_estimator_->getName() == "dummy") {
+     649           0 :       sm_->changeState(StateMachine::DUMMY_STATE);
+     650             :     } else {
+     651        6762 :       if (!is_using_agl_estimator_ || est_alt_agl_->isRunning()) {
+     652          81 :         sm_->changeState(StateMachine::READY_FOR_FLIGHT_STATE);
+     653             :       } else {
+     654        6681 :         ROS_INFO_THROTTLE(1.0, "[%s]: %s agl estimator: %s to be running", getName().c_str(), Support::waiting_for_string.c_str(),
+     655             :                           est_alt_agl_->getName().c_str());
+     656             :       }
+     657             :     }
+     658             :   }
+     659             : 
+     660             :   // active estimator is in faulty state, we need to switch to healthy estimator
+     661      157824 :   if (sm_->isInTheAir() && active_estimator_->isError()) {
+     662           0 :     sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+     663             :   }
+     664             : 
+     665      157824 :   if (sm_->isInState(StateMachine::ESTIMATOR_SWITCHING_STATE)) {
+     666           0 :     if (switchToHealthyEstimator()) {
+     667           0 :       sm_->changeToPreSwitchState();
+     668             :     } else {  // cannot switch to healthy estimator - failsafe necessary
+     669           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: Cannot switch to any healthy estimator. Triggering failsafe.", getName().c_str());
+     670           0 :       sm_->changeState(StateMachine::FAILSAFE_STATE);
+     671             :     }
+     672             :   }
+     673             : 
+     674      157824 :   if (sm_->isInState(StateMachine::FAILSAFE_STATE)) {
+     675           0 :     if (!failsafe_call_succeeded_ && callFailsafeService()) {
+     676           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: failsafe called successfully", getName().c_str());
+     677           0 :       failsafe_call_succeeded_ = true;
+     678             :     }
+     679           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: we are in failsafe state", getName().c_str());
+     680             :   }
+     681             : 
+     682             :   // standard takeoff
+     683      157824 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     684       39092 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == takeoff_tracker_name_) {
+     685          19 :       sm_->changeState(StateMachine::TAKING_OFF_STATE);
+     686             :     }
+     687             :   }
+     688             : 
+     689             :   // midair activation
+     690      157824 :   if (sm_->isInState(StateMachine::READY_FOR_FLIGHT_STATE)) {
+     691       39073 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker == after_midair_activation_tracker_name_) {
+     692          54 :       sm_->changeState(StateMachine::FLYING_STATE);
+     693             :     }
+     694             :   }
+     695             : 
+     696      157824 :   if (sm_->isInState(StateMachine::TAKING_OFF_STATE)) {
+     697        9769 :     if (sh_control_manager_diag_.hasMsg() && sh_control_manager_diag_.getMsg()->active_tracker != takeoff_tracker_name_) {
+     698          19 :       sm_->changeState(StateMachine::FLYING_STATE);
+     699             :     }
+     700             :   }
+     701             : 
+     702      157824 :   if (sm_->isInState(StateMachine::FLYING_STATE)) {
+     703       93703 :     if ((ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     704       18361 :       ROS_WARN_THROTTLE(1.0, "[%s]: not received control input for %.4fs, estimation suboptimal, potentially unstable", getName().c_str(),
+     705             :                         (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     706             :     }
+     707             :   }
+     708             : }
+     709             : /*//}*/
+     710             : 
+     711             : /*//{ timerInitialization() */
+     712          81 : void EstimationManager::timerInitialization([[maybe_unused]] const ros::TimerEvent& event) {
+     713             : 
+     714         162 :   mrs_lib::ParamLoader param_loader(nh_, getName());
+     715             : 
+     716          81 :   param_loader.loadParam("custom_config", _custom_config_);
+     717          81 :   param_loader.loadParam("platform_config", _platform_config_);
+     718          81 :   param_loader.loadParam("world_config", _world_config_);
+     719             : 
+     720          81 :   if (_custom_config_ != "") {
+     721          81 :     param_loader.addYamlFile(_custom_config_);
+     722             :   }
+     723             : 
+     724          81 :   if (_platform_config_ != "") {
+     725          81 :     param_loader.addYamlFile(_platform_config_);
+     726             :   }
+     727             : 
+     728          81 :   if (_world_config_ != "") {
+     729          81 :     param_loader.addYamlFile(_world_config_);
+     730             :   }
+     731             : 
+     732          81 :   param_loader.addYamlFileFromParam("private_config");
+     733          81 :   param_loader.addYamlFileFromParam("public_config");
+     734          81 :   param_loader.addYamlFileFromParam("uav_manager_config");
+     735          81 :   param_loader.addYamlFileFromParam("estimators_config");
+     736          81 :   param_loader.addYamlFileFromParam("active_estimators_config");
+     737             : 
+     738          81 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     739             : 
+     740             :   /*//{ load world_origin parameters */
+     741             : 
+     742         162 :   std::string world_origin_units;
+     743          81 :   bool        is_origin_param_ok = true;
+     744          81 :   double      world_origin_x     = 0;
+     745          81 :   double      world_origin_y     = 0;
+     746             : 
+     747          81 :   param_loader.loadParam("world_origin/units", world_origin_units);
+     748             : 
+     749          81 :   if (Support::toLowercase(world_origin_units) == "utm") {
+     750           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getName().c_str());
+     751           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     752           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     753             : 
+     754          81 :   } else if (Support::toLowercase(world_origin_units) == "latlon") {
+     755             :     double lat, lon;
+     756          81 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getName().c_str());
+     757          81 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     758          81 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     759          81 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     760          81 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getName().c_str(), world_origin_x, world_origin_y);
+     761             : 
+     762             :   } else {
+     763           0 :     ROS_ERROR("[%s]: world_origin_units must be (\"UTM\"|\"LATLON\"). Got '%s'", getName().c_str(), world_origin_units.c_str());
+     764           0 :     ros::shutdown();
+     765             :   }
+     766             : 
+     767          81 :   ch_->world_origin.x = world_origin_x;
+     768          81 :   ch_->world_origin.y = world_origin_y;
+     769             : 
+     770          81 :   if (!is_origin_param_ok) {
+     771           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getName().c_str());
+     772           0 :     ros::shutdown();
+     773             :   }
+     774             :   /*//}*/
+     775             : 
+     776             :   /*//{ load tracker names */
+     777          81 :   param_loader.loadParam("mrs_uav_managers/uav_manager/takeoff/during_takeoff/tracker", takeoff_tracker_name_);
+     778          81 :   param_loader.loadParam("mrs_uav_managers/uav_manager/midair_activation/after_activation/tracker", after_midair_activation_tracker_name_);
+     779             :   /*//}*/
+     780             : 
+     781          81 :   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/");
+     782             : 
+     783             :   /*//{ load parameters into common handlers */
+     784          81 :   param_loader.loadParam("frame_id/fcu", ch_->frames.fcu);
+     785          81 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + ch_->frames.fcu;
+     786             : 
+     787          81 :   param_loader.loadParam("frame_id/fcu_untilted", ch_->frames.fcu_untilted);
+     788          81 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + ch_->frames.fcu_untilted;
+     789             : 
+     790          81 :   param_loader.loadParam("frame_id/rtk_antenna", ch_->frames.rtk_antenna);
+     791          81 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     792             : 
+     793          81 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getName());
+     794          81 :   ch_->transformer->retryLookupNewest(true);
+     795             : 
+     796          81 :   param_loader.loadParam("rate/diagnostics", ch_->desired_diagnostics_rate);
+     797             : 
+     798             :   /*//}*/
+     799             : 
+     800             :   /*//{ load parameters */
+     801             : 
+     802             :   /*//{ publish debug topics parameters */
+     803          81 :   param_loader.loadParam("debug_topics/input", ch_->debug_topics.input);
+     804          81 :   param_loader.loadParam("debug_topics/output", ch_->debug_topics.output);
+     805          81 :   param_loader.loadParam("debug_topics/state", ch_->debug_topics.state);
+     806          81 :   param_loader.loadParam("debug_topics/covariance", ch_->debug_topics.covariance);
+     807          81 :   param_loader.loadParam("debug_topics/innovation", ch_->debug_topics.innovation);
+     808          81 :   param_loader.loadParam("debug_topics/diagnostics", ch_->debug_topics.diag);
+     809          81 :   param_loader.loadParam("debug_topics/correction", ch_->debug_topics.correction);
+     810          81 :   param_loader.loadParam("debug_topics/correction_delay", ch_->debug_topics.corr_delay);
+     811             :   /*//}*/
+     812             : 
+     813             :   /*//}*/
+     814             : 
+     815         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     816          81 :   shopts.nh                 = nh_;
+     817          81 :   shopts.node_name          = getName();
+     818          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     819          81 :   shopts.threadsafe         = true;
+     820          81 :   shopts.autostart          = true;
+     821          81 :   shopts.queue_size         = 10;
+     822          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     823             : 
+     824             :   /*//{ wait for hw api message */
+     825             : 
+     826             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities> sh_hw_api_capabilities_ =
+     827         243 :       mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     828         163 :   while (!sh_hw_api_capabilities_.hasMsg()) {
+     829          82 :     ROS_INFO("[%s]: %s hw_api_capabilities message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     830             :              sh_hw_api_capabilities_.topicName().c_str());
+     831          82 :     ros::Duration(1.0).sleep();
+     832             :   }
+     833             : 
+     834         162 :   mrs_msgs::HwApiCapabilitiesConstPtr hw_api_capabilities = sh_hw_api_capabilities_.getMsg();
+     835             :   /*//}*/
+     836             : 
+     837             :   /*//{ wait for desired uav_state rate */
+     838          81 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     839         173 :   while (!sh_control_manager_diag_.hasMsg()) {
+     840          92 :     ROS_INFO("[%s]: %s control_manager_diagnostics message at topic: %s", getName().c_str(), Support::waiting_for_string.c_str(),
+     841             :              sh_control_manager_diag_.topicName().c_str());
+     842          92 :     ros::Duration(1.0).sleep();
+     843             :   }
+     844             : 
+     845         162 :   mrs_msgs::ControlManagerDiagnosticsConstPtr control_manager_diag_msg = sh_control_manager_diag_.getMsg();
+     846          81 :   ch_->desired_uav_state_rate                                          = control_manager_diag_msg->desired_uav_state_rate;
+     847          81 :   ROS_INFO("[%s]: The estimation is running at: %.2f Hz", getName().c_str(), ch_->desired_uav_state_rate);
+     848             :   /*//}*/
+     849             : 
+     850             :   /*//{ initialize subscribers */
+     851             : 
+     852          81 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     853             : 
+     854             :   /*//}*/
+     855             : 
+     856             :   /*//{ load state estimator plugins */
+     857          81 :   param_loader.loadParam("state_estimators", estimator_names_);
+     858             : 
+     859          81 :   state_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::StateEstimator>>("mrs_uav_managers", "mrs_uav_managers::StateEstimator");
+     860             : 
+     861         166 :   for (size_t i = 0; i < estimator_names_.size(); i++) {
+     862             : 
+     863         170 :     const std::string estimator_name = estimator_names_[i];
+     864             : 
+     865             :     // load the estimator parameters
+     866         170 :     std::string address;
+     867          85 :     param_loader.loadParam(estimator_name + "/address", address);
+     868             : 
+     869             :     try {
+     870          85 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     871          85 :       estimator_list_.push_back(state_estimator_loader_->createInstance(address.c_str()));
+     872             :     }
+     873           0 :     catch (pluginlib::CreateClassException& ex1) {
+     874           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     875           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     876           0 :       ros::shutdown();
+     877             :     }
+     878           0 :     catch (pluginlib::PluginlibException& ex) {
+     879           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     880           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     881           0 :       ros::shutdown();
+     882             :     }
+     883             :   }
+     884             : 
+     885             :   /*//{ load agl estimator plugins */
+     886          81 :   param_loader.loadParam("agl_height_estimator", est_alt_agl_name_);
+     887          81 :   is_using_agl_estimator_ = est_alt_agl_name_ != "";
+     888          81 :   ROS_WARN_COND(!is_using_agl_estimator_, "[%s]: not using AGL estimator for min height safe checking", getName().c_str());
+     889             : 
+     890             : 
+     891          81 :   if (is_using_agl_estimator_) {
+     892             : 
+     893          60 :     agl_estimator_loader_ = std::make_unique<pluginlib::ClassLoader<mrs_uav_managers::AglEstimator>>("mrs_uav_managers", "mrs_uav_managers::AglEstimator");
+     894             : 
+     895             :     // load the estimator parameters
+     896         120 :     std::string address;
+     897          60 :     param_loader.loadParam(est_alt_agl_name_ + "/address", address);
+     898             : 
+     899             :     try {
+     900          60 :       ROS_INFO("[%s]: loading the estimator '%s'", getName().c_str(), address.c_str());
+     901          60 :       est_alt_agl_ = agl_estimator_loader_->createInstance(address.c_str());
+     902             :     }
+     903           0 :     catch (pluginlib::CreateClassException& ex1) {
+     904           0 :       ROS_ERROR("[%s]: CreateClassException for the estimator '%s'", getName().c_str(), address.c_str());
+     905           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex1.what());
+     906           0 :       ros::shutdown();
+     907             :     }
+     908           0 :     catch (pluginlib::PluginlibException& ex) {
+     909           0 :       ROS_ERROR("[%s]: PluginlibException for the estimator '%s'", getName().c_str(), address.c_str());
+     910           0 :       ROS_ERROR("[%s]: Error: %s", getName().c_str(), ex.what());
+     911           0 :       ros::shutdown();
+     912             :     }
+     913             :   }
+     914             :   /*//}*/
+     915             : 
+     916          81 :   ROS_INFO("[%s]: estimators were loaded", getName().c_str());
+     917             :   /*//}*/
+     918             : 
+     919             :   /*//{ check whether initial estimator was loaded */
+     920          81 :   param_loader.loadParam("initial_state_estimator", initial_estimator_name_);
+     921          81 :   bool initial_estimator_found = false;
+     922          81 :   for (auto estimator : estimator_list_) {
+     923          81 :     if (estimator->getName() == initial_estimator_name_) {
+     924          81 :       initial_estimator_      = estimator;
+     925          81 :       initial_estimator_found = true;
+     926          81 :       break;
+     927             :     }
+     928             :   }
+     929             : 
+     930          81 :   if (!initial_estimator_found) {
+     931           0 :     ROS_ERROR("[%s]: initial estimator %s could not be found among loaded estimators. shutting down", getName().c_str(), initial_estimator_name_.c_str());
+     932           0 :     ros::shutdown();
+     933             :   }
+     934             :   /*//}*/
+     935             : 
+     936             :   /*//{ initialize estimators */
+     937         166 :   for (auto estimator : estimator_list_) {
+     938             : 
+     939             :     // create private handlers
+     940         170 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     941             : 
+     942          85 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     943          85 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, estimator->getName()), "EstimationManager/" + estimator->getName());
+     944             : 
+     945          85 :     if (_custom_config_ != "") {
+     946          85 :       ph->param_loader->addYamlFile(_custom_config_);
+     947             :     }
+     948             : 
+     949          85 :     if (_platform_config_ != "") {
+     950          85 :       ph->param_loader->addYamlFile(_platform_config_);
+     951             :     }
+     952             : 
+     953          85 :     if (_world_config_ != "") {
+     954          85 :       ph->param_loader->addYamlFile(_world_config_);
+     955             :     }
+     956             : 
+     957             :     try {
+     958          85 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), estimator->getName().c_str());
+     959          85 :       estimator->initialize(nh_, ch_, ph);
+     960             :     }
+     961           0 :     catch (std::runtime_error& ex) {
+     962           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     963           0 :       ros::shutdown();
+     964             :     }
+     965             : 
+     966          85 :     if (!estimator->isCompatibleWithHwApi(hw_api_capabilities)) {
+     967           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), estimator->getName().c_str());
+     968           0 :       ros::shutdown();
+     969             :     }
+     970             :   }
+     971             : 
+     972             :   // | ----------- agl height estimator initialization ---------- |
+     973          81 :   if (is_using_agl_estimator_) {
+     974             : 
+     975         120 :     std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> ph = std::make_shared<mrs_uav_managers::estimation_manager::PrivateHandlers_t>();
+     976             : 
+     977          60 :     ph->loadConfigFile = boost::bind(&EstimationManager::loadConfigFile, this, _1);
+     978          60 :     ph->param_loader   = std::make_shared<mrs_lib::ParamLoader>(ros::NodeHandle(nh_, est_alt_agl_->getName()), "EstimationManager/" + est_alt_agl_->getName());
+     979             : 
+     980          60 :     if (_custom_config_ != "") {
+     981          60 :       ph->param_loader->addYamlFile(_custom_config_);
+     982             :     }
+     983             : 
+     984          60 :     if (_platform_config_ != "") {
+     985          60 :       ph->param_loader->addYamlFile(_platform_config_);
+     986             :     }
+     987             : 
+     988          60 :     if (_world_config_ != "") {
+     989          60 :       ph->param_loader->addYamlFile(_world_config_);
+     990             :     }
+     991             : 
+     992             :     try {
+     993          60 :       ROS_INFO("[%s]: initializing the estimator '%s'", getName().c_str(), est_alt_agl_->getName().c_str());
+     994          60 :       est_alt_agl_->initialize(nh_, ch_, ph);
+     995             :     }
+     996           0 :     catch (std::runtime_error& ex) {
+     997           0 :       ROS_ERROR("[%s]: exception caught during estimator initialization: '%s'", getName().c_str(), ex.what());
+     998           0 :       ros::shutdown();
+     999             :     }
+    1000             : 
+    1001          60 :     if (!est_alt_agl_->isCompatibleWithHwApi(hw_api_capabilities)) {
+    1002           0 :       ROS_ERROR("[%s]: estimator %s is not compatible with the hw api. Shutting down.", getName().c_str(), est_alt_agl_->getName().c_str());
+    1003           0 :       ros::shutdown();
+    1004             :     }
+    1005             :   }
+    1006             : 
+    1007          81 :   ROS_INFO("[%s]: estimators were initialized", getName().c_str());
+    1008             : 
+    1009             :   /*//}*/
+    1010             : 
+    1011             :   /*//{ initialize publishers */
+    1012          81 :   ph_uav_state_    = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh_, "uav_state_out", 10);
+    1013          81 :   ph_odom_main_    = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "odom_main_out", 10);
+    1014          81 :   ph_innovation_   = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh_, "innovation_out", 10);
+    1015          81 :   ph_diagnostics_  = mrs_lib::PublisherHandler<mrs_msgs::EstimationDiagnostics>(nh_, "diagnostics_out", 10);
+    1016          81 :   ph_max_flight_z_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "max_flight_z_agl_out", 10);
+    1017          81 :   ph_altitude_agl_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh_, "height_agl_out", 10);
+    1018             : 
+    1019             :   /*//}*/
+    1020             : 
+    1021             :   /*//{ initialize timers */
+    1022          81 :   timer_publish_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerPublish, this);
+    1023             : 
+    1024          81 :   timer_publish_diagnostics_ = nh_.createTimer(ros::Rate(ch_->desired_diagnostics_rate), &EstimationManager::timerPublishDiagnostics, this);
+    1025             : 
+    1026          81 :   timer_check_health_ = nh_.createTimer(ros::Rate(ch_->desired_uav_state_rate), &EstimationManager::timerCheckHealth, this);
+    1027             :   /*//}*/
+    1028             : 
+    1029             :   /*//{ initialize service clients */
+    1030             : 
+    1031          81 :   srvch_failsafe_.initialize(nh_, "failsafe_out");
+    1032             : 
+    1033             :   /*//}*/
+    1034             : 
+    1035             :   /*//{ initialize service servers */
+    1036          81 :   srvs_change_estimator_ = nh_.advertiseService("change_estimator_in", &EstimationManager::callbackChangeEstimator, this);
+    1037          81 :   srvs_toggle_callbacks_ = nh_.advertiseService("toggle_service_callbacks_in", &EstimationManager::callbackToggleServiceCallbacks, this);
+    1038             :   /*//}*/
+    1039             : 
+    1040             :   /*//{ initialize scope timer */
+    1041          81 :   param_loader.loadParam("scope_timer/enabled", ch_->scope_timer.enabled);
+    1042         162 :   std::string       filepath;
+    1043         162 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/scope_timer.txt";
+    1044          81 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+    1045             :   /*//}*/
+    1046             : 
+    1047          81 :   if (!param_loader.loadedSuccessfully()) {
+    1048           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getName().c_str());
+    1049           0 :     ros::shutdown();
+    1050             :   }
+    1051             : 
+    1052          81 :   sm_->changeState(StateMachine::INITIALIZED_STATE);
+    1053             : 
+    1054          81 :   ROS_INFO("[%s]: initialized", getName().c_str());
+    1055          81 : }
+    1056             : /*//}*/
+    1057             : 
+    1058             : // | -------------------- service callbacks ------------------- |
+    1059             : 
+    1060             : /*//{ callbackChangeEstimator() */
+    1061           4 : bool EstimationManager::callbackChangeEstimator(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+    1062             : 
+    1063           4 :   if (!sm_->isInitialized()) {
+    1064           0 :     return false;
+    1065             :   }
+    1066             : 
+    1067           4 :   if (!callbacks_enabled_) {
+    1068           0 :     res.success = false;
+    1069           0 :     res.message = ("Service callbacks are disabled");
+    1070           0 :     ROS_WARN("[%s]: Ignoring service call. Callbacks are disabled.", getName().c_str());
+    1071           0 :     return true;
+    1072             :   }
+    1073             : 
+    1074           4 :   if (req.value == "dummy" || req.value == "ground_truth") {
+    1075           0 :     res.success = false;
+    1076           0 :     std::stringstream ss;
+    1077           0 :     ss << "Switching to " << req.value << " estimator is not allowed.";
+    1078           0 :     res.message = ss.str();
+    1079           0 :     ROS_WARN("[%s]: Switching to %s estimator is not allowed.", getName().c_str(), req.value.c_str());
+    1080           0 :     return true;
+    1081             :   }
+    1082             : 
+    1083             :   // we do not want the switch to be disturbed by a service call
+    1084           4 :   callbacks_enabled_ = false;
+    1085             : 
+    1086           4 :   bool                                                target_estimator_found = false;
+    1087           4 :   boost::shared_ptr<mrs_uav_managers::StateEstimator> target_estimator;
+    1088          10 :   for (auto estimator : estimator_list_) {
+    1089          10 :     if (estimator->getName() == req.value) {
+    1090           4 :       target_estimator       = estimator;
+    1091           4 :       target_estimator_found = true;
+    1092           4 :       break;
+    1093             :     }
+    1094             :   }
+    1095             : 
+    1096           4 :   if (target_estimator_found) {
+    1097             : 
+    1098           4 :     if (target_estimator->isRunning()) {
+    1099           4 :       sm_->changeState(StateMachine::ESTIMATOR_SWITCHING_STATE);
+    1100           4 :       switchToEstimator(target_estimator);
+    1101           4 :       sm_->changeToPreSwitchState();
+    1102             :     } else {
+    1103           0 :       ROS_WARN("[%s]: Switch to not running estimator %s requested", getName().c_str(), req.value.c_str());
+    1104           0 :       res.success = false;
+    1105           0 :       res.message = ("Requested estimator is not running");
+    1106           0 :       return true;
+    1107             :     }
+    1108             : 
+    1109             :   } else {
+    1110           0 :     ROS_WARN("[%s]: Switch to invalid estimator %s requested", getName().c_str(), req.value.c_str());
+    1111           0 :     res.success = false;
+    1112           0 :     res.message = ("Not a valid estimator type");
+    1113           0 :     return true;
+    1114             :   }
+    1115             : 
+    1116           4 :   res.success = true;
+    1117           4 :   res.message = "Estimator switch successful";
+    1118             : 
+    1119             :   // allow service calllbacks after switch again
+    1120           4 :   callbacks_enabled_ = true;
+    1121             : 
+    1122           4 :   return true;
+    1123             : }
+    1124             : /*//}*/
+    1125             : 
+    1126             : /* //{ callbackToggleServiceCallbacks() */
+    1127         112 : bool EstimationManager::callbackToggleServiceCallbacks(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1128             : 
+    1129         112 :   if (!sm_->isInitialized()) {
+    1130           0 :     ROS_ERROR("[%s]: service for toggling callbacks is not available before initialization.", getName().c_str());
+    1131           0 :     return false;
+    1132             :   }
+    1133             : 
+    1134         112 :   callbacks_disabled_by_service_ = !req.data;
+    1135             : 
+    1136         112 :   res.success = true;
+    1137         112 :   res.message = (callbacks_disabled_by_service_ ? "Service callbacks disabled" : "Service callbacks enabled");
+    1138             : 
+    1139         112 :   if (callbacks_disabled_by_service_) {
+    1140             : 
+    1141          39 :     ROS_INFO("[%s]: Service callbacks disabled.", getName().c_str());
+    1142             : 
+    1143             :   } else {
+    1144             : 
+    1145          73 :     ROS_INFO("[%s]: Service callbacks enabled", getName().c_str());
+    1146             :   }
+    1147             : 
+    1148         112 :   return true;
+    1149             : }
+    1150             : 
+    1151             : //}
+    1152             : 
+    1153             : 
+    1154             : // --------------------------------------------------------------
+    1155             : // |                        other methods                       |
+    1156             : // --------------------------------------------------------------
+    1157             : //
+    1158             : /*//{ switchToHealthyEstimator() */
+    1159           0 : bool EstimationManager::switchToHealthyEstimator() {
+    1160             : 
+    1161             :   // available estimators should be specified in decreasing priority order in config file
+    1162           0 :   for (auto estimator : estimator_list_) {
+    1163           0 :     if (estimator->isRunning()) {
+    1164           0 :       switchToEstimator(estimator);
+    1165           0 :       return true;
+    1166             :     }
+    1167             :   }
+    1168           0 :   return false;  // no other estimator is running
+    1169             : }
+    1170             : /*//}*/
+    1171             : 
+    1172             : /*//{ switchToEstimator() */
+    1173           4 : void EstimationManager::switchToEstimator(const boost::shared_ptr<mrs_uav_managers::StateEstimator>& target_estimator) {
+    1174             : 
+    1175           4 :   std::scoped_lock lock(mutex_active_estimator_);
+    1176           4 :   ROS_INFO("[%s]: switching estimator from %s to %s", getName().c_str(), active_estimator_->getName().c_str(), target_estimator->getName().c_str());
+    1177           4 :   active_estimator_ = target_estimator;
+    1178           4 :   estimator_switch_count_++;
+    1179           4 : }
+    1180             : /*//}*/
+    1181             : 
+    1182             : /*//{ callFailsafeService() */
+    1183           0 : bool EstimationManager::callFailsafeService() {
+    1184           0 :   std_srvs::Trigger srv_out;
+    1185           0 :   return srvch_failsafe_.call(srv_out);
+    1186             : }
+    1187             : /*//}*/
+    1188             : 
+    1189             : /*//{ getName() */
+    1190        2740 : std::string EstimationManager::getName() const {
+    1191        2740 :   return nodelet_name_;
+    1192             : }
+    1193             : /*//}*/
+    1194             : 
+    1195             : /* loadConfigFile() //{ */
+    1196             : 
+    1197           0 : bool EstimationManager::loadConfigFile(const std::string& file_path) {
+    1198             : 
+    1199           0 :   const std::string name_space = nh_.getNamespace() + "/";
+    1200             : 
+    1201           0 :   ROS_INFO("[%s]: loading '%s' under the namespace '%s'", getName().c_str(), file_path.c_str(), name_space.c_str());
+    1202             : 
+    1203             :   // load the user-requested file
+    1204             :   {
+    1205           0 :     std::string command = "rosparam load " + file_path + " " + name_space;
+    1206           0 :     int         result  = std::system(command.c_str());
+    1207             : 
+    1208           0 :     if (result != 0) {
+    1209           0 :       ROS_ERROR("[%s]: failed to load '%s'", getName().c_str(), file_path.c_str());
+    1210           0 :       return false;
+    1211             :     }
+    1212             :   }
+    1213             : 
+    1214             :   // load the platform config
+    1215           0 :   if (_platform_config_ != "") {
+    1216           0 :     std::string command = "rosparam load " + _platform_config_ + " " + name_space;
+    1217           0 :     int         result  = std::system(command.c_str());
+    1218             : 
+    1219           0 :     if (result != 0) {
+    1220           0 :       ROS_ERROR("[%s]: failed to load the platform config file '%s'", getName().c_str(), _platform_config_.c_str());
+    1221           0 :       return false;
+    1222             :     }
+    1223             :   }
+    1224             : 
+    1225             :   // load the custom config
+    1226           0 :   if (_custom_config_ != "") {
+    1227           0 :     std::string command = "rosparam load " + _custom_config_ + " " + name_space;
+    1228           0 :     int         result  = std::system(command.c_str());
+    1229             : 
+    1230           0 :     if (result != 0) {
+    1231           0 :       ROS_ERROR("[%s]: failed to load the custom config file '%s'", getName().c_str(), _custom_config_.c_str());
+    1232           0 :       return false;
+    1233             :     }
+    1234             :   }
+    1235             : 
+    1236           0 :   return true;
+    1237             : }
+    1238             : 
+    1239             : //}
+    1240             : 
+    1241             : }  // namespace estimation_manager
+    1242             : 
+    1243             : }  // namespace mrs_uav_managers
+    1244             : 
+    1245             : #include <pluginlib/class_list_macros.h>
+    1246          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::estimation_manager::EstimationManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..4af9db1b17 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.overview.html @@ -0,0 +1,332 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimation_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.png b/mrs_uav_managers/src/estimation_manager/estimation_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..7c075a1435facc1fbba70d6050928450ee90fae5 GIT binary patch literal 4322 zcmV<85FPJ{P)YvK+c4e= z?SR_<+|7UnU{k{w-%TPG0Twwr)wRSF2Y8JFg7FeA4x>Vy8SrG+3NyJJO@Q{UWu6#7 zo^@U+uE>dE6j3oX#tzdsT85=@ zzqD(u?+#sS(nbOw(Dw#PC;&8Kw9~i?$IC}uv=dZyA392tt6*fzjkN)={b1ji8CL+b zV=VA*9)7cy*a%ErTLH~o8}QcBSOzuEqLY(NZljeKb8Ads1;XhO+I;+7+>2#-z_u*6 zX_-vzW&_&+L!bU}aZhFj<0FAalH%k0lf?sCX*4%XV@6sHjjr{j(e=6TT^uwn@*qbB z5Hm9b3NJiEZmehav-rmTx+m8%!%euRY|Rx@!QSq7;P~u|ytWC*wwj#HY`$ntNTp@T z>r)}U(P_GpzIe-$(q?&0~DSJ@xhm+zKEb(5^i|DGDZ~Mm&kY6667BQ8dSl zXh<;ECZlpz;JN%t0*^~}c+y(nua!{DZH>Ja{^F5Q{YPOckonVmWVYWca9P~4z~i&< zq^-dBcMVg)yK}#4WS(g)6xYGXOk6Zq??NzNX*n_*#@J5a9-#@)ZIZ4On6LhG@Uc7NIiduz@KoZsYnv;G`A>A$h?34bClxeFr(U(pTmr98Z&0#ButF$Pv6t= zvjL6PLDJ+=M88XN6>M=u=fo9#6a+Xe3S33k^;`!}(fwZz*AY0NK5j-s!#S~)UC(9b ztRjxvJQsI^H4S$qhfdseF>nUdOjC&(t|u7@5s#f|Yl<|8=SX{KSzQ3wC8KC=SWP9zZ{!di{dB8KDBA?quv zgg)7|MgZ>mj=ndZkYd)gjDU81oo~vuQuB2qTwmiEXiw<~MtoOHQ;s{5H{i$s4&{3B z2CX48ei(8<&&NnGOBhEASiubcex@f9`2&KoVchAhp>c4EcP}ZQcm#qTVkn%INPF}W z#>htr5JTIz_9%z&AMVS+Q45uoLs;ZY6== zogUe^zH7{kIiQKWI%bBvvn$Pb#*YGull)}Y!HU%4APB3EN@&HQRZ&-Ci(H@Ok!L#v z0kz#;1;RdY^Rf>?%gv?2ubQ(d`7r@5(q47i1vCw?79)s~ve+ANO;BFN$Q~LnV~mqf zm1PB>wd=#D2=2o$1{Y{|1BNk1w%$Gk80(CE`1)ov6w{3r8cU;ja-BTynk^$e&$|u) z<=|}~F#jh{(B2JJB|pIe1~65NK57)#P@z4Al!jrnyPcm&YATt7vs`B_is1%oAGT2K z5YLpP;)j<5G?X>mjORmYDk>>6+DW^_<1Wp`Kb;>iEB+m0?G6_yLl`Wl%dg=^$6718 zj(`(XE|qH&LZCgM*klXZv?VS2D(w-p2r#qmr7~NjK2^PKj>gY1bCK(OQ1K8dbv|}x zCMsrLZ%;dMepd58!oBLSYoEb)(A~Vz)X3Rjz^k)WBc04c`dn)csnMPgYUCT9b#;(ta zXU+!X6xT>m#APukMW$Dj_q>cu5RhGa%no_CU_lBENr19v9|sFuZcslmf1W)S1MAsy z{{2_^W`CajpJ#twdju`|5uW}3bLF}s9#%r~?js8!gS!$KMM{P==bD!k20XsY`|Ne~ z;SaKE@B+{J;Xx~-u9h56Rum8TKi4(Fh-Ij8jfH)&>-|+ksMCmsS!YJ(<(zoJdsNSu zt{Fg{#>b&Icmu=(E=&U{UQYs#~? zW~W>QzkF`YDoOzlU>>mV>Uv0y3Ny%&zRgZ8W}V?DLeKS@PFJTP(o;hU0mT*DY0ymHh4d6Kt6q74VNx%EIL>1JG zp%ztu8N{`h4coEvfI%i|59vfSv#<+Y_qndM?I`9Eq=n^4)JN)+L-EYo0r^ud zmw3$9V>FIA-5oR6{GN+~!U?x74z9V9t=jU_41nYBpk9BxB+xQsBu2<8=k z@f7XT*(o|&;1*WWa*MkeF7I%cW06e&HUV>@Q8kbYV8*6s>{>Vn|8id9l8D!9v16xZ ztuF-W^ZOIN9Cz>sUdKc0{gY4utZl@hbh%9~s~Z0@9!|)-fh(QDHk|J|*KmPGui?=- zi5Y@zi+&1&5hNB?m{xE%?g}E@vaXGC>~LLzJpq9PzQLD3_=M|_b6JzC2reUn2v_Om zX1jRuf!SX1;x6E-_NZz~%g0H96QMIUoDZOBjwUT&`JAJf3ZTD6Joz&GG4UuqMOK6K z`?+SWsfU+>b6=T{YAwQbO0s)TY7X8N@&Giyq&8?VI01RA*{a_5-6 zEFlGu<`ra&Bm=3yEoO`lm`*h|1|y$wu8re{3yBN|Zj2+N?wBJp`(t872!GuCt!~GfyvLm}BPY!x6+D1I6(kT@3L}k@z_G!~3#!s@<>CF*a=mL> z948dd(V0UuOxuVW;&GwtnTkDMkW6>-i)Ze(8$7sdKADIM^@EF6kMfT2!NJe)?mE&_Ut z+BOA{C7oeAv*#Mda1q7jmRDw_awzb;SSAss1U>_qMu-tla)xJw#Cz=li*~6zt?*^# z%XIw@q6%Qk0p!tVUOT0@$NMu3rde1x1C7jnhdI&B4&ed&K*OjHp;+_r=^=ESQK50A z>9k?Mc!X>TFJ^#u?xz%S5;wS|QH{TY_7#3lyhlc0yx_#4q6Ql?5Thocs+*M#T!u5^ zR*Z3C2Lb_NJPVB&W8KcZkT#q^aIZ)sZ3`g!#G-jK-Xk=T5YiH!;^0iVWDtzCF=<8IBiPyXieLme&@>aq%8>x!?6o`mky%H}5G>T@>T@?8BYfl8s=_D7&nDd4DA z1KNDyxhAiWXGwB=?|%T0yZ#`xQwP6FMK)sMg#udVjI~Y1N}wJErzdDsD}fXmGr-m~ zp7f+1%&EOcJgud*^W&6%R5WqS97~C z)1#!?$Kb#L5D;LGI@ouIB)31)Tx3 z>gQ7$rY(RcS+=*nwy+XVv)~wTQB6I}oT-3I4d8c-jGBp`EWBjrT{UL-f+|kn^%&Lk z-qJf&sl~(1jjmhLbvxgpJ?1QcR_$g1JU;3?glZ*eWzpA8Wq1^5%u<>>_X|#v_-}J! z>Qb4?5X9XFAQcyb8+E^^NSih~GR8)hVfg^aXMaow|0o&S$6frPn!CQT>xcY;%GVX{ zqTsa*c&OQ0zNfbL4FiUP{Nwb$P9p$J7YrYdEMPhj@59Eg;OeHVlzU#}x|?{GRA~ij zu;vTmabhU|`eP&OwuN1QmuJ`uK#cw~OVqRsQRrN>fiG%_1;*7y}` zkaR#BMv+F_g;F2}K(Afds3EmkDGUg3C98t~%ci13ET#TP9=XQ`$p(0PRZHBqMRd9G z{p`vW?2bNd0pJ4$^jO6;HJ8$iWzy*^i$J4ppz6AIr&!D8%u%Gc*ySKOr4uy%)3J7-c`Qn8KubLG@Izs#M;A^C&a`364R>~6(q zwz&2o~fe3Rx_eTQbhLa5^ms^ zapM)4{?a4jEqF`oe0!{xH-W3ct>mbU7w-($4(&(4=R zsp$e?b!11$}>aqvL zEl#g5P~7riQ%+51#+wUEoTxSRO3}p`4hqre2tBVoYtj>MsO_sltU&NzPj%!Q(z+^) z5#biI5HEBuXt*=gh7la8I94fnn9RohnMe#f+|}{EuKvl(aqTA4{*qMiqv=#39=B-j z%S;Inm-w&n0053?+V&|Qu3!s8IH>dN2{{xCVnCdN8A3FS-!_EcirhFMe%KJ|BM632 z9l_ENriu8CLr6yOXAGe+VpriRm|OdO;W&^4YIBU&X^a~#&{#muTW8wxAM^@duCC=v Q6aWAK07*qoM6N<$f(qFs_5c6? literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.func-sort-c.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func-sort-c.html new file mode 100644 index 0000000000..2779bc071a --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func-sort-c.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions: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)1828
mrs_uav_managers::Estimator::setCurrentSmState(mrs_uav_managers::estimation_manager::SMStates_t const&)1828
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1828
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const2736
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const3656
mrs_uav_managers::Estimator::getMaxFlightZ() const15592
mrs_uav_managers::Estimator::isStarted() const31609
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)243935
mrs_uav_managers::Estimator::getAccGlobal(boost::shared_ptr<mrs_msgs::EstimatorInput_<std::allocator<void> > const> const&, double)244385
mrs_uav_managers::Estimator::isReady() const300841
mrs_uav_managers::Estimator::getName[abi:cxx11]() const522183
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const618280
mrs_uav_managers::Estimator::isMitigatingJump() const631530
mrs_uav_managers::Estimator::publishDiagnostics() const872454
mrs_uav_managers::Estimator::isError() const1101690
mrs_uav_managers::Estimator::isRunning() const1429014
mrs_uav_managers::Estimator::isInitialized() const2245722
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const6636798
mrs_uav_managers::Estimator::getCurrentSmState() const7284124
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html new file mode 100644 index 0000000000..d114aadc23 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions: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)1828
mrs_uav_managers::Estimator::getAccGlobal(geometry_msgs::Vector3Stamped_<std::allocator<void> > const&, double)243935
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)244385
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&)1828
mrs_uav_managers::Estimator::getFrameId[abi:cxx11]() const618280
mrs_uav_managers::Estimator::getPrintName[abi:cxx11]() const2736
mrs_uav_managers::Estimator::getMaxFlightZ() const15592
mrs_uav_managers::Estimator::isInitialized() const2245722
mrs_uav_managers::Estimator::getSmStateString[abi:cxx11](mrs_uav_managers::estimation_manager::SMStates_t const&) const3656
mrs_uav_managers::Estimator::isMitigatingJump() const631530
mrs_uav_managers::Estimator::getCurrentSmState() const7284124
mrs_uav_managers::Estimator::publishDiagnostics() const872454
mrs_uav_managers::Estimator::getCurrentSmStateString[abi:cxx11]() const1828
mrs_uav_managers::Estimator::getName[abi:cxx11]() const522183
mrs_uav_managers::Estimator::getType[abi:cxx11]() const0
mrs_uav_managers::Estimator::isError() const1101690
mrs_uav_managers::Estimator::isReady() const300841
mrs_uav_managers::Estimator::isInState(mrs_uav_managers::estimation_manager::SMStates_t const&) const6636798
mrs_uav_managers::Estimator::isRunning() const1429014
mrs_uav_managers::Estimator::isStarted() const31609
mrs_uav_managers::Estimator::isStopped() const0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.frameset.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.frameset.html new file mode 100644 index 0000000000..b138653798 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.html b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.html new file mode 100644 index 0000000000..aad3d884b1 --- /dev/null +++ b/mrs_uav_managers/src/estimation_manager/estimator.cpp.gcov.html @@ -0,0 +1,290 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/estimation_manager/estimator.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src/estimation_manager - estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:628572.9 %
Date:2024-02-24 08:13:25Functions:192382.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/estimation_manager/estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : /*//{ method implementations */
+       7             : /*//{ changeState() */
+       8        1828 : bool Estimator::changeState(SMStates_t new_state) {
+       9             : 
+      10        1828 :   if (new_state == getCurrentSmState()) {
+      11           0 :     return true;
+      12             :   }
+      13             : 
+      14        1828 :   previous_sm_state_ = getCurrentSmState();
+      15        1828 :   setCurrentSmState(new_state);
+      16             : 
+      17        1828 :   ROS_INFO("[%s]: Switching sm state %s -> %s", getPrintName().c_str(), getSmStateString(previous_sm_state_).c_str(), getCurrentSmStateString().c_str());
+      18        1828 :   return true;
+      19             : }
+      20             : /*//}*/
+      21             : 
+      22             : /*//{ isInState() */
+      23     6636798 : bool Estimator::isInState(const SMStates_t& state_in) const {
+      24     6636798 :   return state_in == getCurrentSmState();
+      25             : }
+      26             : /*//}*/
+      27             : 
+      28             : /*//{ isInitialized() */
+      29     2245722 : bool Estimator::isInitialized() const {
+      30     2245722 :   return !isInState(UNINITIALIZED_STATE);
+      31             : }
+      32             : /*//}*/
+      33             : 
+      34             : /*//{ isReady() */
+      35      300841 : bool Estimator::isReady() const {
+      36      300841 :   return isInState(READY_STATE);
+      37             : }
+      38             : /*//}*/
+      39             : 
+      40             : /*//{ isStarted() */
+      41       31609 : bool Estimator::isStarted() const {
+      42       31609 :   return isInState(STARTED_STATE);
+      43             : }
+      44             : /*//}*/
+      45             : 
+      46             : /*//{ isRunning() */
+      47     1429014 : bool Estimator::isRunning() const {
+      48     1429014 :   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     1101690 : bool Estimator::isError() const {
+      60     1101690 :   return isInState(ERROR_STATE);
+      61             : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ getCurrentSmState() */
+      65     7284124 : SMStates_t Estimator::getCurrentSmState() const {
+      66     7284124 :   return current_sm_state_;
+      67             : }
+      68             : /*//}*/
+      69             : 
+      70             : /*//{ setCurrentSmState() */
+      71        1828 : void Estimator::setCurrentSmState(const SMStates_t& new_state) {
+      72        1828 :   std::scoped_lock lock(mutex_current_state_);
+      73        1828 :   current_sm_state_ = new_state;
+      74        1828 : }
+      75             : /*//}*/
+      76             : 
+      77             : /*//{ getSmStateString() */
+      78        3656 : std::string Estimator::getSmStateString(const SMStates_t& state) const {
+      79        3656 :   return sm::state_names[state];
+      80             : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ getCurrentSmStateName() */
+      84        1828 : std::string Estimator::getCurrentSmStateString(void) const {
+      85        3656 :   return getSmStateString(getCurrentSmState());
+      86             : }
+      87             : /*//}*/
+      88             : 
+      89             : /*//{ isMitigatingJump() */
+      90      631530 : bool Estimator::isMitigatingJump(void) const {
+      91      631530 :   return is_mitigating_jump_;
+      92             : }
+      93             : /*//}*/
+      94             : 
+      95             : /*//{ getName() */
+      96      522183 : std::string Estimator::getName(void) const {
+      97      522183 :   return name_;
+      98             : }
+      99             : /*//}*/
+     100             : 
+     101             : /*//{ getPrintName() */
+     102        2736 : std::string Estimator::getPrintName(void) const {
+     103        5472 :   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      618280 : std::string Estimator::getFrameId(void) const {
+     115      618280 :   return ns_frame_id_;
+     116             : }
+     117             : /*//}*/
+     118             : 
+     119             : /*//{ getMaxFlightZ() */
+     120       15592 : double Estimator::getMaxFlightZ(void) const {
+     121       15592 :   return max_flight_z_;
+     122             : }
+     123             : /*//}*/
+     124             : 
+     125             : /*//{ publishDiagnostics() */
+     126      872454 : void Estimator::publishDiagnostics() const {
+     127             : 
+     128      872454 :   if (!ch_->debug_topics.diag) {
+     129      872408 :     return;
+     130             :   }
+     131             : 
+     132           2 :   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      244385 : tf2::Vector3 Estimator::getAccGlobal(const mrs_msgs::EstimatorInput::ConstPtr& input_msg, const double hdg) {
+     153             : 
+     154      487995 :   geometry_msgs::Vector3Stamped acc_stamped;
+     155      244029 :   acc_stamped.vector = input_msg->control_acceleration;
+     156      243984 :   acc_stamped.header = input_msg->header;
+     157      484315 :   return getAccGlobal(acc_stamped, hdg);
+     158             : }
+     159             : 
+     160      243935 : tf2::Vector3 Estimator::getAccGlobal(const geometry_msgs::Vector3Stamped& acc_stamped, const double hdg) {
+     161             : 
+     162             :   // untilt the desired acceleration vector
+     163      486112 :   geometry_msgs::Vector3Stamped des_acc;
+     164      243897 :   geometry_msgs::Vector3        des_acc_untilted;
+     165      244004 :   des_acc.vector.x        = acc_stamped.vector.x;
+     166      244004 :   des_acc.vector.y        = acc_stamped.vector.y;
+     167      244004 :   des_acc.vector.z        = acc_stamped.vector.z;
+     168      244004 :   des_acc.header.frame_id = ch_->frames.ns_fcu;
+     169      244086 :   des_acc.header.stamp    = acc_stamped.header.stamp;
+     170      488151 :   auto response_acc       = ch_->transformer->transformSingle(des_acc, ch_->frames.ns_fcu_untilted);
+     171      244451 :   if (response_acc) {
+     172      244451 :     des_acc_untilted.x = response_acc.value().vector.x;
+     173      244450 :     des_acc_untilted.y = response_acc.value().vector.y;
+     174      244451 :     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      244451 :   const tf2::Vector3 des_acc_global = Support::rotateVecByHdg(des_acc_untilted, hdg);
+     182             : 
+     183      484468 :   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&) const60
mrs_uav_managers::AglEstimator::publishAglHeight() const120495
mrs_uav_managers::AglEstimator::publishCovariance() const120495
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mrs_uav_managers::AglEstimator::publishAglHeight() const120495
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mrs_uav_managers::AglEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const60
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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      120495 : void AglEstimator::publishAglHeight() const {
+       8      120495 :   ph_agl_height_.publish(mrs_lib::get_mutexed(mtx_agl_height_, agl_height_));
+       9      120495 : }
+      10             : /*//}*/
+      11             : 
+      12             : /*//{ publishCovariance() */
+      13      120495 : void AglEstimator::publishCovariance() const {
+      14             : 
+      15      120495 :   if (!ch_->debug_topics.covariance) {
+      16      120495 :     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          60 : bool AglEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+      25             : 
+      26          60 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      27          60 :   ph_->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      28             : 
+      29          60 :   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          60 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+      35          60 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+      36          60 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+      37          60 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+      38          60 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+      39          60 :   ph_->param_loader->loadParam("requires/position", requires_position);
+      40          60 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+      41          60 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+      42          60 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+      43             : 
+      44          60 :   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          60 :   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          60 :   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          60 :   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          60 :   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          60 :   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          60 :   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          60 :   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          60 :   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          60 :   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          60 :   return true;
+      95             : }
+      96             : /*//}*/
+      97             : 
+      98             : }  // namespace mrs_uav_managers
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Test:MRS UAV System - Test coverage reportLines:8213560.7 %
Date:2024-02-24 08:13:25Functions:1313100.0 %
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agl_estimator.cpp +
58.8%58.8%
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state_estimator.cpp +
61.9%61.9%
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Current view:top level - mrs_uav_managers/src/estimation_manager/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8213560.7 %
Date:2024-02-24 08:13:25Functions:1313100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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agl_estimator.cpp +
58.8%58.8%
+ 		58.8 %30 / 51100.0 %3 / 3
state_estimator.cpp +
61.9%61.9%
+ 		61.9 %52 / 84100.0 %10 / 10
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Current view:top level - mrs_uav_managers/src/estimation_manager/estimatorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:8213560.7 %
Date:2024-02-24 08:13:25Functions:1313100.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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agl_estimator.cpp +
58.8%58.8%
+ 		58.8 %30 / 51100.0 %3 / 3
state_estimator.cpp +
61.9%61.9%
+ 		61.9 %52 / 84100.0 %10 / 10
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Current view:top level - mrs_uav_managers/src/estimation_manager/estimators - state_estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:528461.9 %
Date:2024-02-24 08:13:25Functions: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::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const85
mrs_uav_managers::StateEstimator::getInnovation() const142403
mrs_uav_managers::StateEstimator::getPoseCovariance() const142403
mrs_uav_managers::StateEstimator::getTwistCovariance() const142403
mrs_uav_managers::StateEstimator::getUavState()157679
mrs_uav_managers::StateEstimator::publishUavState() const164213
mrs_uav_managers::StateEstimator::publishOdom() const164229
mrs_uav_managers::StateEstimator::publishCovariance() const164230
mrs_uav_managers::StateEstimator::publishInnovation() const164230
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const332786
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Test:MRS UAV System - Test coverage reportLines:528461.9 %
Date:2024-02-24 08:13:25Functions: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::StateEstimator::getUavState()157679
mrs_uav_managers::StateEstimator::publishOdom() const164229
mrs_uav_managers::StateEstimator::getInnovation() const142403
mrs_uav_managers::StateEstimator::publishUavState() const164213
mrs_uav_managers::StateEstimator::getPoseCovariance() const142403
mrs_uav_managers::StateEstimator::publishCovariance() const164230
mrs_uav_managers::StateEstimator::publishInnovation() const164230
mrs_uav_managers::StateEstimator::getTwistCovariance() const142403
mrs_uav_managers::StateEstimator::isCompatibleWithHwApi(boost::shared_ptr<mrs_msgs::HwApiCapabilities_<std::allocator<void> > const> const&) const85
mrs_uav_managers::StateEstimator::rotateQuaternionByHeading(geometry_msgs::Quaternion_<std::allocator<void> > const&, double) const332786
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_managers/src/estimation_manager/estimators - state_estimator.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:528461.9 %
Date:2024-02-24 08:13:25Functions:1010100.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #include <mrs_uav_managers/state_estimator.h>
+       2             : 
+       3             : namespace mrs_uav_managers
+       4             : {
+       5             : 
+       6             : 
+       7             : /*//{ getUavState() */
+       8      157679 : std::optional<mrs_msgs::UavState> StateEstimator::getUavState() {
+       9             : 
+      10      157679 :   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      315323 :   return mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      16             : }
+      17             : /*//}*/
+      18             : 
+      19             : /*//{ getInnovation() */
+      20      142403 : nav_msgs::Odometry StateEstimator::getInnovation() const {
+      21      142403 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_);
+      22             : }
+      23             : /*//}*/
+      24             : 
+      25             : /*//{ getPoseCovariance() */
+      26      142403 : std::vector<double> StateEstimator::getPoseCovariance() const {
+      27      142403 :   return mrs_lib::get_mutexed(mtx_covariance_, pose_covariance_.values);
+      28             : }
+      29             : /*//}*/
+      30             : 
+      31             : /*//{ getTwistCovariance() */
+      32      142403 : std::vector<double> StateEstimator::getTwistCovariance() const {
+      33      142403 :   return mrs_lib::get_mutexed(mtx_covariance_, twist_covariance_.values);
+      34             : }
+      35             : /*//}*/
+      36             : 
+      37             : /*//{ publishUavState() */
+      38      164213 : void StateEstimator::publishUavState() const {
+      39             : 
+      40      164213 :   if (!ch_->debug_topics.state) {
+      41           0 :     return;
+      42             :   }
+      43             : 
+      44      328031 :   auto uav_state = mrs_lib::get_mutexed(mtx_uav_state_, uav_state_);
+      45      164000 :   ph_uav_state_.publish(uav_state);
+      46             : }
+      47             : /*//}*/
+      48             : 
+      49             : /*//{ publishOdom() */
+      50      164229 : void StateEstimator::publishOdom() const {
+      51             : 
+      52      328459 :   auto odom = mrs_lib::get_mutexed(mtx_odom_, odom_);
+      53      164229 :   ph_odom_.publish(odom);
+      54      164230 : }
+      55             : /*//}*/
+      56             : 
+      57             : /*//{ publishCovariance() */
+      58      164230 : void StateEstimator::publishCovariance() const {
+      59             : 
+      60      164230 :   if (!ch_->debug_topics.covariance) {
+      61      164230 :     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      164230 : void StateEstimator::publishInnovation() const {
+      73             : 
+      74      164230 :   if (!ch_->debug_topics.innovation) {
+      75      164230 :     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      332786 : std::optional<geometry_msgs::Quaternion> StateEstimator::rotateQuaternionByHeading(const geometry_msgs::Quaternion& q, const double hdg) const {
+      85             : 
+      86             :   try {
+      87      332786 :     tf2::Quaternion tf2_q = mrs_lib::AttitudeConverter(q);
+      88             : 
+      89             :     // Obtain heading from quaternion
+      90      332103 :     double q_hdg = 0;
+      91      332103 :     q_hdg        = mrs_lib::AttitudeConverter(q).getHeading();
+      92             : 
+      93             :     // Build rotation matrix from difference between new heading and quaternion heading
+      94      331666 :     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      331197 :     geometry_msgs::Quaternion q_new = mrs_lib::AttitudeConverter(tf2::Transform(rot_mat) * tf2_q);
+      98      330233 :     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          85 : bool StateEstimator::isCompatibleWithHwApi(const mrs_msgs::HwApiCapabilitiesConstPtr& hw_api_capabilities) const {
+     109             : 
+     110          85 :   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          85 :   ph_->param_loader->loadParam("requires/gnss", requires_gnss);
+     116          85 :   ph_->param_loader->loadParam("requires/imu", requires_imu);
+     117          85 :   ph_->param_loader->loadParam("requires/distance_sensor", requires_distance_sensor);
+     118          85 :   ph_->param_loader->loadParam("requires/altitude", requires_altitude);
+     119          85 :   ph_->param_loader->loadParam("requires/magnetometer_heading", requires_magnetometer_heading);
+     120          85 :   ph_->param_loader->loadParam("requires/position", requires_position);
+     121          85 :   ph_->param_loader->loadParam("requires/orientation", requires_orientation);
+     122          85 :   ph_->param_loader->loadParam("requires/velocity", requires_velocity);
+     123          85 :   ph_->param_loader->loadParam("requires/angular_velocity", requires_angular_velocity);
+     124             : 
+     125          85 :   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          85 :   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          85 :   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          85 :   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          85 :   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          85 :   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          85 :   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          85 :   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          85 :   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          85 :   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          85 :   return true;
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : }  // namespace mrs_uav_managers
+
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Test:MRS UAV System - Test coverage reportLines:43361970.0 %
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estimator.cpp +
72.9%72.9%
+ 		72.9 %62 / 8582.6 %19 / 23
<unnamed>72.9 %62 / 8582.6 %19 / 23
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mrs_uav_managers::gain_manager::GainManager::callbackSetGains(mrs_msgs::StringRequest_<std::allocator<void> >&, mrs_msgs::StringResponse_<std::allocator<void> >&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::gain_manager::GainManager::onInit()81
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)81
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&)1786
mrs_uav_managers::gain_manager::GainManager::timerDiagnostics(ros::TimerEvent const&)1901
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)19381
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Date:2024-02-24 08:13:25Functions:6785.7 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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&)1786
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&)1901
mrs_uav_managers::gain_manager::GainManager::timerGainManagement(ros::TimerEvent const&)19381
mrs_uav_managers::gain_manager::GainManager::onInit()81
mrs_uav_managers::gain_manager::GainManager::setGains(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)81
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <std_msgs/String.h>
+       7             : 
+       8             : #include <mrs_msgs/String.h>
+       9             : #include <mrs_msgs/EstimationDiagnostics.h>
+      10             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      11             : #include <mrs_msgs/GainManagerDiagnostics.h>
+      12             : 
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/scope_timer.h>
+      15             : #include <mrs_lib/param_loader.h>
+      16             : #include <mrs_lib/mutex.h>
+      17             : #include <mrs_lib/publisher_handler.h>
+      18             : #include <mrs_lib/service_client_handler.h>
+      19             : #include <mrs_lib/subscribe_handler.h>
+      20             : 
+      21             : #include <dynamic_reconfigure/ReconfigureRequest.h>
+      22             : #include <dynamic_reconfigure/Reconfigure.h>
+      23             : #include <dynamic_reconfigure/Config.h>
+      24             : 
+      25             : //}
+      26             : 
+      27             : namespace mrs_uav_managers
+      28             : {
+      29             : 
+      30             : namespace gain_manager
+      31             : {
+      32             : 
+      33             : /* //{ class GainManager */
+      34             : 
+      35             : typedef struct
+      36             : {
+      37             : 
+      38             :   double kpxy, kiwxy, kibxy, kvxy, kaxy;
+      39             :   double kpz, kvz, kaz;
+      40             :   double kiwxy_lim, kibxy_lim;
+      41             :   double km, km_lim;
+      42             :   double kqrp, kqy;
+      43             : 
+      44             :   std::string name;
+      45             : 
+      46             : } Gains_t;
+      47             : 
+      48             : class GainManager : public nodelet::Nodelet {
+      49             : 
+      50             : public:
+      51             :   virtual void onInit();
+      52             : 
+      53             : private:
+      54             :   ros::NodeHandle nh_;
+      55             : 
+      56             :   std::atomic<bool> is_initialized_ = false;
+      57             : 
+      58             :   // | ----------------------- parameters ----------------------- |
+      59             : 
+      60             :   std::vector<std::string> _current_state_estimators_;
+      61             : 
+      62             :   std::vector<std::string>       _gain_names_;
+      63             :   std::map<std::string, Gains_t> _gains_;
+      64             : 
+      65             :   std::map<std::string, std::vector<std::string>> _map_type_allowed_gains_;
+      66             :   std::map<std::string, std::string>              _map_type_default_gains_;
+      67             :   ;
+      68             : 
+      69             :   // | --------------------- service clients -------------------- |
+      70             : 
+      71             :   ros::ServiceClient service_client_set_gains_;
+      72             : 
+      73             :   // | ----------------------- subscribers ---------------------- |
+      74             : 
+      75             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>     sh_estimation_diag_;
+      76             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+      77             : 
+      78             :   // | --------------------- gain management -------------------- |
+      79             : 
+      80             :   bool setGains(std::string gains_name);
+      81             : 
+      82             :   ros::ServiceServer service_server_set_gains_;
+      83             :   bool               callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res);
+      84             : 
+      85             :   std::string last_estimator_name_;
+      86             :   std::mutex  mutex_last_estimator_name_;
+      87             : 
+      88             :   void       timerGainManagement(const ros::TimerEvent& event);
+      89             :   ros::Timer timer_gain_management_;
+      90             :   double     _gain_management_rate_;
+      91             : 
+      92             :   std::string current_gains_;
+      93             :   std::mutex  mutex_current_gains_;
+      94             : 
+      95             :   // | ------------------ diagnostics publisher ----------------- |
+      96             : 
+      97             :   mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics> ph_diagnostics_;
+      98             : 
+      99             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     100             :   ros::Timer timer_diagnostics_;
+     101             :   double     _diagnostics_rate_;
+     102             : 
+     103             :   // | ------------------------ profiler ------------------------ |
+     104             : 
+     105             :   mrs_lib::Profiler profiler_;
+     106             :   bool              _profiler_enabled_ = false;
+     107             : 
+     108             :   // | ------------------- scope timer logger ------------------- |
+     109             : 
+     110             :   bool                                       scope_timer_enabled_ = false;
+     111             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     112             : 
+     113             :   // | ------------------------- helpers ------------------------ |
+     114             : 
+     115             :   bool stringInVector(const std::string& value, const std::vector<std::string>& vector);
+     116             : };
+     117             : 
+     118             : //}
+     119             : 
+     120             : /* //{ onInit() */
+     121             : 
+     122          81 : void GainManager::onInit() {
+     123             : 
+     124         162 :   ros::NodeHandle nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     125             : 
+     126          81 :   ros::Time::waitForValid();
+     127             : 
+     128          81 :   ROS_INFO("[GainManager]: initializing");
+     129             : 
+     130             :   // | ------------------------- params ------------------------- |
+     131             : 
+     132         162 :   mrs_lib::ParamLoader param_loader(nh_, "GainManager");
+     133             : 
+     134         162 :   std::string custom_config_path;
+     135         162 :   std::string platform_config_path;
+     136             : 
+     137          81 :   param_loader.loadParam("custom_config", custom_config_path);
+     138          81 :   param_loader.loadParam("platform_config", platform_config_path);
+     139             : 
+     140          81 :   if (custom_config_path != "") {
+     141          81 :     param_loader.addYamlFile(custom_config_path);
+     142             :   }
+     143             : 
+     144          81 :   if (platform_config_path != "") {
+     145          81 :     param_loader.addYamlFile(platform_config_path);
+     146             :   }
+     147             : 
+     148          81 :   param_loader.addYamlFileFromParam("private_config");
+     149          81 :   param_loader.addYamlFileFromParam("public_config");
+     150          81 :   param_loader.addYamlFileFromParam("public_gains");
+     151             : 
+     152         162 :   const std::string yaml_prefix = "mrs_uav_managers/gain_manager/";
+     153             : 
+     154             :   // params passed from the launch file are not prefixed
+     155          81 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     156             : 
+     157          81 :   param_loader.loadParam(yaml_prefix + "gains", _gain_names_);
+     158             : 
+     159          81 :   param_loader.loadParam(yaml_prefix + "estimator_types", _current_state_estimators_);
+     160             : 
+     161          81 :   param_loader.loadParam(yaml_prefix + "rate", _gain_management_rate_);
+     162          81 :   param_loader.loadParam(yaml_prefix + "diagnostics_rate", _diagnostics_rate_);
+     163             : 
+     164             :   // | ------------------- scope timer logger ------------------- |
+     165             : 
+     166          81 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     167         243 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     168          81 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     169             : 
+     170          81 :   std::vector<std::string>::iterator it;
+     171             : 
+     172             :   // loading gain_names
+     173         243 :   for (it = _gain_names_.begin(); it != _gain_names_.end(); ++it) {
+     174             : 
+     175         162 :     ROS_INFO_STREAM("[GainManager]: loading gains '" << *it << "'");
+     176             : 
+     177         162 :     Gains_t new_gains;
+     178             : 
+     179         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kp", new_gains.kpxy);
+     180         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kv", new_gains.kvxy);
+     181         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/ka", new_gains.kaxy);
+     182         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib", new_gains.kibxy);
+     183         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw", new_gains.kiwxy);
+     184         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kib_lim", new_gains.kibxy_lim);
+     185         162 :     param_loader.loadParam(yaml_prefix + *it + "/horizontal/kiw_lim", new_gains.kiwxy_lim);
+     186             : 
+     187         162 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kp", new_gains.kpz);
+     188         162 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/kv", new_gains.kvz);
+     189         162 :     param_loader.loadParam(yaml_prefix + *it + "/vertical/ka", new_gains.kaz);
+     190             : 
+     191         162 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_roll_pitch", new_gains.kqrp);
+     192         162 :     param_loader.loadParam(yaml_prefix + *it + "/attitude/kq_yaw", new_gains.kqy);
+     193             : 
+     194         162 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km", new_gains.km);
+     195         162 :     param_loader.loadParam(yaml_prefix + *it + "/mass_estimator/km_lim", new_gains.km_lim);
+     196             : 
+     197         162 :     _gains_.insert(std::pair<std::string, Gains_t>(*it, new_gains));
+     198             :   }
+     199             : 
+     200             :   // loading the allowed gains lists
+     201         648 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     202             : 
+     203         567 :     std::vector<std::string> temp_vector;
+     204         567 :     param_loader.loadParam(yaml_prefix + "allowed_gains/" + *it, temp_vector);
+     205             : 
+     206         567 :     std::vector<std::string>::iterator it2;
+     207        1701 :     for (it2 = temp_vector.begin(); it2 != temp_vector.end(); ++it2) {
+     208        1134 :       if (!stringInVector(*it2, _gain_names_)) {
+     209           0 :         ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", it2->c_str(), it->c_str());
+     210           0 :         ros::shutdown();
+     211             :       }
+     212             :     }
+     213             : 
+     214         567 :     _map_type_allowed_gains_.insert(std::pair<std::string, std::vector<std::string>>(*it, temp_vector));
+     215             :   }
+     216             : 
+     217             :   // loading the default gains
+     218         648 :   for (it = _current_state_estimators_.begin(); it != _current_state_estimators_.end(); ++it) {
+     219             : 
+     220         567 :     std::string temp_str;
+     221         567 :     param_loader.loadParam(yaml_prefix + "default_gains/" + *it, temp_str);
+     222             : 
+     223         567 :     if (!stringInVector(temp_str, _map_type_allowed_gains_.at(*it))) {
+     224           0 :       ROS_ERROR("[GainManager]: the element '%s' of %s/allowed_gains is not a valid gain!", temp_str.c_str(), it->c_str());
+     225           0 :       ros::shutdown();
+     226             :     }
+     227             : 
+     228         567 :     _map_type_default_gains_.insert(std::pair<std::string, std::string>(*it, temp_str));
+     229             :   }
+     230             : 
+     231          81 :   ROS_INFO("[GainManager]: done loading dynamical params");
+     232             : 
+     233          81 :   current_gains_       = "";
+     234          81 :   last_estimator_name_ = "";
+     235             : 
+     236             :   // | ------------------------ services ------------------------ |
+     237             : 
+     238          81 :   service_server_set_gains_ = nh_.advertiseService("set_gains_in", &GainManager::callbackSetGains, this);
+     239             : 
+     240          81 :   service_client_set_gains_ = nh_.serviceClient<dynamic_reconfigure::Reconfigure>("set_gains_out");
+     241             : 
+     242             :   // | ----------------------- subscribers ---------------------- |
+     243             : 
+     244         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     245          81 :   shopts.nh                 = nh_;
+     246          81 :   shopts.node_name          = "GainManager";
+     247          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     248          81 :   shopts.threadsafe         = true;
+     249          81 :   shopts.autostart          = true;
+     250          81 :   shopts.queue_size         = 10;
+     251          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     252             : 
+     253          81 :   sh_estimation_diag_      = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "estimation_diagnostics_in");
+     254          81 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     255             : 
+     256             :   // | ----------------------- publishers ----------------------- |
+     257             : 
+     258          81 :   ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::GainManagerDiagnostics>(nh_, "diagnostics_out", 10);
+     259             : 
+     260             :   // | ------------------------- timers ------------------------- |
+     261             : 
+     262          81 :   timer_gain_management_ = nh_.createTimer(ros::Rate(_gain_management_rate_), &GainManager::timerGainManagement, this);
+     263          81 :   timer_diagnostics_     = nh_.createTimer(ros::Rate(_diagnostics_rate_), &GainManager::timerDiagnostics, this);
+     264             : 
+     265             :   // | ------------------------ profiler ------------------------ |
+     266             : 
+     267          81 :   profiler_ = mrs_lib::Profiler(nh_, "GainManager", _profiler_enabled_);
+     268             : 
+     269             :   // | ----------------------- finish init ---------------------- |
+     270             : 
+     271          81 :   if (!param_loader.loadedSuccessfully()) {
+     272           0 :     ROS_ERROR("[GainManager]: could not load all parameters!");
+     273           0 :     ros::shutdown();
+     274             :   }
+     275             : 
+     276          81 :   is_initialized_ = true;
+     277             : 
+     278          81 :   ROS_INFO("[GainManager]: initialized");
+     279             : 
+     280          81 :   ROS_DEBUG("[GainManager]: debug output is enabled");
+     281          81 : }
+     282             : 
+     283             : //}
+     284             : 
+     285             : // --------------------------------------------------------------
+     286             : // |                           methods                          |
+     287             : // --------------------------------------------------------------
+     288             : 
+     289             : /* setGains() //{ */
+     290             : 
+     291          81 : bool GainManager::setGains(std::string gains_name) {
+     292             : 
+     293          81 :   std::map<std::string, Gains_t>::iterator it;
+     294          81 :   it = _gains_.find(gains_name);
+     295             : 
+     296          81 :   if (it == _gains_.end()) {
+     297           0 :     ROS_WARN("[GainManager]: can not set gains for '%s', the mode is not on a list!", gains_name.c_str());
+     298           0 :     return false;
+     299             :   }
+     300             : 
+     301         162 :   dynamic_reconfigure::Config          conf;
+     302         162 :   dynamic_reconfigure::DoubleParameter param;
+     303             : 
+     304          81 :   param.name  = "kpxy";
+     305          81 :   param.value = it->second.kpxy;
+     306          81 :   conf.doubles.push_back(param);
+     307             : 
+     308          81 :   param.name  = "kvxy";
+     309          81 :   param.value = it->second.kvxy;
+     310          81 :   conf.doubles.push_back(param);
+     311             : 
+     312          81 :   param.name  = "kaxy";
+     313          81 :   param.value = it->second.kaxy;
+     314          81 :   conf.doubles.push_back(param);
+     315             : 
+     316          81 :   param.name  = "kq_roll_pitch";
+     317          81 :   param.value = it->second.kqrp;
+     318          81 :   conf.doubles.push_back(param);
+     319             : 
+     320          81 :   param.name  = "kibxy";
+     321          81 :   param.value = it->second.kibxy;
+     322          81 :   conf.doubles.push_back(param);
+     323             : 
+     324          81 :   param.name  = "kiwxy";
+     325          81 :   param.value = it->second.kiwxy;
+     326          81 :   conf.doubles.push_back(param);
+     327             : 
+     328          81 :   param.name  = "kibxy_lim";
+     329          81 :   param.value = it->second.kibxy_lim;
+     330          81 :   conf.doubles.push_back(param);
+     331             : 
+     332          81 :   param.name  = "kiwxy_lim";
+     333          81 :   param.value = it->second.kiwxy_lim;
+     334          81 :   conf.doubles.push_back(param);
+     335             : 
+     336          81 :   param.name  = "kpz";
+     337          81 :   param.value = it->second.kpz;
+     338          81 :   conf.doubles.push_back(param);
+     339             : 
+     340          81 :   param.name  = "kvz";
+     341          81 :   param.value = it->second.kvz;
+     342          81 :   conf.doubles.push_back(param);
+     343             : 
+     344          81 :   param.name  = "kaz";
+     345          81 :   param.value = it->second.kaz;
+     346          81 :   conf.doubles.push_back(param);
+     347             : 
+     348          81 :   param.name  = "kq_yaw";
+     349          81 :   param.value = it->second.kqy;
+     350          81 :   conf.doubles.push_back(param);
+     351             : 
+     352          81 :   param.name  = "km";
+     353          81 :   param.value = it->second.km;
+     354          81 :   conf.doubles.push_back(param);
+     355             : 
+     356          81 :   param.name  = "km_lim";
+     357          81 :   param.value = it->second.km_lim;
+     358          81 :   conf.doubles.push_back(param);
+     359             : 
+     360         162 :   dynamic_reconfigure::ReconfigureRequest  srv_req;
+     361         162 :   dynamic_reconfigure::ReconfigureResponse srv_resp;
+     362             : 
+     363          81 :   srv_req.config = conf;
+     364             : 
+     365         162 :   dynamic_reconfigure::Reconfigure reconf;
+     366          81 :   reconf.request = srv_req;
+     367             : 
+     368          81 :   ROS_INFO_THROTTLE(1.0, "[GainManager]: setting up gains for '%s'", gains_name.c_str());
+     369             : 
+     370          81 :   bool res = service_client_set_gains_.call(reconf);
+     371             : 
+     372          81 :   if (!res) {
+     373             : 
+     374           0 :     ROS_WARN_THROTTLE(1.0, "[GainManager]: the service for setting gains has failed!");
+     375           0 :     return false;
+     376             : 
+     377             :   } else {
+     378             : 
+     379          81 :     mrs_lib::set_mutexed(mutex_current_gains_, gains_name, current_gains_);
+     380             : 
+     381          81 :     return true;
+     382             :   }
+     383             : }
+     384             : 
+     385             : //}
+     386             : 
+     387             : // --------------------------------------------------------------
+     388             : // |                          callbacks                         |
+     389             : // --------------------------------------------------------------
+     390             : 
+     391             : // | -------------------- service callbacks ------------------- |
+     392             : 
+     393             : /* //{ callbackSetGains() */
+     394             : 
+     395           0 : bool GainManager::callbackSetGains(mrs_msgs::String::Request& req, mrs_msgs::String::Response& res) {
+     396             : 
+     397           0 :   if (!is_initialized_) {
+     398           0 :     return false;
+     399             :   }
+     400             : 
+     401           0 :   std::stringstream ss;
+     402             : 
+     403           0 :   if (!sh_estimation_diag_.hasMsg()) {
+     404             : 
+     405           0 :     ss << "missing estimation diagnostics";
+     406             : 
+     407           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     408             : 
+     409           0 :     res.message = ss.str();
+     410           0 :     res.success = false;
+     411           0 :     return true;
+     412             :   }
+     413             : 
+     414           0 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     415             : 
+     416           0 :   if (!stringInVector(req.value, _gain_names_)) {
+     417             : 
+     418           0 :     ss << "the gains '" << req.value.c_str() << "' do not exist (in the GainManager's config)";
+     419             : 
+     420           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     421             : 
+     422           0 :     res.message = ss.str();
+     423           0 :     res.success = false;
+     424           0 :     return true;
+     425             :   }
+     426             : 
+     427           0 :   if (!stringInVector(req.value, _map_type_allowed_gains_.at(estimation_diagnostics->current_state_estimator))) {
+     428             : 
+     429           0 :     ss << "the gains '" << req.value.c_str() << "' are not allowed given the current state estimator";
+     430             : 
+     431           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     432             : 
+     433           0 :     res.message = ss.str();
+     434           0 :     res.success = false;
+     435           0 :     return true;
+     436             :   }
+     437             : 
+     438             :   // try to set the gains
+     439           0 :   if (!setGains(req.value)) {
+     440             : 
+     441           0 :     ss << "the Se3Controller could not set the gains";
+     442             : 
+     443           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     444             : 
+     445           0 :     res.message = ss.str();
+     446           0 :     res.success = false;
+     447           0 :     return true;
+     448             : 
+     449             :   } else {
+     450             : 
+     451           0 :     ss << "the gains '" << req.value.c_str() << "' are set";
+     452             : 
+     453           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[GainManager]: " << ss.str());
+     454             : 
+     455           0 :     res.message = ss.str();
+     456           0 :     res.success = true;
+     457           0 :     return true;
+     458             :   }
+     459             : }
+     460             : 
+     461             : //}
+     462             : 
+     463             : // --------------------------------------------------------------
+     464             : // |                           timers                           |
+     465             : // --------------------------------------------------------------
+     466             : 
+     467             : /* timerGainManagement() //{ */
+     468             : 
+     469       19381 : void GainManager::timerGainManagement(const ros::TimerEvent& event) {
+     470             : 
+     471       19381 :   if (!is_initialized_) {
+     472        4152 :     return;
+     473             :   }
+     474             : 
+     475       38762 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("gainManagementTimer", _gain_management_rate_, 0.01, event);
+     476       38762 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::gainManagementTimer", scope_timer_logger_, scope_timer_enabled_);
+     477             : 
+     478       19381 :   if (!sh_estimation_diag_.hasMsg()) {
+     479        4152 :     return;
+     480             :   }
+     481             : 
+     482       15229 :   if (!sh_control_manager_diag_.hasMsg()) {
+     483           0 :     return;
+     484             :   }
+     485             : 
+     486       30458 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     487             : 
+     488       30458 :   auto control_manager_diagnostics = sh_estimation_diag_.getMsg();
+     489             : 
+     490       30458 :   auto current_gains       = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     491       15229 :   auto last_estimator_name = mrs_lib::get_mutexed(mutex_last_estimator_name_, last_estimator_name_);
+     492             : 
+     493             :   // | --- automatically set _gains_ when currrent state estimator changes -- |
+     494       15229 :   if (estimation_diagnostics->current_state_estimator != last_estimator_name) {
+     495             : 
+     496          85 :     ROS_INFO_THROTTLE(1.0, "[GainManager]: the state estimator has changed! %s -> %s", last_estimator_name_.c_str(),
+     497             :                       estimation_diagnostics->current_state_estimator.c_str());
+     498             : 
+     499          85 :     std::map<std::string, std::string>::iterator it;
+     500          85 :     it = _map_type_default_gains_.find(estimation_diagnostics->current_state_estimator);
+     501             : 
+     502          85 :     if (it == _map_type_default_gains_.end()) {
+     503             : 
+     504           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the state estimator '%s' was not specified in the gain_manager's config!",
+     505             :                         estimation_diagnostics->current_state_estimator.c_str());
+     506             : 
+     507             :     } else {
+     508             : 
+     509             :       // if the current gains are within the allowed estimator types, do nothing
+     510          85 :       if (stringInVector(current_gains, _map_type_allowed_gains_.at(estimation_diagnostics->current_state_estimator))) {
+     511             : 
+     512           4 :         last_estimator_name = estimation_diagnostics->current_state_estimator;
+     513             : 
+     514             :         // else, try to set the default gains
+     515             :       } else {
+     516             : 
+     517          81 :         ROS_WARN_THROTTLE(1.0, "[GainManager]: the current gains '%s' are not within the allowed gains for '%s'", current_gains.c_str(),
+     518             :                           estimation_diagnostics->current_state_estimator.c_str());
+     519             : 
+     520          81 :         if (setGains(it->second)) {
+     521             : 
+     522          81 :           last_estimator_name = estimation_diagnostics->current_state_estimator;
+     523             : 
+     524          81 :           ROS_INFO_THROTTLE(1.0, "[GainManager]: gains set to default: '%s'", it->second.c_str());
+     525             : 
+     526             :         } else {
+     527             : 
+     528           0 :           ROS_WARN_THROTTLE(1.0, "[GainManager]: could not set gains!");
+     529             :         }
+     530             :       }
+     531             :     }
+     532             :   }
+     533             : 
+     534       15229 :   mrs_lib::set_mutexed(mutex_last_estimator_name_, last_estimator_name, last_estimator_name_);
+     535             : }
+     536             : 
+     537             : //}
+     538             : 
+     539             : /* timerDiagnostics() //{ */
+     540             : 
+     541        1901 : void GainManager::timerDiagnostics(const ros::TimerEvent& event) {
+     542             : 
+     543        1901 :   if (!is_initialized_) {
+     544         402 :     return;
+     545             :   }
+     546             : 
+     547        3802 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.01, event);
+     548        3802 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("GainManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+     549             : 
+     550        1901 :   if (!sh_estimation_diag_.hasMsg()) {
+     551         400 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing estimator diagnostics!");
+     552         400 :     return;
+     553             :   }
+     554             : 
+     555        1501 :   if (!sh_control_manager_diag_.hasMsg()) {
+     556           0 :     ROS_WARN_THROTTLE(10.0, "[GainManager]: can not do gain management, missing control manager diagnostics!");
+     557           0 :     return;
+     558             :   }
+     559             : 
+     560        1501 :   auto current_gains = mrs_lib::get_mutexed(mutex_current_gains_, current_gains_);
+     561             : 
+     562        1501 :   if (current_gains == "") { // this could happend just before timerGainManagement() finishes
+     563           2 :     return;
+     564             :   }
+     565             : 
+     566        1499 :   auto estimation_diagnostics = sh_estimation_diag_.getMsg();
+     567             : 
+     568        1499 :   mrs_msgs::GainManagerDiagnostics diagnostics;
+     569             : 
+     570        1499 :   diagnostics.stamp        = ros::Time::now();
+     571        1499 :   diagnostics.current_name = current_gains;
+     572        1499 :   diagnostics.loaded       = _gain_names_;
+     573             : 
+     574             :   // get the available gains
+     575             :   {
+     576        1499 :     std::map<std::string, std::vector<std::string>>::iterator it;
+     577        1499 :     it = _map_type_allowed_gains_.find(estimation_diagnostics->current_state_estimator);
+     578             : 
+     579        1499 :     if (it == _map_type_allowed_gains_.end()) {
+     580           0 :       ROS_WARN_THROTTLE(1.0, "[GainManager]: the estimator name '%s' was not specified in the gain_manager's config!",
+     581             :                         estimation_diagnostics->current_state_estimator.c_str());
+     582             :     } else {
+     583        1499 :       diagnostics.available = it->second;
+     584             :     }
+     585             :   }
+     586             : 
+     587             :   // get the current gain values
+     588             :   {
+     589        1499 :     std::map<std::string, Gains_t>::iterator it;
+     590        1499 :     it = _gains_.find(current_gains);
+     591             : 
+     592        1499 :     if (it == _gains_.end()) {
+     593           0 :       ROS_ERROR("[GainManager]: current gains '%s' not found in the gain list!", current_gains.c_str());
+     594           0 :       return;
+     595             :     }
+     596             : 
+     597        1499 :     diagnostics.current_values.kpxy = it->second.kpxy;
+     598        1499 :     diagnostics.current_values.kvxy = it->second.kvxy;
+     599        1499 :     diagnostics.current_values.kaxy = it->second.kaxy;
+     600             : 
+     601        1499 :     diagnostics.current_values.kqrp = it->second.kqrp;
+     602             : 
+     603        1499 :     diagnostics.current_values.kibxy     = it->second.kibxy;
+     604        1499 :     diagnostics.current_values.kibxy_lim = it->second.kibxy_lim;
+     605             : 
+     606        1499 :     diagnostics.current_values.kiwxy     = it->second.kiwxy;
+     607        1499 :     diagnostics.current_values.kiwxy_lim = it->second.kiwxy_lim;
+     608             : 
+     609        1499 :     diagnostics.current_values.kpz = it->second.kpz;
+     610        1499 :     diagnostics.current_values.kvz = it->second.kvz;
+     611        1499 :     diagnostics.current_values.kaz = it->second.kaz;
+     612             : 
+     613        1499 :     diagnostics.current_values.kqy = it->second.kqy;
+     614             : 
+     615        1499 :     diagnostics.current_values.km     = it->second.km;
+     616        1499 :     diagnostics.current_values.km_lim = it->second.km_lim;
+     617             :   }
+     618             : 
+     619        1499 :   ph_diagnostics_.publish(diagnostics);
+     620             : }
+     621             : 
+     622             : //}
+     623             : 
+     624             : // --------------------------------------------------------------
+     625             : // |                          routines                          |
+     626             : // --------------------------------------------------------------
+     627             : 
+     628             : /* stringInVector() //{ */
+     629             : 
+     630        1786 : bool GainManager::stringInVector(const std::string& value, const std::vector<std::string>& vector) {
+     631             : 
+     632        1786 :   if (std::find(vector.begin(), vector.end(), value) == vector.end()) {
+     633          81 :     return false;
+     634             :   } else {
+     635        1705 :     return true;
+     636             :   }
+     637             : }
+     638             : 
+     639             : //}
+     640             : 
+     641             : }  // namespace gain_manager
+     642             : 
+     643             : }  // namespace mrs_uav_managers
+     644             : 
+     645             : #include <pluginlib/class_list_macros.h>
+     646          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_managers::gain_manager::GainManager, nodelet::Nodelet)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/gain_manager.cpp.gcov.overview.html b/mrs_uav_managers/src/gain_manager.cpp.gcov.overview.html new file mode 100644 index 0000000000..dedda4d668 --- /dev/null +++ b/mrs_uav_managers/src/gain_manager.cpp.gcov.overview.html @@ -0,0 +1,182 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/gain_manager.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + diff --git a/mrs_uav_managers/src/gain_manager.cpp.gcov.png b/mrs_uav_managers/src/gain_manager.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..d110525c20af4a9b9096484c1d30854f1a2f9740 GIT binary patch literal 2126 zcmV-U2(kBxP)t0{{R3FUJ9e0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vppld4^h(U3noG=)3MAvK}NizZRd91)^6kcP1(FhZk-Lp-I z04wHU@i_T?gyP8*M}y)$!>;SV3%XuT!&uuaBIKPcZJ@j`H|u7L<-oqG09W(Gq3F%i z0xk@}J!f*_Z;nARimN~nNt;*Tx`Ifs&M?dmAyzqyoJ@R5UQju0ZjoeE=p4lbM&<<) zA2iaI)2mGl-4x$%7m^y_+xI>@(WDgdHz*L{-2kr$;y}#{_&0CD#C}ubwRAH`eA3N| z7Mx^j03#Qp!Yt0Ie_D?@i~}EdK9wq>5}3tQFtJdXIGgCt2{!A-7+E+lW4Z4 zj7;f~k!WV$FuX{G<^^WZ6T%=L!uaS#M7@T!hUW;g9)U2sHi1u9yf4fs8a$tw8;V7h;Bzer4yo5)xWnGgv%>@=x zGljW(UvbYx0P2oCx40d(g1_Y!OUrSGgvpvxfF=M=Qp{Q1rzrw&wkof74d8k(;)>)w zRUUzYayLW35eT*58U~zDI65PCdbry-YN#ij()AgsfOd5M#GXr|9VHV3Pq!GNXt`hS30iYHKdT0+&Mvo!0xdbR=YcF>j=w3;7tvtmxk7~AS?=kL=2a4wuKK3jj zgfnALU{j?Zj!JFShsj4M-1V=6sVChG>-z-iWL|MmF&amCV3I+4ofPZ2+vD9{pdIhW z`TTkw{-gJ+<4AyyN;`o^4G@6xJLhCF94+dc;%djO@OYKuny=U7;yJGFoC}Lsm~~)* zOfP#uVBLF|UiOgo9(9HHWT8g~b7nT}PYdrRyJP^ZGt_|GuH`pV6ZK%5Nd2>Gi{jo( zQT{-za7VQhds2y)Xfo4{6g@D$VXB7&YDbaWr^vf*0v*N1o|GqwMAQIewsdh;uE~H? zBvz>bxn0Yj+J{|N+PUX=l-<#+s8K_O(}vMA!bk$nxz|%eA({VoA zgx&oAt2MkY3;IYRa z(ciT~b374YsvB&(FSn5H8lF!oZO?ST=^meAe(Hx>y|Ye=td1I?m@F!uU~Lhf&5Mpj z1+$quP)mDB(b0(G0+rab_cUeS8{Tb!+yjUUuBLpOU4>$Q;L=@%v}8D~vL7l!ULuz= zdlhj+VeJV2%^x$5Nb#tR#82)4JfeVA+Cx(N2sKOb;m$dq&JxKM>LA68MgP|wsE$%R z4uUrn*rxbw?F(P!6u^eZ@k(0kZrmySK6uW0w^KaL$#)=rzCQeZ`_VaE|D2-k6sQS{ zCSk%No#9hVT{XJ!6WZXHn$XOeuG+dffEE@ZXO&2i+0I?A#4wo_CMe#i+9K`U43zUz z)k?az25AYAVhg{`;D5o%e6+5pt$lZ(7QExG)E(b|RPK#=brOdZ2^MVM9ZrFkKa>R! zrns1{t&6R*Tsf<=#zsxgjwZRK`LwU>LM}-aUX{kz;{~bI>5;47;PST{!(}j2e`acV z?s?reR{7m&8Q>Ol$zo6O+|5qKam7Hd8iW;@2$KyjJH)hkq{7rZyszsd=2jHWwhYHK zqZE_#4?j9pXCM`~VLndd$PUZCmz^{pyo(5iMP}#HICdj_5MDSsZOyJ$WVb8V3R2a8 zSRSr`UVM`Hmxq5O4^Lcl-(8SZ;AXb|ISG5Q_h24R_ukx|`W~5mC1oD7wKnJ2diTkw z0>|OIzwi37p&-AW$s9Z*HBRxQ5slO6+5^!`r#m3xfoRuU9_{I;PbzB~=gtb$qQZXy zE(3jRQBhed*oA^iEqc}p%&h00=tongK84{8n#+E=IIeKY8uIW5_YT+&?ymMC$)1jtwT)f9I;o}z_7(4BsE*MZy@0Offcq^OD8 zv53O)GR&{}xh=GhAGSE_JILAciQy{_a>QKW)g8%>k07*qoM6N<$ Ef^5zMYybcN literal 0 HcmV?d00001 diff --git a/mrs_uav_managers/src/index-detail-sort-f.html b/mrs_uav_managers/src/index-detail-sort-f.html new file mode 100644 index 0000000000..79e7df0802 --- /dev/null +++ b/mrs_uav_managers/src/index-detail-sort-f.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1143171466.7 %
Date:2024-02-24 08:13:25Functions:587379.5 %
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
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
<unnamed>69.5 %41 / 5955.0 %11 / 20
constraint_manager.cpp +
65.5%65.5%
+ 		65.5 %152 / 23275.0 %6 / 8
<unnamed>65.5 %152 / 23275.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %206 / 25885.7 %6 / 7
<unnamed>79.8 %206 / 25885.7 %6 / 7
uav_manager.cpp +
63.9%63.9%
+ 		63.9 %744 / 116592.1 %35 / 38
<unnamed>63.9 %744 / 116592.1 %35 / 38
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/index-detail-sort-l.html b/mrs_uav_managers/src/index-detail-sort-l.html new file mode 100644 index 0000000000..a8ba834ae9 --- /dev/null +++ b/mrs_uav_managers/src/index-detail-sort-l.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1143171466.7 %
Date:2024-02-24 08:13:25Functions:587379.5 %
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
uav_manager.cpp +
63.9%63.9%
+ 		63.9 %744 / 116592.1 %35 / 38
<unnamed>63.9 %744 / 116592.1 %35 / 38
constraint_manager.cpp +
65.5%65.5%
+ 		65.5 %152 / 23275.0 %6 / 8
<unnamed>65.5 %152 / 23275.0 %6 / 8
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
<unnamed>69.5 %41 / 5955.0 %11 / 20
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %206 / 25885.7 %6 / 7
<unnamed>79.8 %206 / 25885.7 %6 / 7
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_managers/src/index-detail.html b/mrs_uav_managers/src/index-detail.html new file mode 100644 index 0000000000..4dabc326ad --- /dev/null +++ b/mrs_uav_managers/src/index-detail.html @@ -0,0 +1,164 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1143171466.7 %
Date:2024-02-24 08:13:25Functions:587379.5 %
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
constraint_manager.cpp +
65.5%65.5%
+ 		65.5 %152 / 23275.0 %6 / 8
<unnamed>65.5 %152 / 23275.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %206 / 25885.7 %6 / 7
<unnamed>79.8 %206 / 25885.7 %6 / 7
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
<unnamed>69.5 %41 / 5955.0 %11 / 20
uav_manager.cpp +
63.9%63.9%
+ 		63.9 %744 / 116592.1 %35 / 38
<unnamed>63.9 %744 / 116592.1 %35 / 38
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/index-sort-f.html b/mrs_uav_managers/src/index-sort-f.html new file mode 100644 index 0000000000..f3ef769b96 --- /dev/null +++ b/mrs_uav_managers/src/index-sort-f.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1143171466.7 %
Date:2024-02-24 08:13:25Functions:587379.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
constraint_manager.cpp +
65.5%65.5%
+ 		65.5 %152 / 23275.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %206 / 25885.7 %6 / 7
uav_manager.cpp +
63.9%63.9%
+ 		63.9 %744 / 116592.1 %35 / 38
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/index-sort-l.html b/mrs_uav_managers/src/index-sort-l.html new file mode 100644 index 0000000000..11a99e9a25 --- /dev/null +++ b/mrs_uav_managers/src/index-sort-l.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1143171466.7 %
Date:2024-02-24 08:13:25Functions:587379.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
uav_manager.cpp +
63.9%63.9%
+ 		63.9 %744 / 116592.1 %35 / 38
constraint_manager.cpp +
65.5%65.5%
+ 		65.5 %152 / 23275.0 %6 / 8
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %206 / 25885.7 %6 / 7
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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/index.html b/mrs_uav_managers/src/index.html new file mode 100644 index 0000000000..dc3c5ba46b --- /dev/null +++ b/mrs_uav_managers/src/index.html @@ -0,0 +1,132 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/srcHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1143171466.7 %
Date:2024-02-24 08:13:25Functions:587379.5 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
constraint_manager.cpp +
65.5%65.5%
+ 		65.5 %152 / 23275.0 %6 / 8
gain_manager.cpp +
79.8%79.8%
+ 		79.8 %206 / 25885.7 %6 / 7
null_tracker.cpp +
69.5%69.5%
+ 		69.5 %41 / 5955.0 %11 / 20
uav_manager.cpp +
63.9%63.9%
+ 		63.9 %744 / 116592.1 %35 / 38
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.func-sort-c.html b/mrs_uav_managers/src/null_tracker.cpp.func-sort-c.html new file mode 100644 index 0000000000..9d50ffff26 --- /dev/null +++ b/mrs_uav_managers/src/null_tracker.cpp.func-sort-c.html @@ -0,0 +1,160 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/null_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:415969.5 %
Date:2024-02-24 08:13:25Functions:112055.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::NullTracker::resetStatic()0
mrs_uav_managers::NullTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::NullTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_managers::NullTracker::~NullTracker()81
mrs_uav_managers::NullTracker::~NullTracker().281
mrs_uav_managers::NullTracker::deactivate()182
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)186
mrs_uav_managers::NullTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_managers::NullTracker::getStatus()5923
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/null_tracker.cpp.func.html b/mrs_uav_managers/src/null_tracker.cpp.func.html new file mode 100644 index 0000000000..4d11384a81 --- /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:2024-02-24 08:13:25Functions: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()81
mrs_uav_managers::NullTracker::deactivate()182
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>)81
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&)258
mrs_uav_managers::NullTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_managers::NullTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_managers::NullTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_managers::NullTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_managers::NullTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
mrs_uav_managers::NullTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)186
mrs_uav_managers::NullTracker::getStatus()5923
mrs_uav_managers::NullTracker::~NullTracker()81
mrs_uav_managers::NullTracker::~NullTracker().281
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Current view:top level - mrs_uav_managers/src - null_tracker.cpp (source / functions)HitTotalCoverage
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Date:2024-02-24 08:13:25Functions: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         162 :   ~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          81 : 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         162 :   ros::NodeHandle nh_(parent_nh, "null_tracker");
+      59             : 
+      60          81 :   ros::Time::waitForValid();
+      61             : 
+      62          81 :   is_initialized = true;
+      63             : 
+      64          81 :   this->common_handlers = common_handlers;
+      65             : 
+      66          81 :   ROS_INFO("[NullTracker]: initialized");
+      67             : 
+      68         162 :   return true;
+      69             : }
+      70             : 
+      71             : //}
+      72             : 
+      73             : /* //{ activate() */
+      74             : 
+      75         186 : std::tuple<bool, std::string> NullTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+      76             : 
+      77         186 :   std::stringstream ss;
+      78         186 :   ss << "activated";
+      79             : 
+      80         186 :   ROS_INFO_STREAM("[NullTracker]: " << ss.str());
+      81         186 :   is_active = true;
+      82             : 
+      83         372 :   return std::tuple(true, ss.str());
+      84             : }
+      85             : 
+      86             : //}
+      87             : 
+      88             : /* //{ deactivate() */
+      89             : 
+      90         182 : void NullTracker::deactivate(void) {
+      91             : 
+      92         182 :   ROS_INFO("[NullTracker]: deactivated");
+      93         182 :   is_active = false;
+      94         182 : }
+      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      112063 : 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      112063 :   return {};
+     120             : }
+     121             : 
+     122             : //}
+     123             : 
+     124             : /* //{ getStatus() */
+     125             : 
+     126        5923 : const mrs_msgs::TrackerStatus NullTracker::getStatus() {
+     127             : 
+     128        5923 :   mrs_msgs::TrackerStatus tracker_status;
+     129             : 
+     130        5923 :   tracker_status.active            = is_active;
+     131        5923 :   tracker_status.callbacks_enabled = callbacks_enabled;
+     132             : 
+     133        5923 :   return tracker_status;
+     134             : }
+     135             : 
+     136             : //}
+     137             : 
+     138             : /* //{ enableCallbacks() */
+     139             : 
+     140         279 : const std_srvs::SetBoolResponse::ConstPtr NullTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     141             : 
+     142         558 :   std_srvs::SetBoolResponse res;
+     143             : 
+     144         279 :   std::stringstream ss;
+     145             : 
+     146         279 :   if (cmd->data != callbacks_enabled) {
+     147             : 
+     148           9 :     callbacks_enabled = cmd->data;
+     149             : 
+     150           9 :     ss << "callbacks " << (callbacks_enabled ? "enabled" : "disabled");
+     151             : 
+     152           9 :     ROS_DEBUG_STREAM("[NullTracker]: " << ss.str());
+     153             : 
+     154             :   } else {
+     155             : 
+     156         270 :     ss << "callbacks were already " << (callbacks_enabled ? "enabled" : "disabled");
+     157             :   }
+     158             : 
+     159         279 :   res.message = ss.str();
+     160         279 :   res.success = true;
+     161             : 
+     162         837 :   return std_srvs::SetBoolResponse::ConstPtr(std::make_unique<std_srvs::SetBoolResponse>(res));
+     163             : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* //{ setReference() */
+     168             : 
+     169           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr NullTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     170           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     171             : }
+     172             : 
+     173             : //}
+     174             : 
+     175             : /* //{ setVelocityReference() */
+     176             : 
+     177           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr NullTracker::setVelocityReference([
+     178             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     179           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     180             : }
+     181             : 
+     182             : //}
+     183             : 
+     184             : /* //{ setTrajectoryReference() */
+     185             : 
+     186           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr NullTracker::setTrajectoryReference([
+     187             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     188           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     189             : }
+     190             : 
+     191             : //}
+     192             : 
+     193             : // | --------------------- other services --------------------- |
+     194             : 
+     195             : /* //{ hover() */
+     196             : 
+     197           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     198           0 :   return std_srvs::TriggerResponse::Ptr();
+     199             : }
+     200             : 
+     201             : //}
+     202             : 
+     203             : /* //{ startTrajectoryTracking() */
+     204             : 
+     205           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     206           0 :   return std_srvs::TriggerResponse::Ptr();
+     207             : }
+     208             : 
+     209             : //}
+     210             : 
+     211             : /* //{ stopTrajectoryTracking() */
+     212             : 
+     213           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     214           0 :   return std_srvs::TriggerResponse::Ptr();
+     215             : }
+     216             : 
+     217             : //}
+     218             : 
+     219             : /* //{ resumeTrajectoryTracking() */
+     220             : 
+     221           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     222           0 :   return std_srvs::TriggerResponse::Ptr();
+     223             : }
+     224             : 
+     225             : //}
+     226             : 
+     227             : /* //{ gotoTrajectoryStart() */
+     228             : 
+     229           0 : const std_srvs::TriggerResponse::ConstPtr NullTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr &cmd) {
+     230           0 :   return std_srvs::TriggerResponse::Ptr();
+     231             : }
+     232             : 
+     233             : //}
+     234             : 
+     235             : /* //{ setConstraints() */
+     236             : 
+     237         258 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr NullTracker::setConstraints([
+     238             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     239             : 
+     240         258 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : }  // namespace mrs_uav_managers
+     246             : 
+     247             : #include <pluginlib/class_list_macros.h>
+     248          81 : 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:35442982.5 %
Date:2024-02-24 08:13:25Functions:131492.9 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()81
mrs_uav_managers::transform_manager::TransformManager::onInit()81
mrs_uav_managers::transform_manager::TransformManager::TransformManager()81
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1313
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3957
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)85850
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)124667
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)142346
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)144882
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)182277
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)182277
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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:35442982.5 %
Date:2024-02-24 08:13:25Functions:131492.9 %
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::transform_manager::TransformManager::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)85850
mrs_uav_managers::transform_manager::TransformManager::callbackRtkGps(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)3957
mrs_uav_managers::transform_manager::TransformManager::publishLocalTf()81
mrs_uav_managers::transform_manager::TransformManager::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)142346
mrs_uav_managers::transform_manager::TransformManager::callbackHeightAgl(boost::shared_ptr<mrs_msgs::Float64Stamped_<std::allocator<void> > const>)124667
mrs_uav_managers::transform_manager::TransformManager::callbackAltitudeAmsl(boost::shared_ptr<mrs_msgs::HwApiAltitude_<std::allocator<void> > const>)144882
mrs_uav_managers::transform_manager::TransformManager::publishFcuUntiltedTf(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const> const&)182277
mrs_uav_managers::transform_manager::TransformManager::callbackHwApiOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)182277
mrs_uav_managers::transform_manager::TransformManager::onInit()81
mrs_uav_managers::transform_manager::TransformManager::TransformManager()81
mrs_uav_managers::transform_manager::TransformManager::getPrintName[abi:cxx11]() const1313
mrs_uav_managers::transform_manager::TransformManager::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5
mrs_uav_managers::transform_manager::TransformManager::getName[abi:cxx11]() const0
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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..bb16f5ce6e --- /dev/null +++ b/mrs_uav_managers/src/transform_manager/transform_manager.cpp.gcov.html @@ -0,0 +1,1037 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/transform_manager/transform_manager.cpp + + + + + + + + + + + + + + +
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:35442982.5 %
Date:2024-02-24 08:13:25Functions:131492.9 %
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+
          Line data    Source code
+
+       1             : /* //{ includes */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <nodelet/nodelet.h>
+       5             : 
+       6             : #include <mrs_lib/param_loader.h>
+       7             : #include <mrs_lib/subscribe_handler.h>
+       8             : #include <mrs_lib/publisher_handler.h>
+       9             : #include <mrs_lib/attitude_converter.h>
+      10             : #include <mrs_lib/transformer.h>
+      11             : #include <mrs_lib/transform_broadcaster.h>
+      12             : #include <mrs_lib/gps_conversions.h>
+      13             : 
+      14             : #include <mrs_msgs/UavState.h>
+      15             : #include <mrs_msgs/Float64Stamped.h>
+      16             : #include <mrs_msgs/HwApiAltitude.h>
+      17             : #include <mrs_msgs/RtkGps.h>
+      18             : 
+      19             : #include <tf2_ros/transform_broadcaster.h>
+      20             : #include <tf2_ros/static_transform_broadcaster.h>
+      21             : #include <geometry_msgs/TransformStamped.h>
+      22             : 
+      23             : #include <sensor_msgs/NavSatFix.h>
+      24             : 
+      25             : #include <nav_msgs/Odometry.h>
+      26             : 
+      27             : #include <memory>
+      28             : #include <string>
+      29             : 
+      30             : #include <mrs_uav_managers/estimation_manager/support.h>
+      31             : #include <mrs_uav_managers/estimation_manager/common_handlers.h>
+      32             : #include <transform_manager/tf_source.h>
+      33             : #include <transform_manager/tf_mapping_origin.h>
+      34             : 
+      35             : /*//}*/
+      36             : 
+      37             : namespace mrs_uav_managers
+      38             : {
+      39             : 
+      40             : namespace transform_manager
+      41             : {
+      42             : 
+      43             : /*//{ class TransformManager */
+      44             : class TransformManager : public nodelet::Nodelet {
+      45             : 
+      46             :   using Support = estimation_manager::Support;
+      47             : 
+      48             : public:
+      49          81 :   TransformManager() {
+      50          81 :     ch_ = std::make_shared<estimation_manager::CommonHandlers_t>();
+      51             : 
+      52          81 :     ch_->nodelet_name = nodelet_name_;
+      53          81 :     ch_->package_name = package_name_;
+      54          81 :   }
+      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_first_;
+      86             :   geometry_msgs::Pose pose_fixed_;
+      87             :   geometry_msgs::Pose pose_fixed_diff_;
+      88             : 
+      89             :   std::string ns_amsl_origin_parent_frame_id_;
+      90             :   std::string ns_amsl_origin_child_frame_id_;
+      91             :   bool        publish_amsl_origin_tf_;
+      92             : 
+      93             :   std::string          world_origin_units_;
+      94             :   geometry_msgs::Point world_origin_;
+      95             : 
+      96             :   std::vector<std::string>               tf_source_names_, estimator_names_;
+      97             :   std::vector<std::unique_ptr<TfSource>> tf_sources_;
+      98             : 
+      99             :   std::vector<std::string> utm_source_priority_list_;
+     100             :   std::string              utm_source_name_;
+     101             : 
+     102             :   std::mutex mtx_broadcast_utm_origin_;
+     103             :   std::mutex mtx_broadcast_world_origin_;
+     104             : 
+     105             :   ros::NodeHandle nh_;
+     106             : 
+     107             :   std::shared_ptr<estimation_manager::CommonHandlers_t> ch_;
+     108             : 
+     109             :   std::shared_ptr<mrs_lib::TransformBroadcaster> broadcaster_;
+     110             :   tf2_ros::StaticTransformBroadcaster            static_broadcaster_;
+     111             : 
+     112             :   std::unique_ptr<TfMappingOrigin> tf_mapping_origin_;
+     113             : 
+     114             :   void timeoutCallback(const std::string& topic, const ros::Time& last_msg);
+     115             : 
+     116             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     117             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     118             :   std::string                                   first_frame_id_;
+     119             :   std::string                                   last_frame_id_;
+     120             :   bool                                          is_first_frame_id_set_        = false;
+     121             :   bool                                          is_local_static_tf_published_ = false;
+     122             : 
+     123             :   mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped> sh_height_agl_;
+     124             :   void                                                callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg);
+     125             : 
+     126             :   mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude> sh_altitude_amsl_;
+     127             :   void                                               callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg);
+     128             : 
+     129             :   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orientation_;
+     130             :   void                                                        callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
+     131             : 
+     132             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+     133             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+     134             :   std::atomic<bool>                                 got_utm_offset_ = false;
+     135             : 
+     136             :   mrs_lib::SubscribeHandler<mrs_msgs::RtkGps> sh_rtk_gps_;
+     137             :   void                                        callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg);
+     138             : 
+     139             :   std::optional<geometry_msgs::Pose> transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const;
+     140             : 
+     141             :   void publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg);
+     142             : 
+     143             :   void publishLocalTf();
+     144             : };
+     145             : /*//}*/
+     146             : 
+     147             : 
+     148             : /*//{ onInit() */
+     149          81 : void TransformManager::onInit() {
+     150             : 
+     151          81 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     152             : 
+     153          81 :   ros::Time::waitForValid();
+     154             : 
+     155          81 :   ROS_INFO("[%s]: initializing", getPrintName().c_str());
+     156             : 
+     157          81 :   broadcaster_ = std::make_shared<mrs_lib::TransformBroadcaster>();
+     158             : 
+     159          81 :   ch_->transformer = std::make_shared<mrs_lib::Transformer>(nh_, getPrintName());
+     160          81 :   ch_->transformer->retryLookupNewest(true);
+     161             : 
+     162         162 :   mrs_lib::ParamLoader param_loader(nh_, getPrintName());
+     163             : 
+     164          81 :   param_loader.loadParam("custom_config", _custom_config_);
+     165          81 :   param_loader.loadParam("platform_config", _platform_config_);
+     166          81 :   param_loader.loadParam("world_config", _world_config_);
+     167             : 
+     168          81 :   if (_custom_config_ != "") {
+     169          81 :     param_loader.addYamlFile(_custom_config_);
+     170             :   }
+     171             : 
+     172          81 :   if (_platform_config_ != "") {
+     173          81 :     param_loader.addYamlFile(_platform_config_);
+     174             :   }
+     175             : 
+     176          81 :   if (_world_config_ != "") {
+     177          81 :     param_loader.addYamlFile(_world_config_);
+     178             :   }
+     179             : 
+     180          81 :   param_loader.addYamlFileFromParam("private_config");
+     181          81 :   param_loader.addYamlFileFromParam("public_config");
+     182          81 :   param_loader.addYamlFileFromParam("estimators_config");
+     183             : 
+     184         162 :   const std::string yaml_prefix = "mrs_uav_managers/transform_manager/";
+     185             : 
+     186          81 :   param_loader.loadParam("uav_name", ch_->uav_name);
+     187             : 
+     188             :   /*//{ initialize scope timer */
+     189          81 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", ch_->scope_timer.enabled);
+     190         162 :   std::string       filepath;
+     191         162 :   const std::string time_logger_filepath = ros::package::getPath(package_name_) + "/scope_timer/transform_manager_scope_timer.txt";
+     192          81 :   ch_->scope_timer.logger                = std::make_shared<mrs_lib::ScopeTimerLogger>(time_logger_filepath, ch_->scope_timer.enabled);
+     193             :   /*//}*/
+     194             : 
+     195             :   /*//{ load world_origin parameters */
+     196             : 
+     197          81 :   bool   is_origin_param_ok = true;
+     198          81 :   double world_origin_x     = 0;
+     199          81 :   double world_origin_y     = 0;
+     200             : 
+     201          81 :   param_loader.loadParam("world_origin/units", world_origin_units_);
+     202             : 
+     203          81 :   if (Support::toLowercase(world_origin_units_) == "utm") {
+     204             : 
+     205           0 :     ROS_INFO("[%s]: Loading world origin in UTM units.", getPrintName().c_str());
+     206             : 
+     207           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", world_origin_x);
+     208           0 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", world_origin_y);
+     209             : 
+     210          81 :   } else if (Support::toLowercase(world_origin_units_) == "latlon") {
+     211             : 
+     212          81 :     ROS_INFO("[%s]: Loading world origin in LatLon units.", getPrintName().c_str());
+     213             : 
+     214             :     double lat, lon;
+     215          81 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_x", lat);
+     216          81 :     is_origin_param_ok &= param_loader.loadParam("world_origin/origin_y", lon);
+     217             : 
+     218          81 :     mrs_lib::UTM(lat, lon, &world_origin_x, &world_origin_y);
+     219             : 
+     220          81 :     ROS_INFO("[%s]: Converted to UTM x: %f, y: %f.", getPrintName().c_str(), world_origin_x, world_origin_y);
+     221             : 
+     222             :   } else {
+     223           0 :     ROS_ERROR("[%s]: world_origin/units must be (\"UTM\"|\"LATLON\"). Got '%s'", getPrintName().c_str(), world_origin_units_.c_str());
+     224           0 :     ros::shutdown();
+     225             :   }
+     226             : 
+     227          81 :   world_origin_.x = world_origin_x;
+     228          81 :   world_origin_.y = world_origin_y;
+     229          81 :   world_origin_.z = 0;
+     230             : 
+     231          81 :   if (!is_origin_param_ok) {
+     232           0 :     ROS_ERROR("[%s]: Could not load all mandatory parameters from world file. Please check your world file.", getPrintName().c_str());
+     233           0 :     ros::shutdown();
+     234             :   }
+     235             : 
+     236             :   /*//}*/
+     237             : 
+     238             :   /*//{ load local_origin parameters */
+     239         162 :   std::string local_origin_parent_frame_id;
+     240          81 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/parent", local_origin_parent_frame_id);
+     241          81 :   ns_local_origin_parent_frame_id_ = ch_->uav_name + "/" + local_origin_parent_frame_id;
+     242             : 
+     243         162 :   std::string local_origin_child_frame_id;
+     244          81 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/child", local_origin_child_frame_id);
+     245          81 :   ns_local_origin_child_frame_id_ = ch_->uav_name + "/" + local_origin_child_frame_id;
+     246             : 
+     247          81 :   param_loader.loadParam(yaml_prefix + "local_origin_tf/enabled", publish_local_origin_tf_);
+     248             :   /*//}*/
+     249             : 
+     250             :   /*//{ load stable_origin parameters */
+     251         162 :   std::string stable_origin_parent_frame_id;
+     252          81 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/parent", stable_origin_parent_frame_id);
+     253          81 :   ns_stable_origin_parent_frame_id_ = ch_->uav_name + "/" + stable_origin_parent_frame_id;
+     254             : 
+     255         162 :   std::string stable_origin_child_frame_id;
+     256          81 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/child", stable_origin_child_frame_id);
+     257          81 :   ns_stable_origin_child_frame_id_ = ch_->uav_name + "/" + stable_origin_child_frame_id;
+     258             : 
+     259          81 :   param_loader.loadParam(yaml_prefix + "stable_origin_tf/enabled", publish_stable_origin_tf_);
+     260             :   /*//}*/
+     261             : 
+     262             :   /*//{ load fixed_origin parameters */
+     263         162 :   std::string fixed_origin_parent_frame_id;
+     264          81 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/parent", fixed_origin_parent_frame_id);
+     265          81 :   ns_fixed_origin_parent_frame_id_ = ch_->uav_name + "/" + fixed_origin_parent_frame_id;
+     266             : 
+     267         162 :   std::string fixed_origin_child_frame_id;
+     268          81 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/child", fixed_origin_child_frame_id);
+     269          81 :   ns_fixed_origin_child_frame_id_ = ch_->uav_name + "/" + fixed_origin_child_frame_id;
+     270             : 
+     271          81 :   param_loader.loadParam(yaml_prefix + "fixed_origin_tf/enabled", publish_fixed_origin_tf_);
+     272             :   /*//}*/
+     273             : 
+     274             :   /*//{ load fcu_untilted parameters */
+     275         162 :   std::string fcu_frame_id;
+     276          81 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/parent", fcu_frame_id);
+     277          81 :   ch_->frames.fcu    = fcu_frame_id;
+     278          81 :   ch_->frames.ns_fcu = ch_->uav_name + "/" + fcu_frame_id;
+     279             : 
+     280         162 :   std::string fcu_untilted_frame_id;
+     281          81 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/child", fcu_untilted_frame_id);
+     282          81 :   ch_->frames.fcu_untilted    = fcu_untilted_frame_id;
+     283          81 :   ch_->frames.ns_fcu_untilted = ch_->uav_name + "/" + fcu_untilted_frame_id;
+     284             : 
+     285          81 :   param_loader.loadParam(yaml_prefix + "fcu_untilted_tf/enabled", publish_fcu_untilted_tf_);
+     286             :   /*//}*/
+     287             : 
+     288             :   /*//{ load amsl_origin parameters*/
+     289         162 :   std::string amsl_parent_frame_id, amsl_child_frame_id;
+     290          81 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/enabled", publish_amsl_origin_tf_);
+     291          81 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/parent", amsl_parent_frame_id);
+     292          81 :   param_loader.loadParam(yaml_prefix + "altitude_amsl_tf/child", amsl_child_frame_id);
+     293          81 :   ch_->frames.amsl                = amsl_child_frame_id;
+     294          81 :   ch_->frames.ns_amsl             = ch_->uav_name + "/" + amsl_child_frame_id;
+     295          81 :   ns_amsl_origin_parent_frame_id_ = ch_->uav_name + "/" + amsl_parent_frame_id;
+     296          81 :   ns_amsl_origin_child_frame_id_  = ch_->uav_name + "/" + amsl_child_frame_id;
+     297             : 
+     298             :   /*//}*/
+     299             : 
+     300          81 :   param_loader.loadParam(yaml_prefix + "rtk_antenna/frame_id", ch_->frames.rtk_antenna);
+     301          81 :   ch_->frames.ns_rtk_antenna = ch_->uav_name + "/" + ch_->frames.rtk_antenna;
+     302             : 
+     303          81 :   param_loader.loadParam("mrs_uav_managers/estimation_manager/state_estimators", estimator_names_);
+     304          81 :   param_loader.loadParam(yaml_prefix + "tf_sources", tf_source_names_);
+     305             : 
+     306          81 :   param_loader.loadParam(yaml_prefix + "utm_source_priority", utm_source_priority_list_);
+     307         254 :   for (auto utm_source : utm_source_priority_list_) {
+     308         253 :     if (Support::isStringInVector(utm_source, estimator_names_)) {
+     309          80 :       ROS_INFO("[%s]: the source for utm_origin and world origin is: %s", getPrintName().c_str(), utm_source.c_str());
+     310          80 :       utm_source_name_ = utm_source;
+     311          80 :       break;
+     312             :     }
+     313             :   }
+     314             : 
+     315             :   /*//{ initialize tf sources */
+     316          81 :   for (size_t i = 0; i < tf_source_names_.size(); i++) {
+     317             : 
+     318           0 :     const std::string tf_source_name = tf_source_names_[i];
+     319           0 :     const bool        is_utm_source  = tf_source_name == utm_source_name_;
+     320             : 
+     321           0 :     ROS_INFO("[%s]: loading tf source: %s", getPrintName().c_str(), tf_source_name.c_str());
+     322             : 
+     323           0 :     auto source_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + tf_source_name);
+     324             : 
+     325           0 :     if (_custom_config_ != "") {
+     326           0 :       source_param_loader->addYamlFile(_custom_config_);
+     327             :     }
+     328             : 
+     329           0 :     if (_platform_config_ != "") {
+     330           0 :       source_param_loader->addYamlFile(_platform_config_);
+     331             :     }
+     332             : 
+     333           0 :     if (_world_config_ != "") {
+     334           0 :       source_param_loader->addYamlFile(_world_config_);
+     335             :     }
+     336             : 
+     337           0 :     source_param_loader->addYamlFileFromParam("private_config");
+     338           0 :     source_param_loader->addYamlFileFromParam("public_config");
+     339           0 :     source_param_loader->addYamlFileFromParam("estimators_config");
+     340             : 
+     341           0 :     tf_sources_.push_back(std::make_unique<TfSource>(tf_source_name, nh_, source_param_loader, broadcaster_, ch_, is_utm_source));
+     342             :   }
+     343             : 
+     344             :   // additionally publish tf of all available estimators
+     345         166 :   for (int i = 0; i < int(estimator_names_.size()); i++) {
+     346             : 
+     347         170 :     const std::string estimator_name = estimator_names_[i];
+     348          85 :     const bool        is_utm_source  = estimator_name == utm_source_name_;
+     349          85 :     ROS_INFO("[%s]: loading tf source of estimator: %s", getPrintName().c_str(), estimator_name.c_str());
+     350             : 
+     351          85 :     auto estimator_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/" + estimator_name);
+     352             : 
+     353          85 :     if (_custom_config_ != "") {
+     354          85 :       estimator_param_loader->addYamlFile(_custom_config_);
+     355             :     }
+     356             : 
+     357          85 :     if (_platform_config_ != "") {
+     358          85 :       estimator_param_loader->addYamlFile(_platform_config_);
+     359             :     }
+     360             : 
+     361          85 :     if (_world_config_ != "") {
+     362          85 :       estimator_param_loader->addYamlFile(_world_config_);
+     363             :     }
+     364             : 
+     365          85 :     estimator_param_loader->addYamlFileFromParam("private_config");
+     366          85 :     estimator_param_loader->addYamlFileFromParam("public_config");
+     367          85 :     estimator_param_loader->addYamlFileFromParam("estimators_config");
+     368             : 
+     369          85 :     tf_sources_.push_back(std::make_unique<TfSource>(estimator_name, nh_, estimator_param_loader, broadcaster_, ch_, is_utm_source));
+     370             :   }
+     371             : 
+     372             :   // initialize mapping_origin tf
+     373             :   bool mapping_origin_tf_enabled;
+     374          81 :   param_loader.loadParam(yaml_prefix + "mapping_origin_tf/enabled", mapping_origin_tf_enabled, false);
+     375             : 
+     376          81 :   if (mapping_origin_tf_enabled) {
+     377             : 
+     378           0 :     auto mapping_param_loader = std::make_shared<mrs_lib::ParamLoader>(nh_, "TransformManager/mapping_origin_tf");
+     379             : 
+     380           0 :     if (_custom_config_ != "") {
+     381           0 :       mapping_param_loader->addYamlFile(_custom_config_);
+     382             :     }
+     383             : 
+     384           0 :     if (_platform_config_ != "") {
+     385           0 :       mapping_param_loader->addYamlFile(_platform_config_);
+     386             :     }
+     387             : 
+     388           0 :     if (_world_config_ != "") {
+     389           0 :       mapping_param_loader->addYamlFile(_world_config_);
+     390             :     }
+     391             : 
+     392           0 :     mapping_param_loader->addYamlFileFromParam("private_config");
+     393           0 :     mapping_param_loader->addYamlFileFromParam("public_config");
+     394           0 :     mapping_param_loader->addYamlFileFromParam("estimators_config");
+     395             : 
+     396           0 :     tf_mapping_origin_ = std::make_unique<TfMappingOrigin>(nh_, mapping_param_loader, broadcaster_, ch_);
+     397             :   }
+     398             : 
+     399             :   //}
+     400             : 
+     401             :   /*//{ initialize subscribers */
+     402         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     403          81 :   shopts.nh                 = nh_;
+     404          81 :   shopts.node_name          = getPrintName();
+     405          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     406          81 :   shopts.threadsafe         = true;
+     407          81 :   shopts.autostart          = true;
+     408          81 :   shopts.queue_size         = 10;
+     409          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     410             : 
+     411          81 :   sh_uav_state_ = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &TransformManager::callbackUavState, this);
+     412             : 
+     413          81 :   sh_height_agl_ = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_agl_in", &TransformManager::callbackHeightAgl, this);
+     414             : 
+     415          81 :   sh_altitude_amsl_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiAltitude>(shopts, "altitude_amsl_in", &TransformManager::callbackAltitudeAmsl, this);
+     416             : 
+     417             :   sh_hw_api_orientation_ =
+     418          81 :       mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "orientation_in", &TransformManager::callbackHwApiOrientation, this);
+     419             : 
+     420          81 :   if (utm_source_name_ == "rtk" || utm_source_name_ == "rtk_garmin") {
+     421           3 :     sh_rtk_gps_ = mrs_lib::SubscribeHandler<mrs_msgs::RtkGps>(shopts, "rtk_gps_in", &TransformManager::callbackRtkGps, this);
+     422             :   } else {
+     423          78 :     sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "gnss_in", &TransformManager::callbackGnss, this);
+     424             :   }
+     425             :   /*//}*/
+     426             : 
+     427          81 :   if (!param_loader.loadedSuccessfully()) {
+     428           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+     429           0 :     ros::shutdown();
+     430             :   }
+     431             : 
+     432          81 :   is_initialized_ = true;
+     433          81 :   ROS_INFO("[%s]: initialized", getPrintName().c_str());
+     434          81 : }
+     435             : /*//}*/
+     436             : 
+     437             : /*//{ callbackUavState() */
+     438             : 
+     439      142346 : void TransformManager::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+     440             : 
+     441      142346 :   if (!is_initialized_) {
+     442        1037 :     return;
+     443             :   }
+     444             : 
+     445      284692 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     446             : 
+     447             :   // obtain first frame_id
+     448      142346 :   if (!is_first_frame_id_set_) {
+     449          81 :     first_frame_id_                = msg->header.frame_id;
+     450          81 :     last_frame_id_                 = msg->header.frame_id;
+     451          81 :     pose_fixed_                    = msg->pose;
+     452          81 :     pose_first_                    = msg->pose;
+     453          81 :     pose_fixed_diff_.orientation.w = 1;
+     454             : 
+     455          81 :     is_first_frame_id_set_ = true;
+     456             :   }
+     457             : 
+     458             :   // publish static tf from fixed_origin to local_origin based on the first message
+     459      142346 :   if (publish_local_origin_tf_ && !is_local_static_tf_published_) {
+     460          81 :     publishLocalTf();
+     461             :   }
+     462             : 
+     463      142346 :   if (publish_stable_origin_tf_) {
+     464             :     /*//{ publish stable_origin tf*/
+     465      142346 :     geometry_msgs::TransformStamped tf_msg;
+     466      142346 :     tf_msg.header.stamp    = msg->header.stamp;
+     467      142346 :     tf_msg.header.frame_id = ns_stable_origin_parent_frame_id_;
+     468      142346 :     tf_msg.child_frame_id  = ns_stable_origin_child_frame_id_;
+     469             : 
+     470             :     // transform pose to first frame_id
+     471      142346 :     geometry_msgs::PoseStamped pose;
+     472      142346 :     pose.header = msg->header;
+     473      142346 :     pose.pose   = msg->pose;
+     474      142346 :     if (pose.pose.orientation.w == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.x == 0) {
+     475           1 :       ROS_WARN_ONCE("[%s]: Uninitialized quaternion detected during publishing stable_origin tf of %s. Setting w=1", getPrintName().c_str(),
+     476             :                     pose.header.frame_id.c_str());
+     477           1 :       pose.pose.orientation.w = 1.0;
+     478             :     }
+     479             : 
+     480      142346 :     auto res = ch_->transformer->transformSingle(pose, first_frame_id_);
+     481             : 
+     482      142346 :     if (res) {
+     483      141309 :       const tf2::Transform      tf       = Support::tf2FromPose(res->pose);
+     484      141309 :       const tf2::Transform      tf_inv   = tf.inverse();
+     485      141309 :       const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     486      141309 :       tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     487      141309 :       tf_msg.transform.rotation          = pose_inv.orientation;
+     488             : 
+     489      141309 :       if (Support::noNans(tf_msg)) {
+     490             :         try {
+     491      141309 :           broadcaster_->sendTransform(tf_msg);
+     492             :         }
+     493           0 :         catch (...) {
+     494           0 :           ROS_ERROR("exception caught ");
+     495             :         }
+     496             :       } else {
+     497           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(),
+     498             :                           tf_msg.child_frame_id.c_str());
+     499             :       }
+     500      141309 :       ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     501             :                     tf_msg.child_frame_id.c_str());
+     502             :     } else {
+     503        1037 :       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());
+     504        1037 :       return;
+     505             :     }
+     506             :     /*//}*/
+     507             :   }
+     508             : 
+     509      141309 :   if (publish_fixed_origin_tf_) {
+     510             :     /*//{ publish fixed_origin tf*/
+     511      141309 :     if (msg->header.frame_id != last_frame_id_) {
+     512           4 :       ROS_WARN("[%s]: Detected estimator change from %s to %s. Updating offset for fixed origin.", getPrintName().c_str(), last_frame_id_.c_str(),
+     513             :                msg->header.frame_id.c_str());
+     514             : 
+     515           4 :       pose_fixed_diff_ = Support::getPoseDiff(msg->pose, pose_fixed_);
+     516             :     }
+     517             : 
+     518             : 
+     519      141309 :     pose_fixed_ = Support::applyPoseDiff(msg->pose, pose_fixed_diff_);
+     520             : 
+     521      282618 :     geometry_msgs::TransformStamped tf_msg;
+     522      141309 :     tf_msg.header.stamp    = msg->header.stamp;
+     523      141309 :     tf_msg.header.frame_id = ns_fixed_origin_parent_frame_id_;
+     524      141309 :     tf_msg.child_frame_id  = ns_fixed_origin_child_frame_id_;
+     525             : 
+     526      141309 :     const tf2::Transform      tf       = Support::tf2FromPose(pose_fixed_);
+     527      141309 :     const tf2::Transform      tf_inv   = tf.inverse();
+     528      141309 :     const geometry_msgs::Pose pose_inv = Support::poseFromTf2(tf_inv);
+     529      141309 :     tf_msg.transform.translation       = Support::pointToVector3(pose_inv.position);
+     530      141309 :     tf_msg.transform.rotation          = pose_inv.orientation;
+     531             : 
+     532      141309 :     if (Support::noNans(tf_msg)) {
+     533             :       try {
+     534      141309 :         broadcaster_->sendTransform(tf_msg);
+     535             :       }
+     536           0 :       catch (...) {
+     537           0 :         ROS_ERROR("exception caught ");
+     538             :       }
+     539             :     } else {
+     540           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(),
+     541             :                         tf_msg.child_frame_id.c_str());
+     542             :     }
+     543      141309 :     ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     544             :                   tf_msg.child_frame_id.c_str());
+     545             :     /*//}*/
+     546             :   }
+     547             : 
+     548             :   /*//{ choose another source of utm and world tfs after estimator switch */
+     549      141309 :   if (msg->header.frame_id != last_frame_id_) {
+     550             : 
+     551           8 :     const std::string last_estimator_name    = Support::frameIdToEstimatorName(last_frame_id_);
+     552           8 :     const std::string current_estimator_name = Support::frameIdToEstimatorName(msg->header.frame_id);
+     553             : 
+     554           4 :     ROS_INFO("[%s]: Detected estimator switch: %s -> %s", getPrintName().c_str(), last_estimator_name.c_str(), current_estimator_name.c_str());
+     555             : 
+     556           4 :     bool   valid_utm_source_found = false;
+     557             :     size_t potential_utm_source_index;
+     558             : 
+     559          10 :     for (size_t i = 0; i < tf_sources_.size(); i++) {
+     560             : 
+     561             :       // first check if tf source can publish utm origin and is not the switched-from estimator
+     562          10 :       if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() != last_estimator_name) {
+     563             : 
+     564           7 :         valid_utm_source_found     = true;
+     565           7 :         potential_utm_source_index = i;
+     566             : 
+     567             :         // check if switched-to estimator is utm_based, if so, use it
+     568           7 :         if (tf_sources_.at(i)->getIsUtmBased() && tf_sources_.at(i)->getName() == current_estimator_name) {
+     569           4 :           potential_utm_source_index = i;
+     570           4 :           break;
+     571             :         }
+     572             :       }
+     573             :     }
+     574             : 
+     575             : 
+     576             :     // if we found a valid utm source, use it, otherwise stay with the switched-from estimator
+     577           4 :     if (valid_utm_source_found) {
+     578             : 
+     579             :       // stop all estimators from publishing utm source
+     580          20 :       for (size_t i = 0; i < tf_sources_.size(); i++) {
+     581          16 :         if (tf_sources_.at(i)->getIsUtmSource()) {
+     582           4 :           tf_sources_.at(i)->setIsUtmSource(false);
+     583           4 :           ROS_INFO("[%s]: setting is_utm_source of estimator %s to false", getPrintName().c_str(), last_estimator_name.c_str());
+     584             :         }
+     585             :       }
+     586             : 
+     587           4 :       tf_sources_.at(potential_utm_source_index)->setIsUtmSource(true);
+     588           4 :       ROS_INFO("[%s]: setting is_utm_source of estimator %s to true", getPrintName().c_str(), current_estimator_name.c_str());
+     589             :     }
+     590             :   }
+     591             :   /*//}*/
+     592             : 
+     593      141309 :   last_frame_id_ = msg->header.frame_id;
+     594             : }
+     595             : /*//}*/
+     596             : 
+     597             : /*//{ callbackHeightAgl() */
+     598             : 
+     599      124667 : void TransformManager::callbackHeightAgl(const mrs_msgs::Float64Stamped::ConstPtr msg) {
+     600             : 
+     601      124667 :   if (!is_initialized_) {
+     602           0 :     return;
+     603             :   }
+     604             : 
+     605      374001 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackHeightAgl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     606             : 
+     607      249334 :   geometry_msgs::TransformStamped tf_msg;
+     608      124667 :   tf_msg.header.stamp    = msg->header.stamp;
+     609      124667 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     610      124667 :   tf_msg.child_frame_id  = msg->header.frame_id;
+     611             : 
+     612      124667 :   tf_msg.transform.translation.x = 0;
+     613      124667 :   tf_msg.transform.translation.y = 0;
+     614      124667 :   tf_msg.transform.translation.z = -msg->value;
+     615      124667 :   tf_msg.transform.rotation.x    = 0;
+     616      124667 :   tf_msg.transform.rotation.y    = 0;
+     617      124667 :   tf_msg.transform.rotation.z    = 0;
+     618      124667 :   tf_msg.transform.rotation.w    = 1;
+     619             : 
+     620      124667 :   if (Support::noNans(tf_msg)) {
+     621             :     try {
+     622      124667 :       broadcaster_->sendTransform(tf_msg);
+     623             :     }
+     624           0 :     catch (...) {
+     625           0 :       ROS_ERROR("exception caught ");
+     626             :     }
+     627             :   } else {
+     628           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(),
+     629             :                       tf_msg.child_frame_id.c_str());
+     630             :   }
+     631      124667 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     632             :                 tf_msg.child_frame_id.c_str());
+     633             : }
+     634             : /*//}*/
+     635             : 
+     636             : /*//{ callbackAltitudeAmsl() */
+     637             : 
+     638      144882 : void TransformManager::callbackAltitudeAmsl(const mrs_msgs::HwApiAltitude::ConstPtr msg) {
+     639             : 
+     640      144882 :   if (!is_initialized_) {
+     641           0 :     return;
+     642             :   }
+     643             : 
+     644      434646 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackAltitudeAmsl", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     645             : 
+     646      289764 :   geometry_msgs::TransformStamped tf_msg;
+     647      144882 :   tf_msg.header.stamp    = msg->stamp;
+     648      144882 :   tf_msg.header.frame_id = ch_->frames.ns_fcu_untilted;
+     649      144882 :   tf_msg.child_frame_id  = ch_->frames.ns_amsl;
+     650             : 
+     651      144882 :   tf_msg.transform.translation.x = 0;
+     652      144882 :   tf_msg.transform.translation.y = 0;
+     653      144882 :   tf_msg.transform.translation.z = -msg->amsl;
+     654      144882 :   tf_msg.transform.rotation.x    = 0;
+     655      144882 :   tf_msg.transform.rotation.y    = 0;
+     656      144882 :   tf_msg.transform.rotation.z    = 0;
+     657      144882 :   tf_msg.transform.rotation.w    = 1;
+     658             : 
+     659      144882 :   if (Support::noNans(tf_msg)) {
+     660             :     try {
+     661      144844 :       broadcaster_->sendTransform(tf_msg);
+     662             :     }
+     663           0 :     catch (...) {
+     664           0 :       ROS_ERROR("exception caught ");
+     665             :     }
+     666             :   } else {
+     667          38 :     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(),
+     668             :                       tf_msg.child_frame_id.c_str());
+     669             :   }
+     670      144882 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     671             :                 tf_msg.child_frame_id.c_str());
+     672             : }
+     673             : /*//}*/
+     674             : 
+     675             : /*//{ callbackHwApiOrientation() */
+     676      182277 : void TransformManager::callbackHwApiOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     677             : 
+     678      182277 :   if (!is_initialized_) {
+     679           0 :     return;
+     680             :   }
+     681             : 
+     682      546831 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     683             : 
+     684      182277 :   if (publish_fcu_untilted_tf_) {
+     685      182277 :     publishFcuUntiltedTf(msg);
+     686             :   }
+     687             : }
+     688             : /*//}*/
+     689             : 
+     690             : /*//{ callbackGnss() */
+     691       85850 : void TransformManager::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+     692             : 
+     693       85850 :   if (!is_initialized_) {
+     694       85772 :     return;
+     695             :   }
+     696             : 
+     697       85850 :   if (got_utm_offset_) {
+     698       85772 :     return;
+     699             :   }
+     700             : 
+     701         156 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackGnss", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     702             : 
+     703             :   double out_x;
+     704             :   double out_y;
+     705             : 
+     706          78 :   mrs_lib::UTM(msg->latitude, msg->longitude, &out_x, &out_y);
+     707             : 
+     708          78 :   if (!std::isfinite(out_x)) {
+     709           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     710           0 :     return;
+     711             :   }
+     712             : 
+     713          78 :   if (!std::isfinite(out_y)) {
+     714           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     715           0 :     return;
+     716             :   }
+     717             : 
+     718          78 :   geometry_msgs::Point utm_origin;
+     719          78 :   utm_origin.x = out_x;
+     720          78 :   utm_origin.y = out_y;
+     721          78 :   utm_origin.z = msg->altitude;
+     722             : 
+     723          78 :   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);
+     724             : 
+     725         157 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     726          79 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     727          79 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     728             :   }
+     729          78 :   got_utm_offset_ = true;
+     730             : }
+     731             : /*//}*/
+     732             : 
+     733             : /*//{ callbackRtkGps() */
+     734        3957 : void TransformManager::callbackRtkGps(const mrs_msgs::RtkGps::ConstPtr msg) {
+     735             : 
+     736        3957 :   if (!is_initialized_) {
+     737        3954 :     return;
+     738             :   }
+     739             : 
+     740        3957 :   if (got_utm_offset_) {
+     741        3952 :     return;
+     742             :   }
+     743             : 
+     744          10 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::callbackRtkGps", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     745             : 
+     746             :   double out_x;
+     747             :   double out_y;
+     748             : 
+     749           5 :   geometry_msgs::PoseStamped rtk_pos;
+     750             : 
+     751           5 :   if (!std::isfinite(msg->gps.latitude)) {
+     752           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->latitude\"!!!", getPrintName().c_str());
+     753           0 :     return;
+     754             :   }
+     755             : 
+     756           5 :   if (!std::isfinite(msg->gps.longitude)) {
+     757           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->longitude\"!!!", getPrintName().c_str());
+     758           0 :     return;
+     759             :   }
+     760             : 
+     761           5 :   if (!std::isfinite(msg->gps.altitude)) {
+     762           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in RTK variable \"msg->altitude\"!!!", getPrintName().c_str());
+     763           0 :     return;
+     764             :   }
+     765             : 
+     766           5 :   if (msg->fix_type.fix_type != mrs_msgs::RtkFixType::RTK_FIX) {
+     767           0 :     ROS_INFO_THROTTLE(1.0, "[%s] %s RTK FIX", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     768           0 :     return;
+     769             :   }
+     770             : 
+     771           5 :   rtk_pos.header = msg->header;
+     772           5 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+     773           5 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+     774           5 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     775             : 
+     776           5 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+     777           5 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+     778             : 
+     779             : 
+     780             :   // transform the RTK position from antenna to FCU
+     781           5 :   auto res = transformRtkToFcu(rtk_pos);
+     782           5 :   if (res) {
+     783           3 :     rtk_pos.pose = res.value();
+     784             :   } else {
+     785           2 :     ROS_ERROR_THROTTLE(1.0, "[%s]: transform to fcu failed", getPrintName().c_str());
+     786           2 :     return;
+     787             :   }
+     788             : 
+     789           3 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &out_x, &out_y);
+     790             : 
+     791           3 :   if (!std::isfinite(out_x)) {
+     792           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_x\"!!!", getPrintName().c_str());
+     793           0 :     return;
+     794             :   }
+     795             : 
+     796           3 :   if (!std::isfinite(out_y)) {
+     797           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN detected in UTM variable \"out_y\"!!!", getPrintName().c_str());
+     798           0 :     return;
+     799             :   }
+     800             : 
+     801           3 :   geometry_msgs::Point utm_origin;
+     802           3 :   utm_origin.x = out_x;
+     803           3 :   utm_origin.y = out_y;
+     804           3 :   utm_origin.z = msg->gps.altitude;
+     805             : 
+     806           3 :   ROS_INFO("[%s]: utm_origin position calculated as: x: %.2f, y: %.2f, z: %.2f from RTK msg", getPrintName().c_str(), utm_origin.x, utm_origin.y, utm_origin.z);
+     807             : 
+     808           9 :   for (size_t i = 0; i < tf_sources_.size(); i++) {
+     809           6 :     tf_sources_[i]->setUtmOrigin(utm_origin);
+     810           6 :     tf_sources_[i]->setWorldOrigin(world_origin_);
+     811             :   }
+     812           3 :   got_utm_offset_ = true;
+     813             : }
+     814             : /*//}*/
+     815             : 
+     816             : /*//{ publishFcuUntiltedTf() */
+     817      182277 : void TransformManager::publishFcuUntiltedTf(const geometry_msgs::QuaternionStampedConstPtr& msg) {
+     818             : 
+     819      364554 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("TransformManager::publishFcuUntilted", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     820             : 
+     821             :   double heading;
+     822             : 
+     823             :   try {
+     824      182277 :     heading = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     825             :   }
+     826           0 :   catch (...) {
+     827           0 :     ROS_ERROR("[%s]: Exception caught during getting heading", getPrintName().c_str());
+     828           0 :     return;
+     829             :   }
+     830      182277 :   scope_timer.checkpoint("heading");
+     831             : 
+     832      182277 :   const Eigen::Matrix3d odom_pixhawk_R = mrs_lib::AttitudeConverter(msg->quaternion);
+     833      182277 :   const Eigen::Matrix3d undo_heading_R = mrs_lib::AttitudeConverter(Eigen::AngleAxis(-heading, Eigen::Vector3d(0, 0, 1)));
+     834             : 
+     835      182277 :   const tf2::Quaternion q     = mrs_lib::AttitudeConverter(undo_heading_R * odom_pixhawk_R);
+     836      182277 :   const tf2::Quaternion q_inv = q.inverse();
+     837             : 
+     838      182277 :   scope_timer.checkpoint("q inverse");
+     839             : 
+     840      182277 :   geometry_msgs::TransformStamped tf;
+     841      182277 :   tf.header.stamp            = msg->header.stamp;  // TODO(petrlmat) ros::Time::now()?
+     842      182277 :   tf.header.frame_id         = ch_->frames.ns_fcu;
+     843      182277 :   tf.child_frame_id          = ch_->frames.ns_fcu_untilted;
+     844      182277 :   tf.transform.translation.x = 0.0;
+     845      182277 :   tf.transform.translation.y = 0.0;
+     846      182277 :   tf.transform.translation.z = 0.0;
+     847      182277 :   tf.transform.rotation      = mrs_lib::AttitudeConverter(q_inv);
+     848             : 
+     849      182277 :   scope_timer.checkpoint("tf fill");
+     850      182277 :   if (Support::noNans(tf)) {
+     851      182277 :     broadcaster_->sendTransform(tf);
+     852             :   } else {
+     853           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: NaN encountered in fcu_untilted tf", getPrintName().c_str());
+     854             :   }
+     855      182277 :   scope_timer.checkpoint("tf pub");
+     856             : }
+     857             : /*//}*/
+     858             : 
+     859             : /* publishLocalTf() //{*/
+     860          81 : void TransformManager::publishLocalTf() {
+     861             : 
+     862         243 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer(getPrintName() + "::publishLocalTf", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     863             : 
+     864          81 :   geometry_msgs::TransformStamped tf_msg;
+     865          81 :   tf_msg.header.stamp = ros::Time::now();
+     866             : 
+     867          81 :   tf_msg.header.frame_id       = ns_fixed_origin_child_frame_id_;
+     868          81 :   tf_msg.child_frame_id        = ns_local_origin_child_frame_id_;
+     869          81 :   tf_msg.transform.translation = Support::pointToVector3(pose_first_.position);
+     870          81 :   tf_msg.transform.rotation    = pose_first_.orientation;
+     871             : 
+     872          81 :   if (Support::noNans(tf_msg)) {
+     873             : 
+     874             :     try {
+     875          81 :       static_broadcaster_.sendTransform(tf_msg);
+     876             :     }
+     877           0 :     catch (...) {
+     878           0 :       ROS_ERROR("[%s]: exception caught while publishing tf from %s to %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     879             :                 tf_msg.child_frame_id.c_str());
+     880             :     }
+     881             : 
+     882             :   } else {
+     883           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(),
+     884             :                       tf_msg.child_frame_id.c_str());
+     885             :   }
+     886          81 :   ROS_INFO_ONCE("[%s]: Broadcasting transform from parent frame: %s to child frame: %s", getPrintName().c_str(), tf_msg.header.frame_id.c_str(),
+     887             :                 tf_msg.child_frame_id.c_str());
+     888          81 :   is_local_static_tf_published_ = true;
+     889          81 : }
+     890             : /*//}*/
+     891             : 
+     892             : /*//{ transformRtkToFcu() */
+     893           5 : std::optional<geometry_msgs::Pose> TransformManager::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+     894             : 
+     895          10 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+     896             : 
+     897             :   // inject current orientation into rtk pose
+     898          10 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+     899           5 :   if (res1) {
+     900           3 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+     901             :   } else {
+     902           2 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s.", getPrintName().c_str(), ch_->frames.ns_fcu_untilted.c_str(),
+     903             :                        ch_->frames.ns_fcu.c_str());
+     904           2 :     return {};
+     905             :   }
+     906             : 
+     907             :   // invert tf
+     908           3 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+     909           6 :   geometry_msgs::PoseStamped utm_in_antenna;
+     910           3 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+     911           3 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+     912           3 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+     913             : 
+     914             :   // transform to fcu
+     915           6 :   geometry_msgs::PoseStamped utm_in_fcu;
+     916           3 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+     917           3 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+     918           6 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+     919             : 
+     920           3 :   if (res2) {
+     921           3 :     utm_in_fcu = res2.value();
+     922             :   } else {
+     923           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not transform RTK pose from %s to %s.", getPrintName().c_str(), utm_in_antenna.header.frame_id.c_str(),
+     924             :                        ch_->frames.ns_fcu.c_str());
+     925           0 :     return {};
+     926             :   }
+     927             : 
+     928             :   // invert tf
+     929           3 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+     930           3 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+     931             : 
+     932           3 :   return fcu_in_utm;
+     933             : }
+     934             : /*//}*/
+     935             : 
+     936             : /*//{ getName() */
+     937           0 : std::string TransformManager::getName() const {
+     938           0 :   return name_;
+     939             : }
+     940             : /*//}*/
+     941             : 
+     942             : /*//{ getPrintName() */
+     943        1313 : std::string TransformManager::getPrintName() const {
+     944        1313 :   return nodelet_name_;
+     945             : }
+     946             : /*//}*/
+     947             : 
+     948             : }  // namespace transform_manager
+     949             : 
+     950             : }  // namespace mrs_uav_managers
+     951             : 
+     952             : #include <pluginlib/class_list_macros.h>
+     953          81 : 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..30f0c970f4 --- /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 + + +
+ Top

+ Overview +
+ + 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..18c8bb7bac38a7222ed4e36837a4cf8f66d14032 GIT binary patch literal 3373 zcmV+|4bt+7P) ze7~L5Uer9vdy8ZN8o-^bLz}HYk^cyg=T3pKt4M{$^5q1YU#8Q9I5Yi1w1CM5l!2ibR-xfu+O-t1)_w;A8@@sYp0XSya*-%_9p`bN{|R`(5BKq0 zyIu)g7AOy7DQ5Ud)5Ei7cy|nj_Hk5}g;RsQ3}pLAfzr%?k?Vat0=#Mptw4@@J%xi^ z1T!W#P{cccCUF3>|)m`gFLpd5XYMktZtWSXMxhX-Am|rb7Z>>BEqCutXS%^Mfh+RD{$bQadD>ozucQhjV`_|vG5J*!!ej;mx$7kUz-HnW{5FZx*l-oJz$f8eU*WIxS}xK@ z87THKQ>cJRft|w+-H;Q9LwLygI(H^zZtZi;hNL}%u?TW-u0K*AW!8!JJ6+d*M~;8* z^{I2M^uapUB{*|ABx_P+v;hJ81P&+b*kA;u*kdVyG@&Tz&R}T&4((C5qbq@f$F9Mk zWzRfn4Op)|sWa_9Is_z>SPw>+ZC3$hidLmK-`i`*F+UTauz+O*2WCnfo z35wVIvC=geg=&3?q33sr+g_1d$p?XWECKiD_`?KzmWVq5jZqxQNj*~3h_XUmiJ_fh z>HPyHwn}?+QcP6#9zGP{7t4)?y)U3G%C##G=%d<6wU6Hzcwry+w4+E~>*JFEFX*G% z0BaTZv;s5qP}WswkC^4UAeT}+=6PSK=HfpioL{6~>yx8fIAoRTODp2d53u^V8n{2l zA10tH1}FhD!H`!^mIhg>zCJ=LDHH|tQ8ew)LR-jiL_n*Fv$n;!L#y`@=bA6RH^3N`c|{4Tw9>C##aoqRVL4uoW zE^`eAqZLcON$ABNDrMCcD+Rx1H5zUHoy zwi;i|IkNUosqXaQ^F=uQKvN2oweg*)7JyjcoZkM`M>g^TKu-gj3!5>iSd$*N#n+H? zkMWGr-RoIWtdY;@sTA_YXy-JMbzSB311@ZK5@l3^kY+nf^6H|j{Vb%pCW{D@bg_@R zDr%rwmvi=KTZN83M!AvxfmJxm(bmTw_j`C??e`o#0nxH>(Zrc790n>Du9hRqdh;tq zHA*(3IkZ*jo4O5XuyD~9R*eVRasWmP_eJcCXyH82lufyr7ki_H!#h5Th4ZYt-s>=Z zMb)T<13oU9n`$9_qxrby3s+LOIfW=BUBNQNGApA|7^+pks}*_+DUe&Oj-I|shAT|m z!6NMip1+K%zQ`JPou_DS3t#KDGPQ-q!Q4Vj8Zr%D0YWKD&=jA22+5^|Emx#jh_&ma z9eQ2DdTRilknhRE2KV^QX*=D&7jqK0ZP-lo!FMtPn|<8>u@-4t*NS&tMRME49daIN z#YxLgJP;b6tMtS8T_m1&QsbOso9g>77vtL{DMe-ArI54^d>{~|#nz~8e#wf9)Y(d5 zY{F2gVUbvY8%o-~I={I1vSN23yIuNd-k-VX^ku5;IpsP#et)L^@Phpr@46X0$O|{^ z&fA|c266Z#i4w$NinKUO0y<53j}Jz$!b3oQ*z~N_Vx;)9Kx6CLi?f7TC*+@GYLLOqV6)jSW<-NMuBkE`R1j zH6W5zpmyQUDws#Dj-2j&C={)QKp&xI4G)D=vr6W_u(q%i7wfElSN)^)@7S1u{eyuD zmNQ;Z;Ksq=_gcAo7KJhX(!yBt{K&P>-kiR7+51(40Skw+lqTTrh^lYTA>gLHxcz>( z%i~E;`BcLG&~-|~v?;|DH3(x8fVJQ|{^D0+)+)&Vj6AMx<5*7$FQ#7levlfD`H(h8z{^E+ zk$Kv`K|rUL3?iu!1zF2!)niFOaQjGICuIj(S=(DGOGtmpJd`WU)zZqH84yNoItozy zp7vb#o%{rPkhbAVIh1doVKhrO%To!b{z9qWFqkqD@r7A_B9s#0f1#9d)c-~(rAJd& zY*k_!r-cA#%EQ_dZYwHw(;|l4k za16l=Ji^*>SBJzICamQnr3bfsm6N9v)bNP(y6a%`AW5gBKZ;P>hSJy z23jem8-ecmWYeC-ViaHrVI}*@=IPqJgS0j_g>oP1RO42FBgv~ZA0TmCef*N1JZHn^ zwSDvbRTuqOj%O@LUS-dVY8#_HobF(w8E6U?iK$ksr;ku%I|l`Bm1E4h)@fEjJaE)3 z#mZ~uMnZw|m;(^_-tu*No%Xup< + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:744116563.9 %
Date:2024-02-24 08:13:25Functions: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::ungripSrv()5
mrs_uav_managers::uav_manager::UavManager::disarmSrv()6
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()7
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)13
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()19
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)21
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)55
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)55
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()56
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)56
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)59
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)77
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)78
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::uav_manager::UavManager::initialize()81
mrs_uav_managers::uav_manager::UavManager::preinitialize()81
mrs_uav_managers::uav_manager::UavManager::onInit()81
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)86
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)98
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)156
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)157
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)259
mrs_uav_managers::uav_manager::UavManager::timerLanding(ros::TimerEvent const&)603
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)917
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)1811
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)18194
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)18195
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)45149
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)86286
mrs_uav_managers::uav_manager::UavManager::callbackOdometry(boost::shared_ptr<nav_msgs::Odometry_<std::allocator<void> > const>)142311
+
+
+ + + +
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..20e384f2a7 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.func.html @@ -0,0 +1,232 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_managers/src - uav_manager.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:744116563.9 %
Date:2024-02-24 08:13:25Functions:353892.1 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_managers::uav_manager::UavManager::initialize()81
mrs_uav_managers::uav_manager::UavManager::takeoffSrv()19
mrs_uav_managers::uav_manager::UavManager::offboardSrv(bool)55
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&)603
mrs_uav_managers::uav_manager::UavManager::timerTakeoff(ros::TimerEvent const&)917
mrs_uav_managers::uav_manager::UavManager::preinitialize()81
mrs_uav_managers::uav_manager::UavManager::timerMaxHeight(ros::TimerEvent const&)18195
mrs_uav_managers::uav_manager::UavManager::timerMinHeight(ros::TimerEvent const&)18194
mrs_uav_managers::uav_manager::UavManager::callbackTakeoff(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)21
mrs_uav_managers::uav_manager::UavManager::timerFlightTime(ros::TimerEvent const&)259
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>)142311
mrs_uav_managers::uav_manager::UavManager::switchTrackerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)157
mrs_uav_managers::uav_manager::UavManager::timerDiagnostics(ros::TimerEvent const&)1811
mrs_uav_managers::uav_manager::UavManager::timerMaxthrottle(ros::TimerEvent const&)45149
mrs_uav_managers::uav_manager::UavManager::callbackHwApiGNSS(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)86286
mrs_uav_managers::uav_manager::UavManager::callbackLandThere(mrs_msgs::ReferenceStampedSrvRequest_<std::allocator<void> >&, mrs_msgs::ReferenceStampedSrvResponse_<std::allocator<void> >&)1
mrs_uav_managers::uav_manager::UavManager::changeLandingState(mrs_uav_managers::uav_manager::LandingStates_t)13
mrs_uav_managers::uav_manager::UavManager::landWithDescendImpl[abi:cxx11]()7
mrs_uav_managers::uav_manager::UavManager::switchControllerSrv(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)156
mrs_uav_managers::uav_manager::UavManager::toggleControlOutput(bool const&)59
mrs_uav_managers::uav_manager::UavManager::midairActivationImpl[abi:cxx11]()56
mrs_uav_managers::uav_manager::UavManager::emergencyReferenceSrv(mrs_msgs::ReferenceStamped_<std::allocator<void> > const&)77
mrs_uav_managers::uav_manager::UavManager::timerMidairActivation(ros::TimerEvent const&)55
mrs_uav_managers::uav_manager::UavManager::setControlCallbacksSrv(bool const&)78
mrs_uav_managers::uav_manager::UavManager::timerHwApiCapabilities(ros::TimerEvent const&)86
mrs_uav_managers::uav_manager::UavManager::setOdometryCallbacksSrv(bool const&)98
mrs_uav_managers::uav_manager::UavManager::callbackMidairActivation(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)56
mrs_uav_managers::uav_manager::UavManager::onInit()81
mrs_uav_managers::uav_manager::UavManager::landSrv()4
mrs_uav_managers::uav_manager::UavManager::elandSrv()0
mrs_uav_managers::uav_manager::UavManager::landImpl[abi:cxx11]()4
mrs_uav_managers::uav_manager::UavManager::disarmSrv()6
mrs_uav_managers::uav_manager::UavManager::ehoverSrv()0
mrs_uav_managers::uav_manager::UavManager::ungripSrv()5
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html new file mode 100644 index 0000000000..f6c3894100 --- /dev/null +++ b/mrs_uav_managers/src/uav_manager.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_managers/src/uav_manager.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_managers/src/uav_manager.cpp.gcov.html b/mrs_uav_managers/src/uav_manager.cpp.gcov.html new file mode 100644 index 0000000000..983c6e32b5 --- /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
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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:744116563.9 %
Date:2024-02-24 08:13:25Functions: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          81 : void UavManager::onInit() {
+     317          81 :   preinitialize();
+     318          81 : }
+     319             : 
+     320             : //}
+     321             : 
+     322             : /* preinitialize() //{ */
+     323             : 
+     324          81 : void UavManager::preinitialize(void) {
+     325             : 
+     326          81 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     327             : 
+     328          81 :   ros::Time::waitForValid();
+     329             : 
+     330          81 :   mrs_lib::SubscribeHandlerOptions shopts;
+     331          81 :   shopts.nh                 = nh_;
+     332          81 :   shopts.node_name          = "ControlManager";
+     333          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     334          81 :   shopts.threadsafe         = true;
+     335          81 :   shopts.autostart          = true;
+     336          81 :   shopts.queue_size         = 10;
+     337          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     338             : 
+     339          81 :   sh_hw_api_capabilities_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiCapabilities>(shopts, "hw_api_capabilities_in");
+     340             : 
+     341          81 :   timer_hw_api_capabilities_ = nh_.createTimer(ros::Rate(1.0), &UavManager::timerHwApiCapabilities, this);
+     342          81 : }
+     343             : 
+     344             : //}
+     345             : 
+     346             : /* initialize() //{ */
+     347             : 
+     348          81 : void UavManager::initialize() {
+     349             : 
+     350          81 :   ROS_INFO("[UavManager]: initializing");
+     351             : 
+     352         162 :   mrs_lib::ParamLoader param_loader(nh_, "UavManager");
+     353             : 
+     354         162 :   std::string custom_config_path;
+     355         162 :   std::string platform_config_path;
+     356         162 :   std::string world_config_path;
+     357             : 
+     358          81 :   param_loader.loadParam("custom_config", custom_config_path);
+     359          81 :   param_loader.loadParam("platform_config", platform_config_path);
+     360          81 :   param_loader.loadParam("world_config", world_config_path);
+     361             : 
+     362          81 :   if (custom_config_path != "") {
+     363          81 :     param_loader.addYamlFile(custom_config_path);
+     364             :   }
+     365             : 
+     366          81 :   if (platform_config_path != "") {
+     367          81 :     param_loader.addYamlFile(platform_config_path);
+     368             :   }
+     369             : 
+     370          81 :   if (world_config_path != "") {
+     371          81 :     param_loader.addYamlFile(world_config_path);
+     372             :   }
+     373             : 
+     374          81 :   param_loader.addYamlFileFromParam("private_config");
+     375          81 :   param_loader.addYamlFileFromParam("public_config");
+     376             : 
+     377         162 :   const std::string yaml_prefix = "mrs_uav_managers/uav_manager/";
+     378             : 
+     379             :   // params passed from the launch file are not prefixed
+     380          81 :   param_loader.loadParam("uav_name", _uav_name_);
+     381          81 :   param_loader.loadParam("enable_profiler", _profiler_enabled_);
+     382          81 :   param_loader.loadParam("uav_mass", _uav_mass_);
+     383          81 :   param_loader.loadParam("g", _g_);
+     384             : 
+     385             :   // motor params are also not prefixed, since they are common to more nodes
+     386          81 :   param_loader.loadParam("motor_params/n_motors", _throttle_model_.n_motors);
+     387          81 :   param_loader.loadParam("motor_params/a", _throttle_model_.A);
+     388          81 :   param_loader.loadParam("motor_params/b", _throttle_model_.B);
+     389             : 
+     390          81 :   param_loader.loadParam(yaml_prefix + "null_tracker", _null_tracker_name_);
+     391             : 
+     392          81 :   param_loader.loadParam(yaml_prefix + "takeoff/rate", _takeoff_timer_rate_);
+     393          81 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/tracker", _after_takeoff_tracker_name_);
+     394          81 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/controller", _after_takeoff_controller_name_);
+     395          81 :   param_loader.loadParam(yaml_prefix + "takeoff/after_takeoff/pirouette", _after_takeoff_pirouette_);
+     396          81 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/controller", _takeoff_controller_name_);
+     397          81 :   param_loader.loadParam(yaml_prefix + "takeoff/during_takeoff/tracker", _takeoff_tracker_name_);
+     398          81 :   param_loader.loadParam(yaml_prefix + "takeoff/takeoff_height", _takeoff_height_);
+     399             : 
+     400          81 :   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          81 :   param_loader.loadParam(yaml_prefix + "landing/rate", _landing_timer_rate_);
+     406          81 :   param_loader.loadParam(yaml_prefix + "landing/landing_tracker", _landing_tracker_name_);
+     407          81 :   param_loader.loadParam(yaml_prefix + "landing/landing_controller", _landing_controller_name_);
+     408          81 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_mass_factor", _landing_cutoff_mass_factor_);
+     409          81 :   param_loader.loadParam(yaml_prefix + "landing/landing_cutoff_timeout", _landing_cutoff_mass_timeout_);
+     410          81 :   param_loader.loadParam(yaml_prefix + "landing/disarm", _landing_disarm_);
+     411          81 :   param_loader.loadParam(yaml_prefix + "landing/descend_height", _landing_descend_height_);
+     412          81 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/translation", _landing_tracking_tolerance_translation_);
+     413          81 :   param_loader.loadParam(yaml_prefix + "landing/tracking_tolerance/heading", _landing_tracking_tolerance_heading_);
+     414             : 
+     415          81 :   param_loader.loadParam(yaml_prefix + "midair_activation/rate", _midair_activation_timer_rate_);
+     416          81 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/controller", _midair_activation_during_controller_);
+     417          81 :   param_loader.loadParam(yaml_prefix + "midair_activation/during_activation/tracker", _midair_activation_during_tracker_);
+     418          81 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/controller", _midair_activation_after_controller_);
+     419          81 :   param_loader.loadParam(yaml_prefix + "midair_activation/after_activation/tracker", _midair_activation_after_tracker_);
+     420             : 
+     421          81 :   param_loader.loadParam(yaml_prefix + "max_height_checking/enabled", _max_height_enabled_);
+     422          81 :   param_loader.loadParam(yaml_prefix + "max_height_checking/rate", _max_height_checking_rate_);
+     423          81 :   param_loader.loadParam(yaml_prefix + "max_height_checking/safety_height_offset", _max_height_offset_);
+     424             : 
+     425          81 :   param_loader.loadParam(yaml_prefix + "min_height_checking/enabled", _min_height_enabled_);
+     426          81 :   param_loader.loadParam(yaml_prefix + "min_height_checking/rate", _min_height_checking_rate_);
+     427          81 :   param_loader.loadParam(yaml_prefix + "min_height_checking/safety_height_offset", _min_height_offset_);
+     428          81 :   param_loader.loadParam(yaml_prefix + "min_height_checking/min_height", _min_height_);
+     429             : 
+     430          81 :   param_loader.loadParam(yaml_prefix + "require_gain_manager", _gain_manager_required_);
+     431          81 :   param_loader.loadParam(yaml_prefix + "require_constraint_manager", _constraint_manager_required_);
+     432             : 
+     433          81 :   param_loader.loadParam(yaml_prefix + "flight_timer/enabled", _flighttime_timer_enabled_);
+     434          81 :   param_loader.loadParam(yaml_prefix + "flight_timer/rate", _flighttime_timer_rate_);
+     435          81 :   param_loader.loadParam(yaml_prefix + "flight_timer/max_time", _flighttime_max_time_);
+     436             : 
+     437          81 :   param_loader.loadParam(yaml_prefix + "max_throttle/enabled", _maxthrottle_timer_enabled_);
+     438          81 :   param_loader.loadParam(yaml_prefix + "max_throttle/rate", _maxthrottle_timer_rate_);
+     439          81 :   param_loader.loadParam(yaml_prefix + "max_throttle/max_throttle", _maxthrottle_max_throttle_);
+     440          81 :   param_loader.loadParam(yaml_prefix + "max_throttle/eland_timeout", _maxthrottle_eland_timeout_);
+     441          81 :   param_loader.loadParam(yaml_prefix + "max_throttle/ungrip_timeout", _maxthrottle_ungrip_timeout_);
+     442             : 
+     443          81 :   param_loader.loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_timer_rate_);
+     444             : 
+     445             :   // | ------------------- scope timer logger ------------------- |
+     446             : 
+     447          81 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     448         243 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     449          81 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     450             : 
+     451          81 :   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          81 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "ControlManager");
+     459          81 :   transformer_->setDefaultPrefix(_uav_name_);
+     460          81 :   transformer_->retryLookupNewest(true);
+     461             : 
+     462             :   // | ----------------------- subscribers ---------------------- |
+     463             : 
+     464         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     465          81 :   shopts.nh                 = nh_;
+     466          81 :   shopts.node_name          = "UavManager";
+     467          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     468          81 :   shopts.threadsafe         = true;
+     469          81 :   shopts.autostart          = true;
+     470          81 :   shopts.queue_size         = 10;
+     471          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     472             : 
+     473          81 :   sh_controller_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::ControllerDiagnostics>(shopts, "controller_diagnostics_in");
+     474          81 :   sh_odometry_               = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, "odometry_in", &UavManager::callbackOdometry, this);
+     475          81 :   sh_estimation_diagnostics_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, "odometry_diagnostics_in");
+     476          81 :   sh_control_manager_diag_   = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diagnostics_in");
+     477          81 :   sh_mass_estimate_          = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "mass_estimate_in");
+     478          81 :   sh_throttle_               = mrs_lib::SubscribeHandler<std_msgs::Float64>(shopts, "throttle_in");
+     479          81 :   sh_height_                 = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "height_in");
+     480          81 :   sh_hw_api_status_          = mrs_lib::SubscribeHandler<mrs_msgs::HwApiStatus>(shopts, "hw_api_status_in");
+     481          81 :   sh_gains_diag_             = mrs_lib::SubscribeHandler<mrs_msgs::GainManagerDiagnostics>(shopts, "gain_manager_diagnostics_in");
+     482          81 :   sh_constraints_diag_       = mrs_lib::SubscribeHandler<mrs_msgs::ConstraintManagerDiagnostics>(shopts, "constraint_manager_diagnostics_in");
+     483          81 :   sh_hw_api_gnss_            = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, "hw_api_gnss_in", &UavManager::callbackHwApiGNSS, this);
+     484          81 :   sh_max_height_             = mrs_lib::SubscribeHandler<mrs_msgs::Float64Stamped>(shopts, "max_height_in");
+     485          81 :   sh_tracker_cmd_            = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     486             : 
+     487             :   // | ----------------------- publishers ----------------------- |
+     488             : 
+     489          81 :   ph_diag_ = mrs_lib::PublisherHandler<mrs_msgs::UavManagerDiagnostics>(nh_, "diagnostics_out", 1);
+     490             : 
+     491             :   // | --------------------- service servers -------------------- |
+     492             : 
+     493          81 :   service_server_takeoff_           = nh_.advertiseService("takeoff_in", &UavManager::callbackTakeoff, this);
+     494          81 :   service_server_land_              = nh_.advertiseService("land_in", &UavManager::callbackLand, this);
+     495          81 :   service_server_land_home_         = nh_.advertiseService("land_home_in", &UavManager::callbackLandHome, this);
+     496          81 :   service_server_land_there_        = nh_.advertiseService("land_there_in", &UavManager::callbackLandThere, this);
+     497          81 :   service_server_midair_activation_ = nh_.advertiseService("midair_activation_in", &UavManager::callbackMidairActivation, this);
+     498             : 
+     499             :   // | --------------------- service clients -------------------- |
+     500             : 
+     501          81 :   sch_takeoff_               = mrs_lib::ServiceClientHandler<mrs_msgs::Vec1>(nh_, "takeoff_out");
+     502          81 :   sch_land_                  = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "land_out");
+     503          81 :   sch_eland_                 = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "eland_out");
+     504          81 :   sch_ehover_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ehover_out");
+     505          81 :   sch_switch_tracker_        = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_tracker_out");
+     506          81 :   sch_switch_controller_     = mrs_lib::ServiceClientHandler<mrs_msgs::String>(nh_, "switch_controller_out");
+     507          81 :   sch_emergency_reference_   = mrs_lib::ServiceClientHandler<mrs_msgs::ReferenceStampedSrv>(nh_, "emergency_reference_out");
+     508          81 :   sch_control_callbacks_     = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "enable_callbacks_out");
+     509          81 :   sch_arm_                   = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "arm_out");
+     510          81 :   sch_pirouette_             = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "pirouette_out");
+     511          81 :   sch_odometry_callbacks_    = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "set_odometry_callbacks_out");
+     512          81 :   sch_ungrip_                = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "ungrip_out");
+     513          81 :   sch_toggle_control_output_ = mrs_lib::ServiceClientHandler<std_srvs::SetBool>(nh_, "toggle_control_output_out");
+     514          81 :   sch_offboard_              = mrs_lib::ServiceClientHandler<std_srvs::Trigger>(nh_, "offboard_out");
+     515             : 
+     516             :   // | ---------------------- state machine --------------------- |
+     517             : 
+     518          81 :   current_state_landing_ = IDLE_STATE;
+     519             : 
+     520             :   // | ------------------------ profiler ------------------------ |
+     521             : 
+     522          81 :   profiler_ = mrs_lib::Profiler(nh_, "UavManager", _profiler_enabled_);
+     523             : 
+     524             :   // | ------------------------- timers ------------------------- |
+     525             : 
+     526          81 :   timer_landing_           = nh_.createTimer(ros::Rate(_landing_timer_rate_), &UavManager::timerLanding, this, false, false);
+     527          81 :   timer_takeoff_           = nh_.createTimer(ros::Rate(_takeoff_timer_rate_), &UavManager::timerTakeoff, this, false, false);
+     528          81 :   timer_flighttime_        = nh_.createTimer(ros::Rate(_flighttime_timer_rate_), &UavManager::timerFlightTime, this, false, false);
+     529          81 :   timer_diagnostics_       = nh_.createTimer(ros::Rate(_diagnostics_timer_rate_), &UavManager::timerDiagnostics, this);
+     530          81 :   timer_midair_activation_ = nh_.createTimer(ros::Rate(_midair_activation_timer_rate_), &UavManager::timerMidairActivation, this, false, false);
+     531         162 :   timer_max_height_        = nh_.createTimer(ros::Rate(_max_height_checking_rate_), &UavManager::timerMaxHeight, this, false,
+     532         162 :                                       _max_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     533         162 :   timer_min_height_        = nh_.createTimer(ros::Rate(_min_height_checking_rate_), &UavManager::timerMinHeight, this, false,
+     534         162 :                                       _min_height_enabled_ && hw_api_capabilities_.produces_distance_sensor);
+     535             : 
+     536          79 :   bool should_check_throttle = hw_api_capabilities_.accepts_actuator_cmd || hw_api_capabilities_.accepts_control_group_cmd ||
+     537         160 :                                hw_api_capabilities_.accepts_attitude_rate_cmd || hw_api_capabilities_.accepts_attitude_cmd;
+     538             : 
+     539             :   timer_maxthrottle_ =
+     540          81 :       nh_.createTimer(ros::Rate(_maxthrottle_timer_rate_), &UavManager::timerMaxthrottle, this, false, _maxthrottle_timer_enabled_ && should_check_throttle);
+     541             : 
+     542             :   // | ----------------------- finish init ---------------------- |
+     543             : 
+     544          81 :   is_initialized_ = true;
+     545             : 
+     546          81 :   ROS_INFO("[UavManager]: initialized");
+     547             : 
+     548          81 :   ROS_DEBUG("[UavManager]: debug output is enabled");
+     549          81 : }
+     550             : 
+     551             : //}
+     552             : 
+     553             : //}
+     554             : 
+     555             : // | ---------------------- state machine --------------------- |
+     556             : 
+     557             : /* //{ changeLandingState() */
+     558             : 
+     559          13 : void UavManager::changeLandingState(LandingStates_t new_state) {
+     560             : 
+     561          13 :   previous_state_landing_ = current_state_landing_;
+     562          13 :   current_state_landing_  = new_state;
+     563             : 
+     564          13 :   switch (current_state_landing_) {
+     565             : 
+     566           4 :     case LANDING_STATE: {
+     567             : 
+     568           4 :       if (sh_mass_estimate_.hasMsg() && (ros::Time::now() - sh_mass_estimate_.lastMsgTime()).toSec() < 1.0) {
+     569             : 
+     570             :         // copy member variables
+     571           4 :         auto mass_esimtate = sh_mass_estimate_.getMsg();
+     572             : 
+     573           4 :         landing_uav_mass_ = mass_esimtate->data;
+     574             :       }
+     575             : 
+     576           4 :       break;
+     577             :     };
+     578             : 
+     579           9 :     default: {
+     580           9 :       break;
+     581             :     }
+     582             :   }
+     583             : 
+     584             :   // just for ROS_INFO
+     585          13 :   ROS_INFO("[UavManager]: Switching landing state %s -> %s", state_names[previous_state_landing_], state_names[current_state_landing_]);
+     586          13 : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : // --------------------------------------------------------------
+     591             : // |                           timers                           |
+     592             : // --------------------------------------------------------------
+     593             : 
+     594             : /* timerHwApiCapabilities() //{ */
+     595             : 
+     596          86 : void UavManager::timerHwApiCapabilities(const ros::TimerEvent& event) {
+     597             : 
+     598         172 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerHwApiCapabilities", 1.0, 1.0, event);
+     599         172 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("ControlManager::timerHwApiCapabilities", scope_timer_logger_, scope_timer_enabled_);
+     600             : 
+     601          86 :   if (!sh_hw_api_capabilities_.hasMsg()) {
+     602           5 :     ROS_INFO_THROTTLE(1.0, "[ControlManager]: waiting for HW API capabilities");
+     603           5 :     return;
+     604             :   }
+     605             : 
+     606          81 :   hw_api_capabilities_ = *sh_hw_api_capabilities_.getMsg();
+     607             : 
+     608          81 :   ROS_INFO("[ControlManager]: got HW API capabilities, initializing");
+     609             : 
+     610          81 :   initialize();
+     611             : 
+     612          81 :   timer_hw_api_capabilities_.stop();
+     613             : }
+     614             : 
+     615             : //}
+     616             : 
+     617             : /* //{ timerLanding() */
+     618             : 
+     619         603 : void UavManager::timerLanding(const ros::TimerEvent& event) {
+     620             : 
+     621         603 :   if (!is_initialized_)
+     622           0 :     return;
+     623             : 
+     624        1206 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerLanding", _landing_timer_rate_, 0.1, event);
+     625        1206 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerLanding", scope_timer_logger_, scope_timer_enabled_);
+     626             : 
+     627         603 :   auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+     628             : 
+     629             :   // copy member variables
+     630         603 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     631         603 :   auto odometry                    = sh_odometry_.getMsg();
+     632         603 :   auto tracker_cmd                 = sh_tracker_cmd_.getMsg();
+     633             : 
+     634         603 :   std::optional<double> desired_throttle;
+     635             : 
+     636         603 :   if (sh_throttle_.hasMsg() && (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() < 1.0) {
+     637         603 :     desired_throttle = sh_throttle_.getMsg()->data;
+     638             :   }
+     639             : 
+     640         603 :   auto res = transformer_->transformSingle(land_there_reference, odometry->header.frame_id);
+     641             : 
+     642         603 :   mrs_msgs::ReferenceStamped land_there_current_frame;
+     643             : 
+     644         603 :   if (res) {
+     645         603 :     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         603 :   if (current_state_landing_ == IDLE_STATE) {
+     653             : 
+     654           0 :     return;
+     655             : 
+     656         603 :   } else if (current_state_landing_ == GOTO_STATE) {
+     657             : 
+     658         263 :     auto [pos_x, pos_y, pos_z] = mrs_lib::getPosition(*tracker_cmd);
+     659         263 :     auto [ref_x, ref_y, ref_z] = mrs_lib::getPosition(land_there_current_frame);
+     660             : 
+     661         263 :     double pos_heading = tracker_cmd->heading;
+     662             : 
+     663         263 :     double ref_heading = 0;
+     664             :     try {
+     665         263 :       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         268 :     if (mrs_lib::geometry::dist(vec3_t(pos_x, pos_y, pos_z), vec3_t(ref_x, ref_y, ref_z)) < _landing_tracking_tolerance_translation_ &&
+     673           5 :         fabs(radians::diff(pos_heading, ref_heading)) < _landing_tracking_tolerance_heading_) {
+     674             : 
+     675          10 :       auto [success, message] = landWithDescendImpl();
+     676             : 
+     677           5 :       if (!success) {
+     678             : 
+     679           0 :         ROS_ERROR_THROTTLE(1.0, "[UavManager]: call for landing failed: '%s'", message.c_str());
+     680             :       }
+     681             : 
+     682         258 :     } else if (!control_manager_diagnostics->tracker_status.have_goal && control_manager_diagnostics->flying_normally) {
+     683             : 
+     684           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: the tracker does not have a goal while flying home, setting the reference again");
+     685             : 
+     686           0 :       mrs_msgs::ReferenceStamped reference_out;
+     687             : 
+     688             :       {
+     689           0 :         std::scoped_lock lock(mutex_land_there_reference_);
+     690             : 
+     691             :         // get the current altitude in land_there_reference_.header.frame_id;
+     692           0 :         geometry_msgs::PoseStamped current_pose;
+     693           0 :         current_pose.header.stamp     = ros::Time::now();
+     694           0 :         current_pose.header.frame_id  = _uav_name_ + "/fcu";
+     695           0 :         current_pose.pose.position.x  = 0;
+     696           0 :         current_pose.pose.position.y  = 0;
+     697           0 :         current_pose.pose.position.z  = 0;
+     698           0 :         current_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     699             : 
+     700           0 :         auto response = transformer_->transformSingle(current_pose, land_there_reference_.header.frame_id);
+     701             : 
+     702           0 :         if (response) {
+     703             : 
+     704           0 :           land_there_reference_.reference.position.z = response.value().pose.position.z;
+     705           0 :           ROS_DEBUG("[UavManager]: current altitude is %.2f m", land_there_reference_.reference.position.z);
+     706             : 
+     707             :         } else {
+     708             : 
+     709           0 :           std::stringstream ss;
+     710           0 :           ss << "could not transform current height to " << land_there_reference_.header.frame_id;
+     711           0 :           ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+     712             :         }
+     713             : 
+     714           0 :         reference_out.header.frame_id = land_there_reference_.header.frame_id;
+     715           0 :         reference_out.header.stamp    = ros::Time::now();
+     716           0 :         reference_out.reference       = land_there_reference_.reference;
+     717             :       }
+     718             : 
+     719           0 :       emergencyReferenceSrv(reference_out);
+     720             :     }
+     721             : 
+     722         340 :   } else if (current_state_landing_ == LANDING_STATE) {
+     723             : 
+     724             :     // we should not attempt to finish the landing if some other tracked was activated
+     725         340 :     if (_landing_tracker_name_ == sh_control_manager_diag_.getMsg()->active_tracker) {
+     726             : 
+     727         340 :       if (desired_throttle) {
+     728             : 
+     729             :         // recalculate the mass based on the throttle
+     730         340 :         throttle_mass_estimate_ = mrs_lib::quadratic_throttle_model::throttleToForce(_throttle_model_, desired_throttle.value()) / _g_;
+     731         340 :         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         340 :         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         252 :           throttle_under_threshold_ = false;
+     747             :         }
+     748             : 
+     749         340 :         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           0 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: incorrect tracker detected during landing!");
+     817             :     }
+     818             :   }
+     819             : }
+     820             : 
+     821             : //}
+     822             : 
+     823             : /* //{ timerTakeoff() */
+     824             : 
+     825         917 : void UavManager::timerTakeoff(const ros::TimerEvent& event) {
+     826             : 
+     827         917 :   if (!is_initialized_)
+     828           1 :     return;
+     829             : 
+     830        1834 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerTakeoff", _takeoff_timer_rate_, 0.1, event);
+     831        1834 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerTakeoff", scope_timer_logger_, scope_timer_enabled_);
+     832             : 
+     833         917 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+     834             : 
+     835         917 :   if (waiting_for_takeoff_) {
+     836             : 
+     837          20 :     if (control_manager_diagnostics->active_tracker == _takeoff_tracker_name_ && control_manager_diagnostics->tracker_status.have_goal) {
+     838             : 
+     839          19 :       waiting_for_takeoff_ = false;
+     840             :     } else {
+     841             : 
+     842           1 :       ROS_WARN_THROTTLE(1.0, "[UavManager]: waiting for takeoff confirmation from the ControlManager");
+     843           1 :       return;
+     844             :     }
+     845             :   }
+     846             : 
+     847         916 :   if (takingoff_) {
+     848             : 
+     849         916 :     if (control_manager_diagnostics->active_tracker != _takeoff_tracker_name_ || !control_manager_diagnostics->tracker_status.have_goal) {
+     850             : 
+     851          19 :       ROS_INFO("[UavManager]: take off finished, switching to %s", _after_takeoff_tracker_name_.c_str());
+     852             : 
+     853          19 :       switchTrackerSrv(_after_takeoff_tracker_name_);
+     854             : 
+     855          19 :       switchControllerSrv(_after_takeoff_controller_name_);
+     856             : 
+     857          19 :       setOdometryCallbacksSrv(true);
+     858             : 
+     859          19 :       if (_after_takeoff_pirouette_) {
+     860             : 
+     861           0 :         pirouetteSrv();
+     862             :       }
+     863             : 
+     864          19 :       timer_takeoff_.stop();
+     865             :     }
+     866             :   }
+     867             : }
+     868             : 
+     869             : //}
+     870             : 
+     871             : /* //{ timerMaxHeight() */
+     872             : 
+     873       18195 : void UavManager::timerMaxHeight(const ros::TimerEvent& event) {
+     874             : 
+     875       18195 :   if (!is_initialized_)
+     876       12792 :     return;
+     877             : 
+     878       36390 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxHeight", _max_height_checking_rate_, 0.1, event);
+     879       36390 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxHeight", scope_timer_logger_, scope_timer_enabled_);
+     880             : 
+     881       18195 :   if (!sh_max_height_.hasMsg() || !sh_height_.hasMsg() || !sh_odometry_.hasMsg()) {
+     882        6945 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: maxHeightTimer() not spinning, missing data");
+     883        6945 :     return;
+     884             :   }
+     885             : 
+     886       11250 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     887             : 
+     888       11250 :   if (!fixing_max_height_ && !control_manager_diag->flying_normally) {
+     889        5847 :     return;
+     890             :   }
+     891             : 
+     892        5403 :   auto   odometry = sh_odometry_.getMsg();
+     893        5403 :   double height   = sh_height_.getMsg()->value;
+     894             : 
+     895             :   // transform max z to the height frame
+     896        5403 :   geometry_msgs::PointStamped point;
+     897        5403 :   point.header  = sh_max_height_.getMsg()->header;
+     898        5403 :   point.point.z = sh_max_height_.getMsg()->value;
+     899             : 
+     900        5403 :   auto res = transformer_->transformSingle(point, sh_height_.getMsg()->header.frame_id);
+     901             : 
+     902             :   double max_z_in_height;
+     903             : 
+     904        5403 :   if (res) {
+     905        5403 :     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        5403 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     912             : 
+     913        5403 :   double odometry_heading = 0;
+     914             :   try {
+     915        5403 :     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        5403 :   if (height > max_z_in_height) {
+     923             : 
+     924          53 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: max height exceeded: %.2f >  %.2f, triggering safety goto", height, max_z_in_height);
+     925             : 
+     926         106 :     mrs_msgs::ReferenceStamped reference_out;
+     927          53 :     reference_out.header.frame_id = odometry->header.frame_id;
+     928          53 :     reference_out.header.stamp    = ros::Time::now();
+     929             : 
+     930          53 :     reference_out.reference.position.x = odometry_x;
+     931          53 :     reference_out.reference.position.y = odometry_y;
+     932          53 :     reference_out.reference.position.z = odometry_z + ((max_z_in_height - _max_height_offset_) - height);
+     933             : 
+     934          53 :     reference_out.reference.heading = odometry_heading;
+     935             : 
+     936          53 :     setControlCallbacksSrv(false);
+     937             : 
+     938          53 :     bool success = emergencyReferenceSrv(reference_out);
+     939             : 
+     940          53 :     if (success) {
+     941             : 
+     942          53 :       ROS_INFO("[UavManager]: descending");
+     943             : 
+     944          53 :       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        5403 :   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       18194 : void UavManager::timerMinHeight(const ros::TimerEvent& event) {
+     969             : 
+     970       18194 :   if (!is_initialized_)
+     971       12825 :     return;
+     972             : 
+     973       18194 :   ROS_INFO_ONCE("[UavManager]: min height timer spinning");
+     974             : 
+     975       36388 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMinHeight", _min_height_checking_rate_, 0.1, event);
+     976       36388 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMinHeight", scope_timer_logger_, scope_timer_enabled_);
+     977             : 
+     978       18194 :   if (!sh_odometry_.hasMsg() || !sh_height_.hasMsg() || !sh_control_manager_diag_.hasMsg()) {
+     979        6926 :     ROS_WARN_THROTTLE(10.0, "[UavManager]: minHeightTimer() not spinning, missing data");
+     980        6926 :     return;
+     981             :   }
+     982             : 
+     983       11268 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     984             : 
+     985       11268 :   if (!fixing_min_height_ && !control_manager_diag->flying_normally) {
+     986        5899 :     return;
+     987             :   }
+     988             : 
+     989        5369 :   auto   odometry = sh_odometry_.getMsg();
+     990        5369 :   double height   = sh_height_.getMsg()->value;
+     991             : 
+     992        5369 :   auto [odometry_x, odometry_y, odometry_z] = mrs_lib::getPosition(odometry);
+     993             : 
+     994        5369 :   double odometry_heading = 0;
+     995             : 
+     996             :   try {
+     997        5369 :     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        5369 :   if (height < _min_height_) {
+    1005             : 
+    1006          19 :     ROS_WARN_THROTTLE(1.0, "[UavManager]: min height breached: %.2f < %.2f, triggering safety goto", height, _min_height_);
+    1007             : 
+    1008          38 :     mrs_msgs::ReferenceStamped reference_out;
+    1009          19 :     reference_out.header.frame_id = odometry->header.frame_id;
+    1010          19 :     reference_out.header.stamp    = ros::Time::now();
+    1011             : 
+    1012          19 :     reference_out.reference.position.x = odometry_x;
+    1013          19 :     reference_out.reference.position.y = odometry_y;
+    1014          19 :     reference_out.reference.position.z = odometry_z + ((_min_height_ + _min_height_offset_) - height);
+    1015             : 
+    1016          19 :     reference_out.reference.heading = odometry_heading;
+    1017             : 
+    1018          19 :     setControlCallbacksSrv(false);
+    1019             : 
+    1020          19 :     bool success = emergencyReferenceSrv(reference_out);
+    1021             : 
+    1022          19 :     if (success) {
+    1023             : 
+    1024          19 :       ROS_INFO("[UavManager]: ascending");
+    1025             : 
+    1026          19 :       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        5369 :   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         259 : void UavManager::timerFlightTime(const ros::TimerEvent& event) {
+    1051             : 
+    1052         259 :   if (!is_initialized_)
+    1053           0 :     return;
+    1054             : 
+    1055         777 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerFlightTime", _flighttime_timer_rate_, 0.1, event);
+    1056         777 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerFlightTime", scope_timer_logger_, scope_timer_enabled_);
+    1057             : 
+    1058         259 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1059             : 
+    1060         259 :   flighttime += 1.0 / _flighttime_timer_rate_;
+    1061             : 
+    1062         259 :   mrs_msgs::Float64 flight_time;
+    1063         259 :   flight_time.value = flighttime;
+    1064             : 
+    1065             :   // if enabled, start the timer for measuring the flight time
+    1066         259 :   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         259 :   mrs_lib::set_mutexed(mutex_flighttime_, flighttime, flighttime_);
+    1080             : }
+    1081             : 
+    1082             : //}
+    1083             : 
+    1084             : /* //{ timerMaxthrottle() */
+    1085             : 
+    1086       45149 : void UavManager::timerMaxthrottle(const ros::TimerEvent& event) {
+    1087             : 
+    1088       45149 :   if (!is_initialized_)
+    1089       13969 :     return;
+    1090             : 
+    1091       45149 :   if (!sh_throttle_.hasMsg() || (ros::Time::now() - sh_throttle_.lastMsgTime()).toSec() > 1.0) {
+    1092       13969 :     return;
+    1093             :   }
+    1094             : 
+    1095       31180 :   ROS_INFO_ONCE("[UavManager]: max throttle timer spinning");
+    1096             : 
+    1097       93540 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerMaxthrottle", _maxthrottle_timer_rate_, 0.03, event);
+    1098       93540 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerMaxthrottle", scope_timer_logger_, scope_timer_enabled_);
+    1099             : 
+    1100       31180 :   auto desired_throttle = sh_throttle_.getMsg()->data;
+    1101             : 
+    1102       31180 :   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       31180 :     maxthrottle_above_threshold_ = false;
+    1119             :   }
+    1120             : 
+    1121       31180 :   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       31180 :   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        1811 : void UavManager::timerDiagnostics(const ros::TimerEvent& event) {
+    1145             : 
+    1146        1811 :   if (!is_initialized_)
+    1147           0 :     return;
+    1148             : 
+    1149        5433 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerDiagnostics", _maxthrottle_timer_rate_, 0.03, event);
+    1150        5433 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::timerDiagnostics", scope_timer_logger_, scope_timer_enabled_);
+    1151             : 
+    1152        1811 :   bool got_gps_est = false;
+    1153        1811 :   bool got_rtk_est = false;
+    1154             : 
+    1155        1811 :   if (sh_estimation_diagnostics_.hasMsg()) {  // get current position in lat-lon
+    1156             : 
+    1157        3030 :     auto                     estimation_diag  = sh_estimation_diagnostics_.getMsg();
+    1158        1515 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    1159             : 
+    1160        1830 :     got_gps_est = std::find(state_estimators.begin(), state_estimators.end(), "gps_garmin") != state_estimators.end() ||
+    1161         315 :                   std::find(state_estimators.begin(), state_estimators.end(), "gps_baro") != state_estimators.end();
+    1162        1515 :     got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    1163             :   }
+    1164             : 
+    1165        3622 :   mrs_msgs::UavManagerDiagnostics diag;
+    1166             : 
+    1167        1811 :   diag.stamp    = ros::Time::now();
+    1168        1811 :   diag.uav_name = _uav_name_;
+    1169             : 
+    1170        1811 :   auto flighttime = mrs_lib::get_mutexed(mutex_flighttime_, flighttime_);
+    1171             : 
+    1172             :   // fill in the acumulated flight time
+    1173        1811 :   diag.flight_time = flighttime;
+    1174             : 
+    1175        1811 :   if (sh_odometry_.hasMsg()) {  // get current position in lat-lon
+    1176             : 
+    1177        1524 :     if (got_gps_est || got_rtk_est) {
+    1178             : 
+    1179        2970 :       nav_msgs::Odometry odom = *sh_odometry_.getMsg();
+    1180             : 
+    1181        2970 :       geometry_msgs::PoseStamped uav_pose;
+    1182        1485 :       uav_pose.pose = mrs_lib::getPose(odom);
+    1183             : 
+    1184        4455 :       auto res = transformer_->transformSingle(uav_pose, "latlon_origin");
+    1185             : 
+    1186        1485 :       if (res) {
+    1187        1485 :         diag.cur_latitude  = res.value().pose.position.x;
+    1188        1485 :         diag.cur_longitude = res.value().pose.position.y;
+    1189             :       }
+    1190             :     }
+    1191             :   }
+    1192             : 
+    1193        1811 :   if (takeoff_successful_) {
+    1194             : 
+    1195         290 :     if (got_gps_est || got_rtk_est) {
+    1196             : 
+    1197         580 :       auto land_there_reference = mrs_lib::get_mutexed(mutex_land_there_reference_, land_there_reference_);
+    1198             : 
+    1199         870 :       auto res = transformer_->transformSingle(land_there_reference, "latlon_origin");
+    1200             : 
+    1201         290 :       if (res) {
+    1202         290 :         diag.home_latitude  = res.value().reference.position.x;
+    1203         290 :         diag.home_longitude = res.value().reference.position.y;
+    1204             :       }
+    1205             :     }
+    1206             :   }
+    1207             : 
+    1208        1811 :   ph_diag_.publish(diag);
+    1209             : }
+    1210             : 
+    1211             : //}
+    1212             : 
+    1213             : /* //{ timerMidairActivation() */
+    1214             : 
+    1215          55 : void UavManager::timerMidairActivation([[maybe_unused]] const ros::TimerEvent& event) {
+    1216             : 
+    1217          55 :   if (!is_initialized_)
+    1218           0 :     return;
+    1219             : 
+    1220          55 :   ROS_INFO_THROTTLE(0.1, "[UavManager]: waiting for OFFBOARD");
+    1221             : 
+    1222          55 :   if (sh_hw_api_status_.getMsg()->offboard) {
+    1223             : 
+    1224          54 :     ROS_INFO("[UavManager]: OFFBOARD detected");
+    1225             : 
+    1226          54 :     setOdometryCallbacksSrv(true);
+    1227             : 
+    1228             :     {
+    1229          54 :       bool controller_switched = switchControllerSrv(_midair_activation_after_controller_);
+    1230             : 
+    1231          54 :       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          54 :       bool tracker_switched = switchTrackerSrv(_midair_activation_after_tracker_);
+    1245             : 
+    1246          54 :       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          54 :     timer_midair_activation_.stop();
+    1259             : 
+    1260          54 :     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       86286 : void UavManager::callbackHwApiGNSS(const sensor_msgs::NavSatFix::ConstPtr msg) {
+    1286             : 
+    1287       86286 :   if (!is_initialized_)
+    1288          18 :     return;
+    1289             : 
+    1290      258804 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackHwApiGNSS");
+    1291      258804 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("UavManager::callbackHwApiGNSS", scope_timer_logger_, scope_timer_enabled_);
+    1292             : 
+    1293       86268 :   transformer_->setLatLon(msg->latitude, msg->longitude);
+    1294             : }
+    1295             : 
+    1296             : //}
+    1297             : 
+    1298             : /* //{ callbackOdometry() */
+    1299             : 
+    1300      142311 : void UavManager::callbackOdometry(const nav_msgs::Odometry::ConstPtr msg) {
+    1301             : 
+    1302      142311 :   if (!is_initialized_)
+    1303           0 :     return;
+    1304             : 
+    1305      142311 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    1306             : }
+    1307             : 
+    1308             : //}
+    1309             : 
+    1310             : // | -------------------- service callbacks ------------------- |
+    1311             : 
+    1312             : /* //{ callbackTakeoff() */
+    1313             : 
+    1314          21 : bool UavManager::callbackTakeoff([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1315             : 
+    1316          21 :   if (!is_initialized_)
+    1317           0 :     return false;
+    1318             : 
+    1319          21 :   ROS_INFO("[UavManager]: takeoff called by service");
+    1320             : 
+    1321             :   /* preconditions //{ */
+    1322             : 
+    1323             :   {
+    1324          21 :     std::stringstream ss;
+    1325             : 
+    1326          21 :     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          21 :     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          21 :     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          21 :     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          21 :       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          21 :       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          21 :     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          21 :     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          21 :     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          21 :     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          21 :     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          42 :   auto control_manager_diagnostics = sh_control_manager_diag_.getMsg();
+    1428          42 :   auto odometry                    = sh_odometry_.getMsg();
+    1429          21 :   auto [odom_x, odom_y, odom_z]    = mrs_lib::getPosition(sh_odometry_.getMsg());
+    1430             : 
+    1431             :   double odom_heading;
+    1432             :   try {
+    1433          21 :     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          21 :   ROS_INFO("[UavManager]: taking off");
+    1447             : 
+    1448          21 :   setOdometryCallbacksSrv(false);
+    1449             : 
+    1450             :   // activating the takeoff controller
+    1451             :   {
+    1452          21 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    1453          21 :     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          21 :     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          20 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    1476          20 :     bool        tracker_switched = switchTrackerSrv(_takeoff_tracker_name_);
+    1477             : 
+    1478             :     // if it fails, activate back the old tracker
+    1479          20 :     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          19 :   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          19 :     bool takeoff_successful = takeoffSrv();
+    1505             : 
+    1506             :     // if the takeoff was not successful, switch to NullTracker
+    1507          19 :     if (takeoff_successful) {
+    1508             : 
+    1509             :       // save the current spot for later landing
+    1510             :       {
+    1511          19 :         std::scoped_lock lock(mutex_land_there_reference_);
+    1512             : 
+    1513          19 :         land_there_reference_.header               = odometry->header;
+    1514          19 :         land_there_reference_.reference.position.x = odom_x;
+    1515          19 :         land_there_reference_.reference.position.y = odom_y;
+    1516          19 :         land_there_reference_.reference.position.z = odom_z;
+    1517          19 :         land_there_reference_.reference.heading    = odom_heading;
+    1518             :       }
+    1519             : 
+    1520          19 :       timer_flighttime_.start();
+    1521             : 
+    1522          38 :       std::stringstream ss;
+    1523          19 :       ss << "taking off";
+    1524          19 :       res.success = true;
+    1525          19 :       res.message = ss.str();
+    1526          19 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    1527             : 
+    1528          19 :       takingoff_ = true;
+    1529          19 :       number_of_takeoffs_++;
+    1530          19 :       waiting_for_takeoff_ = true;
+    1531             : 
+    1532             :       // start the takeoff timer
+    1533          19 :       timer_takeoff_.start();
+    1534             : 
+    1535          19 :       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          19 :   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          56 : bool UavManager::callbackMidairActivation([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1921             : 
+    1922          56 :   if (!is_initialized_)
+    1923           0 :     return false;
+    1924             : 
+    1925          56 :   ROS_INFO("[UavManager]: midair activation called by service");
+    1926             : 
+    1927             :   /* preconditions //{ */
+    1928             : 
+    1929             :   {
+    1930          56 :     std::stringstream ss;
+    1931             : 
+    1932          56 :     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          56 :     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          56 :     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          56 :     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          56 :       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          56 :       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          56 :     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          56 :     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          56 :     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          56 :     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          56 :   auto [success, message] = midairActivationImpl();
+    2018             : 
+    2019          56 :   res.message = message;
+    2020          56 :   res.success = success;
+    2021             : 
+    2022          56 :   return true;
+    2023             : }
+    2024             : 
+    2025             : //}
+    2026             : 
+    2027             : // | ------------------------ routines ------------------------ |
+    2028             : 
+    2029             : /* landImpl() //{ */
+    2030             : 
+    2031           4 : std::tuple<bool, std::string> UavManager::landImpl(void) {
+    2032             : 
+    2033             :   // activating the landing controller
+    2034             :   {
+    2035           4 :     std::string old_controller      = sh_control_manager_diag_.getMsg()->active_controller;
+    2036           4 :     bool        controller_switched = switchControllerSrv(_landing_controller_name_);
+    2037             : 
+    2038             :     // if it fails, activate eland
+    2039             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2040             :     // just throw out error.
+    2041           4 :     if (!controller_switched) {
+    2042             : 
+    2043           0 :       std::stringstream ss;
+    2044           0 :       ss << "could not activate '" << _takeoff_controller_name_ << "' for landing";
+    2045           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2046             : 
+    2047           0 :       elandSrv();
+    2048             : 
+    2049           0 :       return std::tuple(false, ss.str());
+    2050             :     }
+    2051             :   }
+    2052             : 
+    2053             :   // activate the landing tracker
+    2054             :   {
+    2055           4 :     std::string old_tracker      = sh_control_manager_diag_.getMsg()->active_tracker;
+    2056           4 :     bool        tracker_switched = switchTrackerSrv(_landing_tracker_name_);
+    2057             : 
+    2058             :     // if it fails, activate eland
+    2059             :     // Tomas: I pressume that its more important to get the UAV to the ground rather than
+    2060             :     // just throw out error.
+    2061           4 :     if (!tracker_switched) {
+    2062             : 
+    2063           0 :       std::stringstream ss;
+    2064           0 :       ss << "could not activate '" << _takeoff_tracker_name_ << "' for landing";
+    2065           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2066             : 
+    2067           0 :       elandSrv();
+    2068             : 
+    2069           0 :       return std::tuple(false, ss.str());
+    2070             :     }
+    2071             :   }
+    2072             : 
+    2073             :   // call the landing service
+    2074             :   {
+    2075           4 :     bool land_successful = landSrv();
+    2076             : 
+    2077           4 :     if (land_successful) {
+    2078             : 
+    2079             :       // stop the eventual takeoff
+    2080           4 :       waiting_for_takeoff_ = false;
+    2081           4 :       takingoff_           = false;
+    2082           4 :       timer_takeoff_.stop();
+    2083             : 
+    2084             :       // stop counting the flight time
+    2085           4 :       timer_flighttime_.stop();
+    2086             : 
+    2087           8 :       auto controller_diagnostics = sh_controller_diagnostics_.getMsg();
+    2088             : 
+    2089             :       // remember the last valid mass estimated
+    2090             :       // used during subsequent takeoff
+    2091           4 :       if (controller_diagnostics->mass_estimator) {
+    2092           4 :         last_mass_difference_ = controller_diagnostics->mass_difference;
+    2093             :       }
+    2094             : 
+    2095           4 :       setOdometryCallbacksSrv(false);
+    2096             : 
+    2097           4 :       changeLandingState(LANDING_STATE);
+    2098             : 
+    2099           4 :       throttle_under_threshold_          = false;
+    2100           4 :       throttle_mass_estimate_first_time_ = ros::Time(0);
+    2101             : 
+    2102           4 :       timer_landing_.start();
+    2103             : 
+    2104           4 :       std::stringstream ss;
+    2105           4 :       ss << "landing initiated";
+    2106           4 :       ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2107             : 
+    2108           4 :       return std::tuple(true, ss.str());
+    2109             : 
+    2110             :     } else {
+    2111             : 
+    2112           0 :       std::stringstream ss;
+    2113           0 :       ss << "could not land";
+    2114           0 :       ROS_ERROR_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2115             : 
+    2116           0 :       elandSrv();
+    2117             : 
+    2118           0 :       return std::tuple(false, ss.str());
+    2119             :     }
+    2120             :   }
+    2121             : }
+    2122             : 
+    2123             : //}
+    2124             : 
+    2125             : /* landWithDescendImpl() //{ */
+    2126             : 
+    2127           7 : std::tuple<bool, std::string> UavManager::landWithDescendImpl(void) {
+    2128             : 
+    2129             :   // if the height information is available
+    2130           7 :   if (sh_height_.hasMsg()) {
+    2131             : 
+    2132           7 :     double height = sh_height_.getMsg()->value;
+    2133             : 
+    2134           7 :     if (height > 0 && height >= _landing_descend_height_ + 1.0) {
+    2135             : 
+    2136           3 :       auto odometry = sh_odometry_.getMsg();
+    2137             : 
+    2138           3 :       ungripSrv();
+    2139             : 
+    2140             :       {
+    2141           3 :         std::scoped_lock lock(mutex_land_there_reference_);
+    2142             : 
+    2143             :         // FOR FUTURE ME: Do not change this, we need it to be filled for the final check later
+    2144           3 :         land_there_reference_.header.frame_id      = "";
+    2145           3 :         land_there_reference_.header.stamp         = ros::Time::now();
+    2146           3 :         land_there_reference_.reference.position.x = odometry->pose.pose.position.x;
+    2147           3 :         land_there_reference_.reference.position.y = odometry->pose.pose.position.y;
+    2148           3 :         land_there_reference_.reference.position.z = odometry->pose.pose.position.z - (height - _landing_descend_height_);
+    2149           3 :         land_there_reference_.reference.heading    = mrs_lib::AttitudeConverter(odometry->pose.pose.orientation).getHeading();
+    2150             :       }
+    2151             : 
+    2152           3 :       bool service_success = emergencyReferenceSrv(land_there_reference_);
+    2153             : 
+    2154           3 :       if (service_success) {
+    2155             : 
+    2156           3 :         std::stringstream ss;
+    2157           3 :         ss << "flying down for landing";
+    2158           3 :         ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2159             : 
+    2160             :         // stop the eventual takeoff
+    2161           3 :         waiting_for_takeoff_ = false;
+    2162           3 :         takingoff_           = false;
+    2163           3 :         timer_takeoff_.stop();
+    2164             : 
+    2165           3 :         changeLandingState(GOTO_STATE);
+    2166             : 
+    2167           3 :         throttle_under_threshold_          = false;
+    2168           3 :         throttle_mass_estimate_first_time_ = ros::Time(0);
+    2169             : 
+    2170           3 :         timer_landing_.start();
+    2171             : 
+    2172           3 :         return std::tuple(true, ss.str());
+    2173             : 
+    2174             :       } else {
+    2175             : 
+    2176           0 :         std::stringstream ss;
+    2177           0 :         ss << "can not fly down for landing";
+    2178           0 :         ROS_ERROR_STREAM("[UavManager]: " << ss.str());
+    2179             :       }
+    2180             :     }
+    2181             :   }
+    2182             : 
+    2183           8 :   auto [success, message] = landImpl();
+    2184             : 
+    2185           4 :   return std::tuple(success, message);
+    2186             : }
+    2187             : 
+    2188             : //}
+    2189             : 
+    2190             : /* midairActivationImpl() //{ */
+    2191             : 
+    2192          56 : 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         112 :   std::string old_controller;
+    2197             :   {
+    2198          56 :     old_controller           = sh_control_manager_diag_.getMsg()->active_controller;
+    2199          56 :     bool controller_switched = switchControllerSrv(_midair_activation_during_controller_);
+    2200             : 
+    2201          56 :     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          56 :     bool output_enabled = toggleControlOutput(true);
+    2214             : 
+    2215          56 :     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         110 :   std::string old_tracker;
+    2230             :   {
+    2231          55 :     old_tracker = sh_control_manager_diag_.getMsg()->active_tracker;
+    2232             : 
+    2233          55 :     bool tracker_switched = switchTrackerSrv(_midair_activation_during_tracker_);
+    2234             : 
+    2235          55 :     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          55 :   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          55 :     bool offboard_set = offboardSrv(true);
+    2255             : 
+    2256          55 :     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          54 :   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          54 :   timer_midair_activation_.start();
+    2275             : 
+    2276          54 :   std::stringstream ss;
+    2277          54 :   ss << "midair activation initiated, starting the timer";
+    2278          54 :   ROS_INFO_STREAM_THROTTLE(1.0, "[UavManager]: " << ss.str());
+    2279             : 
+    2280          54 :   return std::tuple(true, ss.str());
+    2281             : }
+    2282             : 
+    2283             : //}
+    2284             : 
+    2285             : // | ----------------- service client wrappers ---------------- |
+    2286             : 
+    2287             : /* setOdometryCallbacksSrv() //{ */
+    2288             : 
+    2289          98 : void UavManager::setOdometryCallbacksSrv(const bool& input) {
+    2290             : 
+    2291          98 :   ROS_INFO("[UavManager]: switching odometry callbacks to %s", input ? "ON" : "OFF");
+    2292             : 
+    2293         196 :   std_srvs::SetBool srv;
+    2294             : 
+    2295          98 :   srv.request.data = input;
+    2296             : 
+    2297          98 :   bool res = sch_odometry_callbacks_.call(srv);
+    2298             : 
+    2299          98 :   if (res) {
+    2300             : 
+    2301          98 :     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          98 : }
+    2309             : 
+    2310             : //}
+    2311             : 
+    2312             : /* setControlCallbacksSrv() //{ */
+    2313             : 
+    2314          78 : void UavManager::setControlCallbacksSrv(const bool& input) {
+    2315             : 
+    2316          78 :   ROS_INFO("[UavManager]: switching control callbacks to %s", input ? "ON" : "OFF");
+    2317             : 
+    2318         156 :   std_srvs::SetBool srv;
+    2319             : 
+    2320          78 :   srv.request.data = input;
+    2321             : 
+    2322          78 :   bool res = sch_control_callbacks_.call(srv);
+    2323             : 
+    2324          78 :   if (res) {
+    2325             : 
+    2326          78 :     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          78 : }
+    2334             : 
+    2335             : //}
+    2336             : 
+    2337             : /* ungripSrv() //{ */
+    2338             : 
+    2339           5 : void UavManager::ungripSrv(void) {
+    2340             : 
+    2341           5 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: ungripping payload");
+    2342             : 
+    2343          10 :   std_srvs::Trigger srv;
+    2344             : 
+    2345           5 :   bool res = sch_ungrip_.call(srv);
+    2346             : 
+    2347           5 :   if (res) {
+    2348             : 
+    2349           0 :     if (!srv.response.success) {
+    2350           0 :       ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload returned: %s.", srv.response.message.c_str());
+    2351             :     }
+    2352             : 
+    2353             :   } else {
+    2354           5 :     ROS_DEBUG_THROTTLE(1.0, "[UavManager]: service call for ungripping payload failed!");
+    2355             :   }
+    2356           5 : }
+    2357             : 
+    2358             : //}
+    2359             : 
+    2360             : /* toggleControlOutput() //{ */
+    2361             : 
+    2362          59 : bool UavManager::toggleControlOutput(const bool& input) {
+    2363             : 
+    2364          59 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: toggling control output %s", input ? "ON" : "OFF");
+    2365             : 
+    2366         118 :   std_srvs::SetBool srv;
+    2367             : 
+    2368          59 :   srv.request.data = input;
+    2369             : 
+    2370          59 :   bool res = sch_toggle_control_output_.call(srv);
+    2371             : 
+    2372          59 :   if (res) {
+    2373             : 
+    2374          58 :     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          58 :       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          55 : bool UavManager::offboardSrv(const bool in) {
+    2392             : 
+    2393          55 :   ROS_DEBUG_THROTTLE(1.0, "[UavManager]: setting offboard to %d", in);
+    2394             : 
+    2395         110 :   std_srvs::Trigger srv;
+    2396             : 
+    2397          55 :   bool res = sch_offboard_.call(srv);
+    2398             : 
+    2399          55 :   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          54 :     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          54 :       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         156 : bool UavManager::switchControllerSrv(const std::string& controller) {
+    2464             : 
+    2465         156 :   ROS_INFO_STREAM("[UavManager]: activating controller '" << controller << "'");
+    2466             : 
+    2467         312 :   mrs_msgs::String srv;
+    2468         156 :   srv.request.value = controller;
+    2469             : 
+    2470         156 :   bool res = sch_switch_controller_.call(srv);
+    2471             : 
+    2472         156 :   if (res) {
+    2473             : 
+    2474         156 :     if (!srv.response.success) {
+    2475           1 :       ROS_WARN("[UavManager]: service call for switching controller returned: '%s'", srv.response.message.c_str());
+    2476             :     }
+    2477             : 
+    2478         156 :     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         157 : bool UavManager::switchTrackerSrv(const std::string& tracker) {
+    2493             : 
+    2494         157 :   ROS_INFO_STREAM("[UavManager]: activating tracker '" << tracker << "'");
+    2495             : 
+    2496             : 
+    2497         314 :   mrs_msgs::String srv;
+    2498         157 :   srv.request.value = tracker;
+    2499             : 
+    2500         157 :   bool res = sch_switch_tracker_.call(srv);
+    2501             : 
+    2502         157 :   if (res) {
+    2503             : 
+    2504         157 :     if (!srv.response.success) {
+    2505           1 :       ROS_WARN("[UavManager]: service call for switching tracker returned: '%s'", srv.response.message.c_str());
+    2506             :     }
+    2507             : 
+    2508         157 :     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          19 : bool UavManager::takeoffSrv(void) {
+    2607             : 
+    2608          19 :   ROS_INFO("[UavManager]: calling for takeoff to height '%.2f m'", _takeoff_height_);
+    2609             : 
+    2610          38 :   mrs_msgs::Vec1 srv;
+    2611             : 
+    2612          19 :   srv.request.goal = _takeoff_height_;
+    2613             : 
+    2614          19 :   bool res = sch_takeoff_.call(srv);
+    2615             : 
+    2616          19 :   if (res) {
+    2617             : 
+    2618          19 :     if (!srv.response.success) {
+    2619           0 :       ROS_WARN("[UavManager]: service call for takeoff returned: '%s'", srv.response.message.c_str());
+    2620             :     }
+    2621             : 
+    2622          19 :     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          77 : bool UavManager::emergencyReferenceSrv(const mrs_msgs::ReferenceStamped& goal) {
+    2637             : 
+    2638          77 :   ROS_INFO_THROTTLE(1.0, "[UavManager]: calling for emergency reference");
+    2639             : 
+    2640         154 :   mrs_msgs::ReferenceStampedSrv srv;
+    2641             : 
+    2642          77 :   srv.request.header    = goal.header;
+    2643          77 :   srv.request.reference = goal.reference;
+    2644             : 
+    2645          77 :   bool res = sch_emergency_reference_.call(srv);
+    2646             : 
+    2647          77 :   if (res) {
+    2648             : 
+    2649          77 :     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          77 :     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          81 : 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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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()60
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()60
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().260
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html new file mode 100644 index 0000000000..f2897e2be6 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::garmin_agl::GarminAgl::GarminAgl()60
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl()60
mrs_uav_state_estimators::garmin_agl::GarminAgl::~GarminAgl().260
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.frameset.html new file mode 100644 index 0000000000..4e43b37ae4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html new file mode 100644 index 0000000000..9400afd3bd --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h.gcov.html @@ -0,0 +1,159 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/agl - garmin_agl.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
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+       1             : #ifndef ESTIMATORS_STATE_GARMIN_AGL_H
+       2             : #define ESTIMATORS_STATE_GARMIN_AGL_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <mrs_msgs/Float64Stamped.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/agl_estimator.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace garmin_agl
+      28             : {
+      29             : const char name[]         = "garmin_agl";
+      30             : const char frame_id[]     = "garmin_agl_origin";
+      31             : const char package_name[] = "mrs_uav_state_estimators";
+      32             : 
+      33             : const bool is_core_plugin = true;
+      34             : 
+      35             : class GarminAgl : public mrs_uav_managers::AglEstimator {
+      36             : 
+      37             : private:
+      38             :   std::unique_ptr<AltGeneric> est_agl_garmin_;
+      39             :   const std::string           est_agl_name_ = "garmin_agl";
+      40             : 
+      41             :   const bool is_core_plugin_;
+      42             : 
+      43             :   ros::Timer timer_update_;
+      44             :   int        _update_timer_rate_;
+      45             :   void       timerUpdate(const ros::TimerEvent &event);
+      46             : 
+      47             :   ros::Timer timer_check_health_;
+      48             :   int        _check_health_timer_rate_;
+      49             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      50             : 
+      51             :   bool isConverged();
+      52             : 
+      53             :   void waitForEstimationInitialization();
+      54             : 
+      55             : public:
+      56          60 :   GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
+      57          60 :   }
+      58             : 
+      59         120 :   ~GarminAgl(void) {
+      60         120 :   }
+      61             : 
+      62             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      63             :   bool start(void) override;
+      64             :   bool pause(void) override;
+      65             :   bool reset(void) override;
+      66             : 
+      67             :   mrs_msgs::Float64Stamped getUavAglHeight() const override;
+      68             :   std::vector<double>      getHeightCovariance() const override;
+      69             : };
+      70             : 
+      71             : }  // namespace garmin_agl
+      72             : 
+      73             : }  // namespace mrs_uav_state_estimators
+      74             : 
+      75             : #endif  // ESTIMATORS_STATE_GARMIN_AGL_H
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mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)144
mrs_uav_state_estimators::AltGeneric::~AltGeneric()144
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2144
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mrs_uav_state_estimators::AltGeneric::AltGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)144
mrs_uav_state_estimators::AltGeneric::~AltGeneric()144
mrs_uav_state_estimators::AltGeneric::~AltGeneric().2144
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       2             : #define ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Range.h>
+      10             : 
+      11             : #include <mrs_lib/lkf.h>
+      12             : #include <mrs_lib/repredictor.h>
+      13             : #include <mrs_lib/profiler.h>
+      14             : #include <mrs_lib/param_loader.h>
+      15             : #include <mrs_lib/subscribe_handler.h>
+      16             : 
+      17             : #include <functional>
+      18             : 
+      19             : #include <mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h>
+      20             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      21             : 
+      22             : #include <mrs_uav_state_estimators/AltitudeEstimatorConfig.h>
+      23             : 
+      24             : //}
+      25             : 
+      26             : namespace mrs_uav_state_estimators
+      27             : {
+      28             : 
+      29             : namespace alt_generic
+      30             : {
+      31             : 
+      32             : const int n_states       = 3;
+      33             : const int n_inputs       = 1;
+      34             : const int n_measurements = 1;
+      35             : 
+      36             : }  // namespace alt_generic
+      37             : 
+      38             : class AltGeneric : public AltitudeEstimator<alt_generic::n_states> {
+      39             : 
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   typedef mrs_lib::DynamicReconfigureMgr<AltitudeEstimatorConfig> drmgr_t;
+      43             : 
+      44             :   using lkf_t         = mrs_lib::LKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      45             :   using varstep_lkf_t = mrs_lib::varstepLKF<alt_generic::n_states, alt_generic::n_inputs, alt_generic::n_measurements>;
+      46             :   using A_t           = lkf_t::A_t;
+      47             :   using B_t           = lkf_t::B_t;
+      48             :   using H_t           = lkf_t::H_t;
+      49             :   using Q_t           = lkf_t::Q_t;
+      50             :   using x_t           = lkf_t::x_t;
+      51             :   using P_t           = lkf_t::P_t;
+      52             :   using u_t           = lkf_t::u_t;
+      53             :   using z_t           = lkf_t::z_t;
+      54             :   using R_t           = lkf_t::R_t;
+      55             :   using statecov_t    = lkf_t::statecov_t;
+      56             : 
+      57             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      58             : 
+      59             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      60             : 
+      61             : private:
+      62             :   std::string parent_state_est_name_;
+      63             : 
+      64             :   double                                      dt_;
+      65             :   double                                      input_coeff_, default_input_coeff_;
+      66             :   A_t                                         A_;
+      67             :   B_t                                         B_;
+      68             :   H_t                                         H_;
+      69             :   Q_t                                         Q_;
+      70             :   std::shared_ptr<lkf_t>                      lkf_;
+      71             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      72             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      73             :   mutable std::mutex                          mutex_lkf_;
+      74             :   statecov_t                                  sc_;
+      75             :   mutable std::mutex                          mutex_sc_;
+      76             : 
+      77             :   std::unique_ptr<drmgr_t> drmgr_;
+      78             :   void                     callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      79             : 
+      80             :   z_t                innovation_;
+      81             :   mutable std::mutex mtx_innovation_;
+      82             : 
+      83             :   bool          is_error_state_first_time_ = true;
+      84             :   ros::Duration error_state_duration_;
+      85             :   ros::Time     prev_time_in_error_state_;
+      86             : 
+      87             :   bool is_repredictor_enabled_;
+      88             :   int  rep_buffer_size_ = 200;
+      89             : 
+      90             :   const bool is_core_plugin_;
+      91             : 
+      92             :   std::vector<std::string>                                              correction_names_;
+      93             :   std::vector<std::shared_ptr<Correction<alt_generic::n_measurements>>> corrections_;
+      94             : 
+      95             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      96             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      97             :   std::atomic<bool>                                   is_input_ready_ = false;
+      98             : 
+      99             :   ros::Timer timer_update_;
+     100             :   void       timerUpdate(const ros::TimerEvent &event);
+     101             : 
+     102             :   ros::Timer timer_check_health_;
+     103             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     104             : 
+     105             :   void doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     106             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     107             : 
+     108             :   bool isConverged();
+     109             : 
+     110             :   Q_t                getQ();
+     111             :   mutable std::mutex mtx_Q_;
+     112             : 
+     113             : public:
+     114         144 :   AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     115         144 :       : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     116         144 :   }
+     117             : 
+     118         288 :   ~AltGeneric(void) {
+     119         288 :   }
+     120             : 
+     121             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     122             :   bool start(void) override;
+     123             :   bool pause(void) override;
+     124             :   bool reset(void) override;
+     125             : 
+     126             :   double getState(const int &state_idx_in) const override;
+     127             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     128             : 
+     129             :   void setState(const double &state_in, const int &state_idx_in) override;
+     130             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     131             : 
+     132             :   states_t getStates(void) const override;
+     133             :   void     setStates(const states_t &states_in) override;
+     134             : 
+     135             :   double getCovariance(const int &state_idx_in) const override;
+     136             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     137             : 
+     138             :   covariance_t getCovarianceMatrix(void) const override;
+     139             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     140             : 
+     141             :   double getInnovation(const int &state_idx) const override;
+     142             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     143             : 
+     144             :   void setDt(const double &dt);
+     145             :   void setInputCoeff(const double &input_coeff);
+     146             : 
+     147             :   void generateRepredictorModels(const double input_coeff);
+     148             : 
+     149             :   void generateA();
+     150             :   void generateB();
+     151             : 
+     152             :   void timeoutOdom(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     153             :   void timeoutRange(const std::string &topic, const ros::Time &last_msg, const int n_pubs);
+     154             : 
+     155             :   std::string getNamespacedName() const;
+     156             : 
+     157             :   std::string getPrintName() const;
+     158             : };
+     159             : }  // namespace mrs_uav_state_estimators
+     160             : 
+     161             : #endif  // ESTIMATORS_ALTITUDE_ALT_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html new file mode 100644 index 0000000000..85adff98de --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.overview.html @@ -0,0 +1,61 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..dcf0f4a027a6ab756dec1329ddcee71c4cae2957 GIT binary patch literal 688 zcmV;h0#E&kP)bm(Ppe}^qLnGb+F$2vKD02Gn zh($1dgra5Z8E?E&cRG}^Kx#yMfS#cr8p4)R${TUN=r@|=k$axQF7Ej(BA)90}BGAm^jcLl0&P&><5?5@?l)W15 z*ceT@60t-DKw?Uo)d&Z34^8KOsIJS88X1*Zxdf%Fo*cRt+v{ zz{VnN=>k`O353Z4;lz0bk%xtVdKj)gkW5@kI5QgK1#1)T1NCV5ExZAu!6Gf-yUk(o zI_q696*4h1pK!os(Q5%Z&B8@AX`^Yse#EiF#jklyiXJZuc49O|P?=mpMt2K+B4&}! zDxRsQYO{&!#ej+FIWojMZCbMd#E!FR5=8x3=)}zT{5YwaS~4UJFz(3@Jo&slhq@gc zRlV#zM0B&hYSzt`XtsK>y-#`N|2_WR`Tsn3+qUg*EH8d=+rF8^*);g*{x-0$lK(o|Y&0b=W0s!=7T&CEV>Oy!9ePcyge|x|(9`l-aMLnFyWzjy1 z9kVSV@LD0}Sxbt6RK_&i8dzK_FLFMex4`W9Oz}Zykn(SMU9|PPztmjnaL`kYvE`jB zAM+>D)!$NuGqnlj6xLY@*6Y0R)+;pj!HIF@(PL*ABk5r>>k*&qo>xvX(Os97EA9_V W6RZS^kluj+0000 + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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:2024-02-24 08:13:25Functions: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&)144
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2144
+
+
+ + + +
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..fbbee7719e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions: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&)144
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator()0
mrs_uav_state_estimators::AltitudeEstimator<3>::~AltitudeEstimator().2144
+
+
+ + + +
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..714c6dfcd9 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h.gcov.html @@ -0,0 +1,130 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/altitude_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude - altitude_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef ESTIMATORS_ALTITUDE_ALTITUDE_ESTIMATOR_H
+       3             : #define ESTIMATORS_ALTITUDE_ALTITUDE_ESTIMATOR_H
+       4             : 
+       5             : /* includes //{ */
+       6             : 
+       7             : #include <mrs_uav_state_estimators/estimators/partial_estimator.h>
+       8             : 
+       9             : //}
+      10             : 
+      11             : namespace mrs_uav_state_estimators
+      12             : {
+      13             : 
+      14             : namespace altitude
+      15             : {
+      16             : const char type[] = "ALTITUDE";
+      17             : 
+      18             : typedef enum
+      19             : {
+      20             :   ODOMETRY,
+      21             :   RANGE
+      22             : } MeasurementType_t;
+      23             : 
+      24             : }  // namespace altitude
+      25             : 
+      26             : template <int n_states>
+      27             : class AltitudeEstimator : public PartialEstimator<n_states, 1> {
+      28             : 
+      29             : protected:
+      30         144 :   AltitudeEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(altitude::type, name, frame_id) {
+      31         144 :   }
+      32             : 
+      33         144 :   virtual ~AltitudeEstimator(void) {
+      34         144 :   }
+      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..7763814249 --- /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:2024-02-24 08:13:25Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html new file mode 100644 index 0000000000..062ea481da --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail-sort-l.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html new file mode 100644 index 0000000000..32b1a408dc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-detail.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
<unnamed>100.0 %5 / 5100.0 %3 / 3
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html new file mode 100644 index 0000000000..649a441afa --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-f.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
altitude_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
alt_generic.h +
100.0%
+ 		100.0 %5 / 5100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-l.html new file mode 100644 index 0000000000..449b0cf1d2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude/index-sort-l.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitude + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/altitudeHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:99100.0 %
Date:2024-02-24 08:13:25Functions: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..c1e2d97989 --- /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:2024-02-24 08:13:25Functions: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
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+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-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..eded76d9fb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func-sort-c.html @@ -0,0 +1,348 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - correction.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:37565757.1 %
Date:2024-02-24 08:13:25Functions: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&)84
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)>)88
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const176
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const182
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)200
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)>)212
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const385
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const424
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const485
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const846
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2574
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2599
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const2599
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5500
mrs_uav_state_estimators::Correction<2>::getCorrectionFromRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5574
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5577
mrs_uav_state_estimators::Correction<2>::getProcessedCorrection()6421
mrs_uav_state_estimators::Correction<2>::getRawCorrection()6422
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()7768
mrs_uav_state_estimators::Correction<1>::getRawCorrection()7771
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10984
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11008
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> >)11010
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)164061
mrs_uav_state_estimators::Correction<2>::getCorrectionFromPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)167741
mrs_uav_state_estimators::Correction<1>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)172537
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)172616
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)172638
mrs_uav_state_estimators::Correction<2>::setR(double)177075
mrs_uav_state_estimators::Correction<2>::isMsgComing()177213
mrs_uav_state_estimators::Correction<2>::isHealthy()177213
mrs_uav_state_estimators::Correction<2>::getStateId() const177287
mrs_uav_state_estimators::Correction<2>::applyCorrection(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&, ros::Time const&)180538
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)184308
mrs_uav_state_estimators::Correction<1>::callbackRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)235703
mrs_uav_state_estimators::Correction<1>::getCorrectionFromRange(boost::shared_ptr<sensor_msgs::Range_<std::allocator<void> > const>)238950
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)361301
mrs_uav_state_estimators::Correction<1>::setR(double)407637
mrs_uav_state_estimators::Correction<1>::getStateId() const407656
mrs_uav_state_estimators::Correction<1>::applyCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, ros::Time const&)410834
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)414196
mrs_uav_state_estimators::Correction<1>::isHealthy()429245
mrs_uav_state_estimators::Correction<1>::isMsgComing()429311
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)821833
mrs_uav_state_estimators::Correction<2>::getR()899465
mrs_uav_state_estimators::Correction<1>::getR()1229067
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Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.func.html new file mode 100644 index 0000000000..b1f1142224 --- /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:37565757.1 %
Date:2024-02-24 08:13:25Functions:476770.1 %
Legend: Lines: + hit + not hit +
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Correction<1>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)2574
mrs_uav_state_estimators::Correction<1>::isMsgComing()429311
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>)235703
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>)172537
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&)410834
mrs_uav_state_estimators::Correction<1>::getZVelUntilted(geometry_msgs::Vector3_<std::allocator<void> > const&, std_msgs::Header_<std::allocator<void> > const&)172638
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()7771
mrs_uav_state_estimators::Correction<1>::publishCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)821833
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>)2599
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>)238950
mrs_uav_state_estimators::Correction<1>::getProcessedCorrection()7768
mrs_uav_state_estimators::Correction<1>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)200
mrs_uav_state_estimators::Correction<1>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)172616
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()1229067
mrs_uav_state_estimators::Correction<1>::setR(double)407637
mrs_uav_state_estimators::Correction<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)414196
mrs_uav_state_estimators::Correction<1>::isHealthy()429245
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)>)212
mrs_uav_state_estimators::Correction<2>::callbackRtk(boost::shared_ptr<mrs_msgs::RtkGps_<std::allocator<void> > const>)5500
mrs_uav_state_estimators::Correction<2>::isMsgComing()177213
mrs_uav_state_estimators::Correction<2>::callbackPoint(boost::shared_ptr<geometry_msgs::PointStamped_<std::allocator<void> > const>)164061
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> >)11010
mrs_uav_state_estimators::Correction<2>::callbackVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)10984
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&)180538
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()6422
mrs_uav_state_estimators::Correction<2>::publishCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection_<std::allocator<void> > >&)361301
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>)5574
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>)167741
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()6421
mrs_uav_state_estimators::Correction<2>::createProcessorFromName(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::NodeHandle&)84
mrs_uav_state_estimators::Correction<2>::getCorrectionFromVector(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)11008
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()899465
mrs_uav_state_estimators::Correction<2>::setR(double)177075
mrs_uav_state_estimators::Correction<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)184308
mrs_uav_state_estimators::Correction<2>::isHealthy()177213
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)>)88
mrs_uav_state_estimators::Correction<1>::getStateId() const407656
mrs_uav_state_estimators::Correction<1>::getPrintName[abi:cxx11]() const485
mrs_uav_state_estimators::Correction<1>::getNamespacedName[abi:cxx11]() const846
mrs_uav_state_estimators::Correction<1>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const2599
mrs_uav_state_estimators::Correction<1>::getName[abi:cxx11]() const424
mrs_uav_state_estimators::Correction<2>::getStateId() const177287
mrs_uav_state_estimators::Correction<2>::getPrintName[abi:cxx11]() const182
mrs_uav_state_estimators::Correction<2>::getNamespacedName[abi:cxx11]() const385
mrs_uav_state_estimators::Correction<2>::transformRtkToFcu(geometry_msgs::PoseStamped_<std::allocator<void> > const&) const5577
mrs_uav_state_estimators::Correction<2>::getName[abi:cxx11]() const176
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html new file mode 100644 index 0000000000..3b2b9aa9cc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html new file mode 100644 index 0000000000..8316c1cd82 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.html @@ -0,0 +1,1799 @@ + + + + + + + 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:37565757.1 %
Date:2024-02-24 08:13:25Functions: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         300 : 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         300 :       fun_apply_correction_(fun_apply_correction) {
+     235             : 
+     236             :   // | --------------------- load parameters -------------------- |
+     237             : 
+     238         600 :   std::string msg_type_string;
+     239             : 
+     240         300 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + getNamespacedName() + "/");
+     241             : 
+     242         300 :   ph->param_loader->loadParam("message/type", msg_type_string);
+     243         300 :   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         300 :   msg_type_ = map_msg_type.at(msg_type_string);
+     248             : 
+     249         300 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+     250         300 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+     251         300 :   ph->param_loader->loadParam("message/limit/delay", msg_delay_limit_);
+     252         300 :   msg_delay_warn_limit_ = msg_delay_limit_ / 2;  // maybe specify this as a param?
+     253         300 :   ph->param_loader->loadParam("message/limit/time_since_last", time_since_last_msg_limit_);
+     254             : 
+     255             :   int state_id_tmp;
+     256         300 :   ph->param_loader->loadParam("state_id", state_id_tmp);
+     257         300 :   if (state_id_tmp < n_StateId_t) {
+     258         300 :     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         300 :   if (state_id_ == StateId_t::VELOCITY) {
+     265          88 :     ph->param_loader->loadParam("body_frame", is_in_body_frame_, true);
+     266             :   }
+     267             : 
+     268         300 :   ph->param_loader->loadParam("noise", R_);
+     269         300 :   ph->param_loader->loadParam("noise_unhealthy_coeff", R_coeff_);
+     270         300 :   default_R_ = R_;
+     271             : 
+     272             :   // | --------------- processors initialization --------------- |
+     273         300 :   ph->param_loader->loadParam("processors", processor_names_);
+     274             : 
+     275         584 :   for (auto proc_name : processor_names_) {
+     276         284 :     processors_[proc_name] = createProcessorFromName(proc_name, nh);
+     277             :   }
+     278             : 
+     279             :   // | ------------- initialize dynamic reconfigure ------------- |
+     280         300 :   drmgr_               = std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), getPrintName());
+     281         300 :   drmgr_->config.noise = R_;
+     282         300 :   drmgr_->update_config(drmgr_->config);
+     283             : 
+     284             :   // | -------------- initialize subscribe handlers ------------- |
+     285         600 :   mrs_lib::SubscribeHandlerOptions shopts;
+     286         300 :   shopts.nh                 = nh;
+     287         300 :   shopts.node_name          = getPrintName();
+     288         300 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     289         300 :   shopts.threadsafe         = true;
+     290         300 :   shopts.autostart          = true;
+     291         300 :   shopts.queue_size         = 10;
+     292         300 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     293             : 
+     294         300 :   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         126 :     case MessageType_t::RANGE: {
+     309         126 :       sh_range_                   = mrs_lib::SubscribeHandler<sensor_msgs::Range>(shopts, msg_topic_, &Correction::callbackRange, this);
+     310         126 :       const std::size_t found     = ros::this_node::getName().find_last_of("/");
+     311         252 :       std::string       node_name = ros::this_node::getName().substr(found + 1);
+     312         252 :       ser_toggle_range_ =
+     313         126 :           nh.advertiseService(ros::this_node::getName() + "/" + getNamespacedName() + "/toggle_range_in", &Correction::callbackToggleRange, this);
+     314         126 :       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          80 :     case MessageType_t::POINT: {
+     321          80 :       sh_point_ = mrs_lib::SubscribeHandler<geometry_msgs::PointStamped>(shopts, msg_topic_, &Correction::callbackPoint, this);
+     322          80 :       break;
+     323             :     }
+     324          88 :     case MessageType_t::VECTOR: {
+     325          88 :       sh_vector_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, msg_topic_, &Correction::callbackVector, this);
+     326          88 :       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         300 :   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         300 :   if (ch_->debug_topics.correction) {
+     351         300 :     ph_correction_raw_  = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/raw", 10);
+     352         300 :     ph_correction_proc_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>(nh, est_name_ + "/correction/" + getName() + "/proc", 10);
+     353             :   }
+     354         300 :   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         300 :   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         300 :   healthy_time_ = ros::Time(0);
+     365             : 
+     366         300 :   is_initialized_ = true;
+     367         300 : }
+     368             : /*//}*/
+     369             : 
+     370             : /*//{ getName() */
+     371             : template <int n_measurements>
+     372         600 : std::string Correction<n_measurements>::getName() const {
+     373         600 :   return name_;
+     374             : }
+     375             : /*//}*/
+     376             : 
+     377             : /*//{ getNamespacedName() */
+     378             : template <int n_measurements>
+     379        1231 : std::string Correction<n_measurements>::getNamespacedName() const {
+     380        1231 :   return est_name_ + "/" + name_;
+     381             : }
+     382             : /*//}*/
+     383             : 
+     384             : /*//{ getPrintName() */
+     385             : template <int n_measurements>
+     386         667 : std::string Correction<n_measurements>::getPrintName() const {
+     387         667 :   return ch_->nodelet_name + "/" + est_name_ + "/" + name_;
+     388             : }
+     389             : /*//}*/
+     390             : 
+     391             : /*//{ getR() */
+     392             : template <int n_measurements>
+     393     2128532 : double Correction<n_measurements>::getR() {
+     394     2128532 :   std::scoped_lock lock(mtx_R_);
+     395     2128156 :   default_R_ = drmgr_->config.noise;
+     396     4255937 :   return R_;
+     397             : }
+     398             : /*//}*/
+     399             : 
+     400             : /*//{ setR() */
+     401             : template <int n_measurements>
+     402      584712 : void Correction<n_measurements>::setR(const double R) {
+     403      584712 :   std::scoped_lock lock(mtx_R_);
+     404      584645 :   R_ = R;
+     405      584669 : }
+     406             : /*//}*/
+     407             : 
+     408             : /*//{ getStateId() */
+     409             : template <int n_measurements>
+     410      584943 : StateId_t Correction<n_measurements>::getStateId() const {
+     411      584943 :   return state_id_;
+     412             : }
+     413             : /*//}*/
+     414             : 
+     415             : /*//{ isHealthy() */
+     416             : template <int n_measurements>
+     417      606458 : bool Correction<n_measurements>::isHealthy() {
+     418             : 
+     419      606458 :   if (!is_initialized_) {
+     420           0 :     return false;
+     421             :   }
+     422             : 
+     423      606161 :   is_dt_ok_ = isMsgComing();
+     424             : 
+     425      606391 :   if (!is_delay_ok_) {
+     426           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: delay not ok", getPrintName().c_str());
+     427             :   }
+     428             : 
+     429      606198 :   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      606117 :   is_healthy_ = is_healthy_ && is_dt_ok_ && is_delay_ok_;
+     440             : 
+     441      606542 :   return is_healthy_;
+     442             : }
+     443             : /*//}*/
+     444             : 
+     445             : /*//{ getRawCorrection() */
+     446             : template <int n_measurements>
+     447       14193 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getRawCorrection() {
+     448             : 
+     449       14193 :   if (!is_initialized_) {
+     450           0 :     return {};
+     451             :   }
+     452             : 
+     453       14177 :   MeasurementStamped measurement_stamped;
+     454             : 
+     455       14176 :   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        7330 :     case MessageType_t::RANGE: {
+     516             : 
+     517        7330 :       if (!range_enabled_) {
+     518           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: fusing range corrections is disabled", getPrintName().c_str());
+     519        4076 :         return {};
+     520             :       }
+     521             : 
+     522        7330 :       if (!sh_range_.hasMsg()) {
+     523        2787 :         return {};
+     524             :       }
+     525             : 
+     526        4554 :       auto msg                  = sh_range_.getMsg();
+     527        4548 :       measurement_stamped.stamp = msg->header.stamp;
+     528             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     529             : 
+     530             :       /* if (!is_delay_ok_) { */
+     531             :       /*   return {}; */
+     532             :       /* } */
+     533             : 
+     534        4552 :       auto res = getCorrectionFromRange(msg);
+     535        4563 :       if (res) {
+     536        3270 :         measurement_stamped.value = res.value();
+     537             :       } else {
+     538        1293 :         return {};
+     539             :       }
+     540        3270 :       break;
+     541             :     }
+     542             : 
+     543          97 :     case MessageType_t::RTK_GPS: {
+     544             : 
+     545          97 :       if (!sh_rtk_.hasMsg()) {
+     546           0 :         ROS_ERROR_THROTTLE(1.0, " no rtk msgs so far");
+     547          14 :         return {};
+     548             :       }
+     549             : 
+     550          97 :       auto msg                  = sh_rtk_.getMsg();
+     551          97 :       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          97 :       auto res = getCorrectionFromRtk(msg);
+     560          97 :       if (res) {
+     561          83 :         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          83 :       break;
+     568             :     }
+     569             : 
+     570        6278 :     case MessageType_t::POINT: {
+     571             : 
+     572        6278 :       if (!sh_point_.hasMsg()) {
+     573        2612 :         return {};
+     574             :       }
+     575             : 
+     576        3666 :       auto msg                  = sh_point_.getMsg();
+     577        3666 :       measurement_stamped.stamp = msg->header.stamp;
+     578             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     579             : 
+     580             :       /* if (!is_delay_ok_) { */
+     581             :       /*   return {}; */
+     582             :       /* } */
+     583        3666 :       auto res = getCorrectionFromPoint(msg);
+     584        3666 :       if (res) {
+     585        3666 :         measurement_stamped.value = res.value();
+     586             :       } else {
+     587           0 :         return {};
+     588             :       }
+     589        3666 :       break;
+     590             :     }
+     591             : 
+     592         468 :     case MessageType_t::VECTOR: {
+     593             : 
+     594         468 :       if (!sh_vector_.hasMsg()) {
+     595         380 :         return {};
+     596             :       }
+     597             : 
+     598         108 :       auto msg                  = sh_vector_.getMsg();
+     599         108 :       measurement_stamped.stamp = msg->header.stamp;
+     600             :       /* checkMsgDelay(measurement_stamped.stamp); */
+     601             : 
+     602             :       /* if (!is_delay_ok_) { */
+     603             :       /*   return {}; */
+     604             :       /* } */
+     605         108 :       auto res = getCorrectionFromVector(msg);
+     606         108 :       if (res) {
+     607          88 :         measurement_stamped.value = res.value();
+     608             :       } else {
+     609          20 :         return {};
+     610             :       }
+     611          88 :       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           4 :     default: {
+     637           4 :       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        7107 :   is_nan_free_ = true;
+     645       17954 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+     646       10848 :     if (!std::isfinite(measurement_stamped.value(i))) {
+     647           1 :       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        7106 :   got_first_msg_ = true;
+     654        7107 :   publishCorrection(measurement_stamped, ph_correction_raw_);
+     655             : 
+     656        7107 :   return measurement_stamped;
+     657             : }
+     658             : /*//}*/
+     659             : 
+     660             : /*//{ getProcessedCorrection() */
+     661             : template <int n_measurements>
+     662       14189 : std::optional<typename Correction<n_measurements>::MeasurementStamped> Correction<n_measurements>::getProcessedCorrection() {
+     663             : 
+     664       14189 :   MeasurementStamped measurement_stamped;
+     665       14166 :   auto               res = getRawCorrection();
+     666       14186 :   if (res) {
+     667        7105 :     MeasurementStamped measurement_stamped = res.value();
+     668        7102 :     if (process(measurement_stamped.value)) {
+     669         377 :       publishCorrection(measurement_stamped, ph_correction_proc_);
+     670         377 :       return measurement_stamped;
+     671             :     } else {
+     672        6730 :       return {};  // invalid correction
+     673             :     }
+     674             :   } else {
+     675        7087 :     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      235703 : void Correction<n_measurements>::callbackRange(const sensor_msgs::Range::ConstPtr msg) {
+     943             : 
+     944      235703 :   if (!is_initialized_) {
+     945           0 :     return;
+     946             :   }
+     947             : 
+     948      234926 :   auto res = getCorrectionFromRange(msg);
+     949      236771 :   if (res) {
+     950      235700 :     applyCorrection(res.value(), msg->header.stamp);
+     951             :   }
+     952             : }
+     953             : /*//}*/
+     954             : 
+     955             : /*//{ getCorrectionFromRange() */
+     956             : template <int n_measurements>
+     957      238950 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRange(const sensor_msgs::RangeConstPtr msg) {
+     958             : 
+     959      238950 :   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      238950 :   if (!std::isfinite(msg->range)) {
+     965           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: received value: %f. Not using this correction.", getPrintName().c_str(), msg->range);
+     966           0 :     return {};
+     967             :   }
+     968             : 
+     969      479277 :   geometry_msgs::PoseStamped range_point;
+     970             : 
+     971      237405 :   range_point.header           = msg->header;
+     972      240036 :   range_point.pose.position.x  = msg->range;
+     973      236067 :   range_point.pose.position.y  = 0;
+     974      236067 :   range_point.pose.position.z  = 0;
+     975      236067 :   range_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     976             : 
+     977      479744 :   auto res = ch_->transformer->transformSingle(range_point, ch_->frames.ns_fcu_untilted);
+     978             : 
+     979      241351 :   Correction::measurement_t measurement;
+     980             : 
+     981      241351 :   if (res) {
+     982      238971 :     measurement(0) = -res.value().pose.position.z;
+     983      238965 :     return measurement;
+     984             :   } else {
+     985        2379 :     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        2379 :     return {};
+     988             :   }
+     989             : }
+     990             : /*//}*/
+     991             : 
+     992             : /*//{ callbackRtk() */
+     993             : template <int n_measurements>
+     994        8074 : void Correction<n_measurements>::callbackRtk(const mrs_msgs::RtkGps::ConstPtr msg) {
+     995             : 
+     996        8074 :   if (!is_initialized_) {
+     997           0 :     return;
+     998             :   }
+     999             : 
+    1000        8064 :   auto res = getCorrectionFromRtk(msg);
+    1001        8082 :   if (res) {
+    1002        8074 :     applyCorrection(res.value(), msg->header.stamp);
+    1003             :   }
+    1004             : }
+    1005             : /*//}*/
+    1006             : 
+    1007             : /*//{ getCorrectionFromRtk() */
+    1008             : template <int n_measurements>
+    1009        8173 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromRtk(const mrs_msgs::RtkGpsConstPtr msg) {
+    1010             : 
+    1011       16352 :   geometry_msgs::PoseStamped rtk_pos;
+    1012             : 
+    1013        8164 :   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        8155 :   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        8170 :   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        8162 :   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        8165 :   rtk_pos.header = msg->header;
+    1034        8171 :   mrs_lib::UTM(msg->gps.latitude, msg->gps.longitude, &rtk_pos.pose.position.x, &rtk_pos.pose.position.y);
+    1035        8135 :   rtk_pos.pose.position.z  = msg->gps.altitude;
+    1036        8139 :   rtk_pos.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1037             : 
+    1038        8155 :   rtk_pos.pose.position.x -= ch_->world_origin.x;
+    1039        8146 :   rtk_pos.pose.position.y -= ch_->world_origin.y;
+    1040             : 
+    1041        8155 :   Correction::measurement_t measurement;
+    1042             : 
+    1043             :   // transform the RTK position from antenna to FCU
+    1044        8164 :   auto res = transformRtkToFcu(rtk_pos);
+    1045        8179 :   if (res) {
+    1046        8179 :     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        8179 :   switch (est_type_) {
+    1053             : 
+    1054             :     // handle lateral estimators
+    1055        5580 :     case EstimatorType_t::LATERAL: {
+    1056             : 
+    1057        5580 :       switch (state_id_) {
+    1058             : 
+    1059        5580 :         case StateId_t::POSITION: {
+    1060        5580 :           measurement(0) = rtk_pos.pose.position.x;
+    1061        5580 :           measurement(1) = rtk_pos.pose.position.y;
+    1062        5580 :           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        2599 :     case EstimatorType_t::ALTITUDE: {
+    1076             : 
+    1077        2599 :       switch (state_id_) {
+    1078             : 
+    1079        2599 :         case StateId_t::POSITION: {
+    1080        2599 :           measurement(0) = rtk_pos.pose.position.z;
+    1081        2599 :           if (!got_avg_init_rtk_z_) {
+    1082          22 :             getAvgRtkInitZ(measurement(0));
+    1083          22 :             return {};
+    1084             :           }
+    1085        2577 :           measurement(0) -= rtk_init_z_avg_;
+    1086        2577 :           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      164061 : void Correction<n_measurements>::callbackPoint(const geometry_msgs::PointStamped::ConstPtr msg) {
+    1113             : 
+    1114      164061 :   if (!is_initialized_) {
+    1115           0 :     return;
+    1116             :   }
+    1117             : 
+    1118      163986 :   auto res = getCorrectionFromPoint(msg);
+    1119      163889 :   if (res) {
+    1120      163898 :     applyCorrection(res.value(), msg->header.stamp);
+    1121             :   }
+    1122             : }
+    1123             : /*//}*/
+    1124             : 
+    1125             : /*//{ getCorrectionFromPoint() */
+    1126             : template <int n_measurements>
+    1127      167741 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromPoint(
+    1128             :     const geometry_msgs::PointStampedConstPtr msg) {
+    1129             : 
+    1130      167741 :   switch (est_type_) {
+    1131             : 
+    1132             :     // handle lateral estimators
+    1133      167732 :     case EstimatorType_t::LATERAL: {
+    1134             : 
+    1135      167732 :       switch (state_id_) {
+    1136             : 
+    1137      167716 :         case StateId_t::POSITION: {
+    1138      167716 :           measurement_t measurement;
+    1139      167718 :           measurement(0) = msg->point.x;
+    1140      167606 :           measurement(1) = msg->point.y;
+    1141      167588 :           return measurement;
+    1142             :           break;
+    1143             :         }
+    1144             : 
+    1145          16 :         default: {
+    1146          16 :           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          10 :     default: {
+    1174          10 :       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      183521 : void Correction<n_measurements>::callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+    1188             : 
+    1189      183521 :   if (!is_initialized_) {
+    1190           1 :     return;
+    1191             :   }
+    1192             : 
+    1193      183377 :   auto res = getCorrectionFromVector(msg);
+    1194      183567 :   if (res) {
+    1195      183539 :     applyCorrection(res.value(), msg->header.stamp);
+    1196             :   } else {
+    1197          27 :     ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain correction from Vector3Stamped msg", getPrintName().c_str());
+    1198             :   }
+    1199             : }
+    1200             : /*//}*/
+    1201             : 
+    1202             : /*//{ getCorrectionFromVector() */
+    1203             : template <int n_measurements>
+    1204      183624 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromVector(
+    1205             :     const geometry_msgs::Vector3StampedConstPtr msg) {
+    1206             : 
+    1207      183624 :   switch (est_type_) {
+    1208             : 
+    1209             :     // handle lateral estimators
+    1210       11009 :     case EstimatorType_t::LATERAL: {
+    1211             : 
+    1212       11009 :       switch (state_id_) {
+    1213             : 
+    1214       11009 :         case StateId_t::VELOCITY: {
+    1215       11009 :           auto res = getVelInFrame(msg->vector, msg->header, ns_frame_id_ + "_att_only");
+    1216       11011 :           if (res) {
+    1217       10972 :             measurement_t measurement;
+    1218       10972 :             measurement = res.value();
+    1219       10972 :             return measurement;
+    1220             :           } else {
+    1221          39 :             return {};
+    1222             :           }
+    1223             :           break;
+    1224             :         }
+    1225             : 
+    1226           0 :         default: {
+    1227           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1228           0 :           return {};
+    1229             :         }
+    1230             :       }
+    1231             :       break;
+    1232             :     }
+    1233             : 
+    1234             :     // handle altitude estimators
+    1235      172601 :     case EstimatorType_t::ALTITUDE: {
+    1236             : 
+    1237      172601 :       switch (state_id_) {
+    1238             : 
+    1239      172532 :         case StateId_t::VELOCITY: {
+    1240      172532 :           auto res = getZVelUntilted(msg->vector, msg->header);
+    1241      172666 :           if (res) {
+    1242      172657 :             measurement_t measurement;
+    1243      172658 :             measurement = res.value();
+    1244      172657 :             return measurement;
+    1245             :           } else {
+    1246           8 :             ROS_WARN_THROTTLE(1.0, "[%s]: Could not obtain untilted Z velocity", getPrintName().c_str());
+    1247           8 :             return {};
+    1248             :           }
+    1249             :           break;
+    1250             :         }
+    1251             : 
+    1252          69 :         default: {
+    1253          69 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1254           0 :           return {};
+    1255             :         }
+    1256             :       }
+    1257             :       break;
+    1258             :     }
+    1259             : 
+    1260             :     // handle heading estimators
+    1261           0 :     case EstimatorType_t::HEADING: {
+    1262             : 
+    1263           0 :       switch (state_id_) {
+    1264             : 
+    1265           0 :         case StateId_t::VELOCITY: {
+    1266             :           try {
+    1267           0 :             if (!sh_orientation_.hasMsg()) {
+    1268           0 :               ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+    1269             :                                 orientation_topic_.c_str());
+    1270           0 :               return {};
+    1271             :             }
+    1272           0 :             measurement_t measurement;
+    1273           0 :             measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+    1274           0 :             return measurement;
+    1275             :           }
+    1276           0 :           catch (...) {
+    1277           0 :             ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+    1278           0 :             return {};
+    1279             :           }
+    1280             :           break;
+    1281             :         }
+    1282             : 
+    1283           0 :         default: {
+    1284           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
+    1285           0 :           return {};
+    1286             :         }
+    1287             :       }
+    1288             :       break;
+    1289             :     }
+    1290             :   }
+    1291             : 
+    1292          15 :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1293           0 :   return {};
+    1294             : }
+    1295             : /*//}*/
+    1296             : 
+    1297             : /*//{ getCorrectionFromQuat() */
+    1298             : template <int n_measurements>
+    1299           0 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat([
+    1300             :     [maybe_unused]] const geometry_msgs::QuaternionStampedConstPtr msg) {
+    1301             : 
+    1302           0 :   switch (est_type_) {
+    1303             : 
+    1304             :       // handle lateral estimators
+    1305             :       /* case EstimatorType_t::LATERAL: { */
+    1306             : 
+    1307             :       /*   default: { */
+    1308             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1309             :       /*     return {}; */
+    1310             :       /*   } break; */
+    1311             :       /* } */
+    1312             : 
+    1313             :       /* // handle altitude estimators */
+    1314             :       /* case EstimatorType_t::ALTITUDE: { */
+    1315             : 
+    1316             :       /* default: { */
+    1317             :       /*     ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1318             :       /*     return {}; */
+    1319             :       /*   } break; */
+    1320             :       /* } */
+    1321             : 
+    1322             :       /* // handle heading estimators */
+    1323             :       /* case EstimatorType_t::HEADING: { */
+    1324             : 
+    1325             :       /*   switch (state_id_) { */
+    1326             : 
+    1327             :       /*     /1* default: { *1/ */
+    1328             :       /*       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str()); */
+    1329             :       /*       return {}; */
+    1330             :       /*     } */
+    1331             :       /*   } */
+    1332             :     default: {
+    1333           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromOdometry() switch", getPrintName().c_str());
+    1334           0 :       return {};
+    1335             :     }
+    1336             :   }
+    1337             : 
+    1338             :   ROS_ERROR("[%s]: FIXME: should not be possible to get into this part of code", getPrintName().c_str());
+    1339             :   return {};
+    1340             : }
+    1341             : /*//}*/
+    1342             : 
+    1343             : /*//{ applyCorrection() */
+    1344             : template <int n_measurements>
+    1345      591372 : void Correction<n_measurements>::applyCorrection(const measurement_t& meas, const ros::Time& stamp) {
+    1346             : 
+    1347             :   {
+    1348      591372 :     std::scoped_lock lock(mtx_msg_time_);
+    1349      591217 :     if (first_timestamp_) {
+    1350         295 :       prev_msg_time_   = stamp - ros::Duration(0.01);
+    1351         297 :       msg_time_        = stamp;
+    1352         297 :       healthy_time_    = ros::Time(0);
+    1353         299 :       first_timestamp_ = false;
+    1354             :     }
+    1355             : 
+    1356      591152 :     prev_msg_time_ = msg_time_;
+    1357      591152 :     msg_time_      = stamp;
+    1358      591152 :     healthy_time_ += msg_time_ - prev_msg_time_;
+    1359             :   }
+    1360             : 
+    1361      591181 :   MeasurementStamped meas_stamped;
+    1362      591205 :   meas_stamped.value = meas;
+    1363      591284 :   meas_stamped.stamp = stamp;
+    1364      591284 :   publishCorrection(meas_stamped, ph_correction_raw_);
+    1365      591404 :   if (process(meas_stamped.value)) {
+    1366      584295 :     publishCorrection(meas_stamped, ph_correction_proc_);
+    1367      584416 :     fun_apply_correction_(meas_stamped, getR(), getStateId());
+    1368             :   }
+    1369      590801 : }
+    1370             : /*//}*/
+    1371             : 
+    1372             : /* //{ callbackToggleRange() */
+    1373             : template <int n_measurements>
+    1374           0 : bool Correction<n_measurements>::callbackToggleRange(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1375             : 
+    1376           0 :   if (!is_initialized_) {
+    1377           0 :     return false;
+    1378             :   }
+    1379             : 
+    1380           0 :   if (!range_enabled_ && req.data) {
+    1381           0 :     processors_["saturate"]->toggle(true);
+    1382             :   }
+    1383             : 
+    1384           0 :   range_enabled_ = req.data;
+    1385             : 
+    1386             :   // after enabling range we want to start correcting the altitude slowly
+    1387             : 
+    1388           0 :   res.success = true;
+    1389           0 :   res.message = (range_enabled_ ? "Range enabled" : "Range disabled");
+    1390             : 
+    1391           0 :   if (range_enabled_) {
+    1392             : 
+    1393           0 :     ROS_INFO("[%s]: Range enabled.", getPrintName().c_str());
+    1394             : 
+    1395             :   } else {
+    1396             : 
+    1397           0 :     ROS_INFO("[%s]: Range disabled", getPrintName().c_str());
+    1398             :   }
+    1399             : 
+    1400           0 :   return true;
+    1401             : }
+    1402             : 
+    1403             : //}
+    1404             : 
+    1405             : /*//{ getZVelUntilted() */
+    1406             : template <int n_measurements>
+    1407      172638 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getZVelUntilted(const geometry_msgs::Vector3& msg,
+    1408             :                                                                                                               const std_msgs::Header&       header) {
+    1409             : 
+    1410             :   // untilt the desired vector
+    1411      345304 :   geometry_msgs::PointStamped vel;
+    1412      172504 :   vel.point.x = msg.x;
+    1413      172504 :   vel.point.y = msg.y;
+    1414      172504 :   vel.point.z = msg.z;
+    1415      172504 :   vel.header  = header;
+    1416             :   /* vel.header.frame_id = ch_->frames.ns_fcu; */
+    1417      172615 :   vel.header.stamp = header.stamp;
+    1418             : 
+    1419      345281 :   auto res = ch_->transformer->transformSingle(vel, ch_->frames.ns_fcu_untilted);
+    1420      172666 :   if (res) {
+    1421      172658 :     measurement_t measurement;
+    1422      172658 :     measurement(0) = res.value().point.z;
+    1423      172658 :     return measurement;
+    1424             :   } else {
+    1425           8 :     ROS_WARN_THROTTLE(1.0, "[%s]: Transform from %s to %s failed", getPrintName().c_str(), vel.header.frame_id.c_str(), ch_->frames.ns_fcu_untilted.c_str());
+    1426           8 :     return {};
+    1427             :   }
+    1428             : }
+    1429             : /*//}*/
+    1430             : 
+    1431             : /*//{ getVelInFrame() */
+    1432             : template <int n_measurements>
+    1433       11010 : std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getVelInFrame(const geometry_msgs::Vector3& vel_in,
+    1434             :                                                                                                             const std_msgs::Header&       source_header,
+    1435             :                                                                                                             const std::string             target_frame) {
+    1436             : 
+    1437       11010 :   measurement_t measurement;
+    1438             : 
+    1439       22016 :   geometry_msgs::Vector3Stamped vel;
+    1440       11001 :   vel.header = source_header;
+    1441       11008 :   vel.vector = vel_in;
+    1442             :   /* body.vector.x = vel.x; */
+    1443             :   /* body.vector.y = vel.y; */
+    1444             :   /* body.vector.z = vel.z; */
+    1445             : 
+    1446       22019 :   geometry_msgs::Vector3Stamped transformed_vel;
+    1447       22015 :   auto                          res = ch_->transformer->transformSingle(vel, target_frame);
+    1448       11010 :   if (res) {
+    1449       10971 :     transformed_vel = res.value();
+    1450       10972 :     measurement(0)  = transformed_vel.vector.x;
+    1451       10972 :     measurement(1)  = transformed_vel.vector.y;
+    1452       10972 :     return measurement;
+    1453             :   } else {
+    1454          39 :     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());
+    1455          39 :     return {};
+    1456             :   }
+    1457             : }
+    1458             : /*//}*/
+    1459             : 
+    1460             : /*//{ transformRtkToFcu() */
+    1461             : template <int n_measurements>
+    1462        8176 : std::optional<geometry_msgs::Pose> Correction<n_measurements>::transformRtkToFcu(const geometry_msgs::PoseStamped& pose_in) const {
+    1463             : 
+    1464       16355 :   geometry_msgs::PoseStamped pose_tmp = pose_in;
+    1465             : 
+    1466             :   // inject current orientation into rtk pose
+    1467       16342 :   auto res1 = ch_->transformer->getTransform(ch_->frames.ns_fcu_untilted, ch_->frames.ns_fcu, ros::Time::now());
+    1468        8179 :   if (res1) {
+    1469        8179 :     pose_tmp.pose.orientation = res1.value().transform.rotation;
+    1470             :   } else {
+    1471           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: Could not obtain transform from %s to %s. Not using this correction.", getPrintName().c_str(),
+    1472             :                        ch_->frames.ns_fcu_untilted.c_str(), ch_->frames.ns_fcu.c_str());
+    1473           0 :     return {};
+    1474             :   }
+    1475             : 
+    1476             :   // invert tf
+    1477        8179 :   tf2::Transform             tf_utm_to_antenna = Support::tf2FromPose(pose_tmp.pose);
+    1478       16358 :   geometry_msgs::PoseStamped utm_in_antenna;
+    1479        8179 :   utm_in_antenna.pose            = Support::poseFromTf2(tf_utm_to_antenna.inverse());
+    1480        8179 :   utm_in_antenna.header.stamp    = pose_in.header.stamp;
+    1481        8179 :   utm_in_antenna.header.frame_id = ch_->frames.ns_rtk_antenna;
+    1482             : 
+    1483             :   // transform to fcu
+    1484       16358 :   geometry_msgs::PoseStamped utm_in_fcu;
+    1485        8179 :   utm_in_fcu.header.frame_id = ch_->frames.ns_fcu;
+    1486        8179 :   utm_in_fcu.header.stamp    = pose_in.header.stamp;
+    1487       16358 :   auto res2                  = ch_->transformer->transformSingle(utm_in_antenna, ch_->frames.ns_fcu);
+    1488             : 
+    1489        8179 :   if (res2) {
+    1490        8179 :     utm_in_fcu = res2.value();
+    1491             :   } else {
+    1492           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());
+    1493           0 :     return {};
+    1494             :   }
+    1495             : 
+    1496             :   // invert tf
+    1497        8179 :   tf2::Transform      tf_fcu_to_utm = Support::tf2FromPose(utm_in_fcu.pose);
+    1498        8179 :   geometry_msgs::Pose fcu_in_utm    = Support::poseFromTf2(tf_fcu_to_utm.inverse());
+    1499             : 
+    1500        8179 :   return fcu_in_utm;
+    1501             : }
+    1502             : /*//}*/
+    1503             : 
+    1504             : /*//{ getAvgRtkInitZ() */
+    1505             : template <int n_measurements>
+    1506          22 : void Correction<n_measurements>::getAvgRtkInitZ(const double rtk_z) {
+    1507             : 
+    1508          22 :   if (!got_avg_init_rtk_z_) {
+    1509             : 
+    1510          22 :     double rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1511             : 
+    1512          22 :     if (got_rtk_counter_ < 10 || (got_rtk_counter_ < 300 && std::fabs(rtk_z - rtk_avg) > 0.1)) {
+    1513             : 
+    1514          20 :       rtk_init_z_avg_ += rtk_z;
+    1515          20 :       got_rtk_counter_++;
+    1516          20 :       rtk_avg = rtk_init_z_avg_ / got_rtk_counter_;
+    1517          20 :       ROS_INFO("[%s]: RTK ASL altitude sample #%d: %.2f; avg: %.2f", getPrintName().c_str(), got_rtk_counter_, rtk_z, rtk_avg);
+    1518          20 :       return;
+    1519             : 
+    1520             :     } else {
+    1521             : 
+    1522           2 :       rtk_init_z_avg_     = rtk_avg;
+    1523           2 :       got_avg_init_rtk_z_ = true;
+    1524           2 :       ROS_INFO("[%s]: RTK ASL altitude avg: %f", getPrintName().c_str(), rtk_avg);
+    1525             :     }
+    1526             :   }
+    1527             : }
+    1528             : /*//}*/
+    1529             : 
+    1530             : /*//{ checkMsgDelay() */
+    1531             : template <int n_measurements>
+    1532             : void Correction<n_measurements>::checkMsgDelay(const ros::Time& msg_time) {
+    1533             : 
+    1534             :   const double delay = (ros::Time::now() - msg_time).toSec();
+    1535             :   if (delay > msg_delay_warn_limit_) {
+    1536             :     if (delay > msg_delay_limit_) {
+    1537             :       ROS_ERROR_THROTTLE(1.0, "[%s]: message too delayed (%.4f s)", getPrintName().c_str(), delay);
+    1538             :       is_delay_ok_ = false;
+    1539             :     } else {
+    1540             :       ROS_WARN_THROTTLE(5.0, "[%s]: message delayed (%.4f s)", getPrintName().c_str(), delay);
+    1541             :       is_delay_ok_ = true;
+    1542             :     }
+    1543             :   } else {
+    1544             :     is_delay_ok_ = true;
+    1545             :   }
+    1546             :   publishDelay(delay);
+    1547             : }
+    1548             : /*//}*/
+    1549             : 
+    1550             : /*//{ isTimestampOk() */
+    1551             : template <int n_measurements>
+    1552             : bool Correction<n_measurements>::isTimestampOk() {
+    1553             : 
+    1554             :   if (first_timestamp_) {
+    1555             :     return true;
+    1556             :   }
+    1557             : 
+    1558             :   ros::Time msg_time, prev_msg_time;
+    1559             :   {
+    1560             :     std::scoped_lock lock(mtx_msg_time_);
+    1561             :     msg_time      = msg_time_;
+    1562             :     prev_msg_time = prev_msg_time_;
+    1563             :   }
+    1564             :   const double delta = msg_time.toSec() - prev_msg_time.toSec();
+    1565             : 
+    1566             :   if (msg_time.toSec() <= 0.0) {
+    1567             :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1568             :     return false;
+    1569             :   }
+    1570             : 
+    1571             :   if (delta <= 0.0) {
+    1572             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta non-positive: %f", getPrintName().c_str(), delta);
+    1573             :     return true;
+    1574             :   }
+    1575             : 
+    1576             :   if (delta < 0.001) {
+    1577             :     ROS_WARN_THROTTLE(1.0, "[%s]: time delta too small: %f", getPrintName().c_str(), delta);
+    1578             :     return true;
+    1579             :   }
+    1580             : 
+    1581             :   if (delta > time_since_last_msg_limit_) {
+    1582             :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1583             :     return false;
+    1584             :   }
+    1585             : 
+    1586             :   return true;
+    1587             : }  // namespace mrs_uav_state_estimators
+    1588             : /*//}*/
+    1589             : 
+    1590             : /*//{ isMsgComing() */
+    1591             : template <int n_measurements>
+    1592      606524 : bool Correction<n_measurements>::isMsgComing() {
+    1593             : 
+    1594      606524 :   const ros::Time msg_time = mrs_lib::get_mutexed(mtx_msg_time_, msg_time_);
+    1595      606325 :   const double    delta    = ros::Time::now().toSec() - msg_time.toSec();
+    1596             : 
+    1597      606338 :   if (msg_time.toSec() <= 0.0) {
+    1598           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: current timestamp non-positive: %f", getPrintName().c_str(), msg_time.toSec());
+    1599           0 :     return false;
+    1600             :   }
+    1601             : 
+    1602      606202 :   if (delta > time_since_last_msg_limit_) {
+    1603           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: time since last msg too long %f > %f", getPrintName().c_str(), delta, time_since_last_msg_limit_);
+    1604           0 :     return false;
+    1605             :   }
+    1606             : 
+    1607      606202 :   return true;
+    1608             : }  // namespace mrs_uav_state_estimators
+    1609             : /*//}*/
+    1610             : 
+    1611             : /*//{ createProcessorFromName() */
+    1612             : template <int n_measurements>
+    1613         284 : std::shared_ptr<Processor<n_measurements>> Correction<n_measurements>::createProcessorFromName(const std::string& name, ros::NodeHandle& nh) {
+    1614             : 
+    1615         284 :   if (name == "median_filter") {
+    1616          66 :     return std::make_shared<ProcMedianFilter<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1617         218 :   } else if (name == "saturate") {
+    1618          72 :     return std::make_shared<ProcSaturate<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_, state_id_, fun_get_state_);
+    1619         146 :   } else if (name == "excessive_tilt") {
+    1620          66 :     return std::make_shared<ProcExcessiveTilt<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1621          80 :   } else if (name == "tf_to_world") {
+    1622          80 :     return std::make_shared<ProcTfToWorld<n_measurements>>(nh, getNamespacedName(), name, ch_, ph_);
+    1623             :   } else {
+    1624           0 :     ROS_ERROR("[%s]: requested invalid processor %s", getPrintName().c_str(), name.c_str());
+    1625           0 :     ros::shutdown();
+    1626             :   }
+    1627           0 :   return std::shared_ptr<Processor<n_measurements>>(nullptr);
+    1628             : }
+    1629             : /*//}*/
+    1630             : 
+    1631             : /*//{ process() */
+    1632             : template <int n_measurements>
+    1633      598504 : bool Correction<n_measurements>::process(Correction<n_measurements>::measurement_t& measurement) {
+    1634             : 
+    1635      598504 :   bool ok_flag   = true;
+    1636      598504 :   bool fuse_flag = true;
+    1637             : 
+    1638     1156659 :   for (auto proc_name :
+    1639             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1640             :     /* bool is_ok, should_fuse; */
+    1641      558325 :     auto [is_ok, should_fuse] = processors_[proc_name]->process(measurement);
+    1642      558087 :     ok_flag &= is_ok;
+    1643      558087 :     fuse_flag &= should_fuse;
+    1644             :   }
+    1645      598352 :   if (fuse_flag) {
+    1646      584644 :     if (!ok_flag) {
+    1647          13 :       setR(default_R_ * R_coeff_);
+    1648          13 :       ROS_INFO_THROTTLE(1.0, "[%s]: set R to %.4f", getPrintName().c_str(), default_R_ * R_coeff_);
+    1649          13 :       return true;
+    1650             :     } else {
+    1651      584631 :       setR(default_R_);
+    1652      584619 :       return true;
+    1653             :     }
+    1654             :   }
+    1655       13708 :   return false;
+    1656             : }
+    1657             : /*//}*/
+    1658             : 
+    1659             : /*//{ resetProcessors() */
+    1660             : template <int n_measurements>
+    1661           0 : void Correction<n_measurements>::resetProcessors() {
+    1662             : 
+    1663           0 :   for (auto proc_name :
+    1664             :        processor_names_) {  // need to access the processors in the specific order from the config (e.g. median filter should go before saturation etc.)
+    1665             :     /* bool is_ok, should_fuse; */
+    1666           0 :     processors_[proc_name]->reset();
+    1667             :   }
+    1668           0 : }
+    1669             : /*//}*/
+    1670             : 
+    1671             : /*//{ publishCorrection() */
+    1672             : template <int n_measurements>
+    1673     1183134 : void Correction<n_measurements>::publishCorrection(const MeasurementStamped&                                 measurement_stamped,
+    1674             :                                                    mrs_lib::PublisherHandler<mrs_msgs::EstimatorCorrection>& ph_corr) {
+    1675             : 
+    1676     1183134 :   if (!ch_->debug_topics.correction) {
+    1677           0 :     return;
+    1678             :   }
+    1679             : 
+    1680     2366076 :   mrs_msgs::EstimatorCorrection msg;
+    1681     1182699 :   msg.header.stamp    = measurement_stamped.stamp;
+    1682     1182699 :   msg.header.frame_id = ns_frame_id_;
+    1683     1183011 :   msg.name            = name_;
+    1684     1183069 :   msg.estimator_name  = est_name_;
+    1685     1183026 :   msg.state_id        = state_id_;
+    1686     1183026 :   msg.covariance.resize(n_measurements * n_measurements);
+    1687     2726674 :   for (int i = 0; i < measurement_stamped.value.rows(); i++) {
+    1688     1543747 :     msg.state.push_back(measurement_stamped.value(i));
+    1689     1544116 :     msg.covariance[n_measurements * i + i] = getR();
+    1690             :   }
+    1691             : 
+    1692     1182552 :   ph_corr.publish(msg);
+    1693             : }
+    1694             : /*//}*/
+    1695             : 
+    1696             : /*//{ publishDelay() */
+    1697             : template <int n_measurements>
+    1698             : void Correction<n_measurements>::publishDelay(const double delay) {
+    1699             : 
+    1700             :   if (!ch_->debug_topics.corr_delay) {
+    1701             :     return;
+    1702             :   }
+    1703             : 
+    1704             :   mrs_msgs::Float64Stamped msg;
+    1705             :   msg.header.stamp    = ros::Time::now();
+    1706             :   msg.header.frame_id = ns_frame_id_;
+    1707             :   msg.value           = delay;
+    1708             : 
+    1709             :   ph_delay_.publish(msg);
+    1710             : }
+    1711             : /*//}*/
+    1712             : 
+    1713             : }  // namespace mrs_uav_state_estimators
+    1714             : 
+    1715             : #endif  // ESTIMATORS_CORRECTION_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html new file mode 100644 index 0000000000..83ff078085 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h.gcov.overview.html @@ -0,0 +1,449 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/correction.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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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:2024-02-24 08:13:25Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.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..f1e05f2720 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:050.0 %
Date:2024-02-24 08:13:25Functions:030.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::HdgGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric()0
mrs_uav_state_estimators::HdgGeneric::~HdgGeneric().20
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..d9b5d32060 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html new file mode 100644 index 0000000000..262d36c7fe --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.html @@ -0,0 +1,243 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions:030.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_HEADING_HDG_GENERIC_H
+       2             : #define ESTIMATORS_HEADING_HDG_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/repredictor.h>
+      12             : #include <mrs_lib/profiler.h>
+      13             : #include <mrs_lib/param_loader.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_uav_state_estimators/estimators/heading/heading_estimator.h>
+      18             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      19             : 
+      20             : #include <mrs_uav_state_estimators/HeadingEstimatorConfig.h>
+      21             : 
+      22             : //}
+      23             : 
+      24             : namespace mrs_uav_state_estimators
+      25             : {
+      26             : 
+      27             : namespace hdg_generic
+      28             : {
+      29             : 
+      30             : const int n_states       = 2;
+      31             : const int n_inputs       = 1;
+      32             : const int n_measurements = 1;
+      33             : 
+      34             : }  // namespace hdg_generic
+      35             : 
+      36             : class HdgGeneric : public HeadingEstimator<hdg_generic::n_states> {
+      37             : 
+      38             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      39             : 
+      40             :   typedef mrs_lib::DynamicReconfigureMgr<HeadingEstimatorConfig> drmgr_t;
+      41             : 
+      42             :   using lkf_t         = mrs_lib::LKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      43             :   using varstep_lkf_t = mrs_lib::varstepLKF<hdg_generic::n_states, hdg_generic::n_inputs, hdg_generic::n_measurements>;
+      44             :   using A_t           = lkf_t::A_t;
+      45             :   using B_t           = lkf_t::B_t;
+      46             :   using H_t           = lkf_t::H_t;
+      47             :   using Q_t           = lkf_t::Q_t;
+      48             :   using x_t           = lkf_t::x_t;
+      49             :   using P_t           = lkf_t::P_t;
+      50             :   using u_t           = lkf_t::u_t;
+      51             :   using z_t           = lkf_t::z_t;
+      52             :   using R_t           = lkf_t::R_t;
+      53             :   using statecov_t    = lkf_t::statecov_t;
+      54             : 
+      55             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      56             : 
+      57             :   using StateId_t = mrs_uav_managers::estimation_manager::StateId_t;
+      58             : 
+      59             : private:
+      60             :   std::string parent_state_est_name_;
+      61             : 
+      62             :   double                                      dt_;
+      63             :   double                                      input_coeff_;
+      64             :   double                                      default_input_coeff_;
+      65             :   A_t                                         A_;
+      66             :   B_t                                         B_;
+      67             :   H_t                                         H_;
+      68             :   Q_t                                         Q_;
+      69             :   std::shared_ptr<lkf_t>                      lkf_;
+      70             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      71             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      72             :   mutable std::mutex                          mutex_lkf_;
+      73             :   statecov_t                                  sc_;
+      74             :   mutable std::mutex                          mutex_sc_;
+      75             : 
+      76             :   std::unique_ptr<drmgr_t> drmgr_;
+      77             :   void                     callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      78             : 
+      79             :   z_t                innovation_;
+      80             :   mutable std::mutex mtx_innovation_;
+      81             : 
+      82             :   bool is_repredictor_enabled_;
+      83             :   int  rep_buffer_size_ = 200;
+      84             : 
+      85             :   const bool is_core_plugin_;
+      86             : 
+      87             :   std::vector<std::string>                                              correction_names_;
+      88             :   std::vector<std::shared_ptr<Correction<hdg_generic::n_measurements>>> corrections_;
+      89             : 
+      90             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      91             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      92             :   std::atomic<bool>                                   is_input_ready_ = false;
+      93             : 
+      94             :   ros::Timer timer_update_;
+      95             :   void       timerUpdate(const ros::TimerEvent &event);
+      96             : 
+      97             :   ros::Timer timer_check_health_;
+      98             :   void       timerCheckHealth(const ros::TimerEvent &event);
+      99             : 
+     100             :   void doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     101             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     102             : 
+     103             :   bool isConverged();
+     104             : 
+     105             :   Q_t                getQ();
+     106             :   mutable std::mutex mtx_Q_;
+     107             : 
+     108             :   mutable std::mutex mutex_last_valid_hdg_;
+     109             :   double             last_valid_hdg_;
+     110             : 
+     111             : public:
+     112           0 :   HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+     113           0 :       : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+     114           0 :   }
+     115             : 
+     116           0 :   ~HdgGeneric(void) {
+     117           0 :   }
+     118             : 
+     119             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     120             :   bool start(void) override;
+     121             :   bool pause(void) override;
+     122             :   bool reset(void) override;
+     123             : 
+     124             :   double getState(const int &state_idx_in) const override;
+     125             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     126             : 
+     127             :   void setState(const double &state_in, const int &state_idx_in) override;
+     128             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     129             : 
+     130             :   states_t getStates(void) const override;
+     131             :   void     setStates(const states_t &states_in) override;
+     132             : 
+     133             :   double getCovariance(const int &state_idx_in) const override;
+     134             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     135             : 
+     136             :   covariance_t getCovarianceMatrix(void) const override;
+     137             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     138             : 
+     139             :   double getInnovation(const int &state_idx) const override;
+     140             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     141             : 
+     142             :   double getLastValidHdg() const override;
+     143             : 
+     144             :   void setDt(const double &dt);
+     145             :   void setInputCoeff(const double &input_coeff);
+     146             : 
+     147             :   void generateRepredictorModels(const double input_coeff);
+     148             : 
+     149             :   void generateA();
+     150             :   void generateB();
+     151             : 
+     152             : 
+     153             :   std::string getNamespacedName() const;
+     154             : 
+     155             :   std::string getPrintName() const;
+     156             : };
+     157             : }  // namespace mrs_uav_state_estimators
+     158             : 
+     159             : #endif  // ESTIMATORS_HEADING_HDG_GENERIC_H
+
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+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html new file mode 100644 index 0000000000..f648f9d8d0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..c826730ad70614286d57a68cb29d1eed954df391 GIT binary patch literal 663 zcmV;I0%-k-P)4zK6(s~1FktrePxJa#)*WXO@}bs+5PYc2AyWg@7ASK1 zmo$>`V`ShNVzi=_j5E@Ga0&E!#xAr5cGX+pFeHTm>DC^BgH2eKUSeGGUW|YR z7&{Nn{v{A*73@1M0FWYBF}}EpfuKx5)^W|@6!sV!tj=T%G@_9|!6&8Y7|lqhO`wNH z;HZh3g-;(@)7!jR#8}J%xfo%I*N{%(K31_-x+M}G^;wH+^4D%7$DuvpqLY;~ z-0$njF*!iuxSFPdXk6j0=qfLdi_%n+A*+D#!T7|JPxr`>pUGyW&0YqINimidlfp*2 zo;|&|SkS7s)fC%t+fVx3t7C + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::HdgPassthrough(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)84
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()84
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().284
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.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..eb49eadadd --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::HdgPassthrough(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)84
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough()84
mrs_uav_state_estimators::HdgPassthrough::~HdgPassthrough().284
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..b8c92e1d37 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html new file mode 100644 index 0000000000..e9ea82aef2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h.gcov.html @@ -0,0 +1,191 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - hdg_passthrough.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions: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          84 :   HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      70          84 :       : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
+      71          84 :   }
+      72             : 
+      73         168 :   ~HdgPassthrough(void) {
+      74         168 :   }
+      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..7240c40103 --- /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:2024-02-24 08:13:25Functions: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&)84
+
+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.func.html new file mode 100644 index 0000000000..0b542f449e --- /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:2024-02-24 08:13:25Functions:11100.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HeadingEstimator<2>::HeadingEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
+
+
+ + + +
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..0ad5b78696 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.html @@ -0,0 +1,124 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading - heading_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:22100.0 %
Date:2024-02-24 08:13:25Functions: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          84 :   HeadingEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, 1>(heading::type, name, frame_id) {
+      23          84 :   }
+      24             : 
+      25             :   mutable std::mutex mutex_last_valid_hdg_;
+      26             :   double             last_valid_hdg_;
+      27             : 
+      28             : private:
+      29             :   static const int _n_axes_   = 1;
+      30             :   static const int _n_states_ = n_states;
+      31             :   static const int _n_inputs_;
+      32             :   static const int _n_measurements_;
+      33             : 
+      34             : public:
+      35             :   virtual double getLastValidHdg() const = 0;
+      36             : };
+      37             : 
+      38             : }  // namespace mrs_uav_state_estimators
+      39             : 
+      40             : #endif  // ESTIMATORS_HEADING_HEADING_ESTIMATOR_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html new file mode 100644 index 0000000000..4cc90f7128 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.overview.html @@ -0,0 +1,30 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/heading_estimator.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..3fa1a030f3bdb9d4e5e4354fd133a23a3d84dca9 GIT binary patch literal 293 zcmeAS@N?(olHy`uVBq!ia0vp^0YI$5!VDy5`z06wDTx4|5ZC|z|E~gq#sJy z_!d=lu%pyiZdT`(8i5lD0#}Z_-Sjn9u0vVe{n2K}X{;w7Y_kv6QkQ>GW1X*;rZGj% iUS^U*{*!sPE144yXqeA-@c#>RK7*&LpUXO@geCwTJ$YaN literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/heading/index-detail-sort-f.html new file mode 100644 index 0000000000..6bc21cf179 --- /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:2024-02-24 08:13:25Functions: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..c9392e2738 --- /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:2024-02-24 08:13:25Functions: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..fd11041329 --- /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:2024-02-24 08:13:25Functions: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..fb7ae193b1 --- /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:2024-02-24 08:13:25Functions: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..c1af72566c --- /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:2024-02-24 08:13:25Functions: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..67d2f68872 --- /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:2024-02-24 08:13:25Functions: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..4e41b1cce0 --- /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:40969359.0 %
Date:2024-02-24 08:13:25Functions: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 +
57.1%57.1%
+ 		57.1 %375 / 65770.1 %47 / 67
<unnamed>57.1 %375 / 65770.1 %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..3b624b5499 --- /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:40969359.0 %
Date:2024-02-24 08:13:25Functions: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 +
57.1%57.1%
+ 		57.1 %375 / 65770.1 %47 / 67
<unnamed>57.1 %375 / 65770.1 %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..0a645b56f8 --- /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:40969359.0 %
Date:2024-02-24 08:13:25Functions: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 +
57.1%57.1%
+ 		57.1 %375 / 65770.1 %47 / 67
<unnamed>57.1 %375 / 65770.1 %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..96eadc25e8 --- /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:40969359.0 %
Date:2024-02-24 08:13:25Functions: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 +
57.1%57.1%
+ 		57.1 %375 / 65770.1 %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..4d647b56a0 --- /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:40969359.0 %
Date:2024-02-24 08:13:25Functions: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 +
57.1%57.1%
+ 		57.1 %375 / 65770.1 %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..2632659f65 --- /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:40969359.0 %
Date:2024-02-24 08:13:25Functions: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 +
57.1%57.1%
+ 		57.1 %375 / 65770.1 %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..00a7f88ae5 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/index-detail-sort-f.html @@ -0,0 +1,128 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
lateral_estimator.h +
100.0%
+ 		100.0 %4 / 466.7 %2 / 3
<unnamed>100.0 %4 / 466.7 %2 / 3
lat_generic.h +
100.0%
+ 		100.0 %6 / 6100.0 %3 / 3
<unnamed>100.0 %6 / 6100.0 %3 / 3
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
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Test:MRS UAV System - Test coverage reportLines:1010100.0 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
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Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateralHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1010100.0 %
Date:2024-02-24 08:13:25Functions:5683.3 %
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)84
mrs_uav_state_estimators::LatGeneric::~LatGeneric()84
mrs_uav_state_estimators::LatGeneric::~LatGeneric().284
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.func.html new file mode 100644 index 0000000000..6c607da4c6 --- /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
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
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mrs_uav_state_estimators::LatGeneric::LatGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool, std::function<std::optional<double> ()>)84
mrs_uav_state_estimators::LatGeneric::~LatGeneric()84
mrs_uav_state_estimators::LatGeneric::~LatGeneric().284
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..7be2806e41 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html new file mode 100644 index 0000000000..ac2e84349c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.html @@ -0,0 +1,250 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lat_generic.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:66100.0 %
Date:2024-02-24 08:13:25Functions:33100.0 %
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+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_LATERAL_LAT_GENERIC_H
+       2             : #define ESTIMATORS_LATERAL_LAT_GENERIC_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <sensor_msgs/Imu.h>
+      11             : 
+      12             : #include <mrs_lib/lkf.h>
+      13             : #include <mrs_lib/repredictor.h>
+      14             : #include <mrs_lib/profiler.h>
+      15             : #include <mrs_lib/param_loader.h>
+      16             : #include <mrs_lib/subscribe_handler.h>
+      17             : 
+      18             : #include <mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h>
+      19             : #include <mrs_uav_state_estimators/estimators/correction.h>
+      20             : 
+      21             : #include <mrs_uav_state_estimators/LateralEstimatorConfig.h>
+      22             : 
+      23             : //}
+      24             : 
+      25             : namespace mrs_uav_state_estimators
+      26             : {
+      27             : 
+      28             : namespace lat_generic
+      29             : {
+      30             : 
+      31             : const int n_states       = 6;
+      32             : const int n_inputs       = 2;
+      33             : const int n_measurements = 2;
+      34             : 
+      35             : }  // namespace lat_generic
+      36             : 
+      37             : class LatGeneric : public LateralEstimator<lat_generic::n_states> {
+      38             : 
+      39             :   typedef mrs_lib::DynamicReconfigureMgr<LateralEstimatorConfig> drmgr_t;
+      40             : 
+      41             :   using lkf_t         = mrs_lib::LKF<lat_generic::n_states, lat_generic::n_inputs, lat_generic::n_measurements>;
+      42             :   using varstep_lkf_t = mrs_lib::varstepLKF<lat_generic::n_states, lat_generic::n_inputs, lat_generic::n_measurements>;
+      43             :   using A_t           = lkf_t::A_t;
+      44             :   using B_t           = lkf_t::B_t;
+      45             :   using H_t           = lkf_t::H_t;
+      46             :   using Q_t           = lkf_t::Q_t;
+      47             :   using x_t           = lkf_t::x_t;
+      48             :   using P_t           = lkf_t::P_t;
+      49             :   using u_t           = lkf_t::u_t;
+      50             :   using z_t           = lkf_t::z_t;
+      51             :   using R_t           = lkf_t::R_t;
+      52             :   using statecov_t    = lkf_t::statecov_t;
+      53             : 
+      54             :   typedef mrs_lib::Repredictor<varstep_lkf_t> rep_lkf_t;
+      55             : 
+      56             : private:
+      57             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      58             : 
+      59             :   std::string parent_state_est_name_;
+      60             : 
+      61             :   double                                      dt_;
+      62             :   double                                      input_coeff_, default_input_coeff_;
+      63             :   A_t                                         A_;
+      64             :   B_t                                         B_;
+      65             :   H_t                                         H_;
+      66             :   Q_t                                         Q_;
+      67             :   std::shared_ptr<lkf_t>                      lkf_;
+      68             :   std::unique_ptr<rep_lkf_t>                  lkf_rep_;
+      69             :   std::vector<std::shared_ptr<varstep_lkf_t>> models_;
+      70             :   mutable std::mutex                          mutex_lkf_;
+      71             :   statecov_t                                  sc_;
+      72             :   mutable std::mutex                          mutex_sc_;
+      73             : 
+      74             :   std::unique_ptr<drmgr_t> drmgr_;
+      75             :   void                     callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level);
+      76             : 
+      77             :   z_t                innovation_;
+      78             :   mutable std::mutex mtx_innovation_;
+      79             : 
+      80             :   bool          is_error_state_first_time_ = true;
+      81             :   ros::Duration error_state_duration_;
+      82             :   ros::Time     prev_time_in_error_state_;
+      83             : 
+      84             :   bool is_repredictor_enabled_;
+      85             :   int  rep_buffer_size_ = 200;
+      86             : 
+      87             :   const bool is_core_plugin_;
+      88             : 
+      89             :   std::vector<std::string>                                              correction_names_;
+      90             :   std::vector<std::shared_ptr<Correction<lat_generic::n_measurements>>> corrections_;
+      91             : 
+      92             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput> sh_control_input_;
+      93             :   void                                                timeoutCallback(const std::string &topic, const ros::Time &last_msg);
+      94             :   std::atomic<bool>                                   is_input_ready_ = false;
+      95             : 
+      96             : 
+      97             :   std::function<std::optional<double>()>               fun_get_hdg_;
+      98             :   std::string                                          hdg_source_topic_;
+      99             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput> sh_hdg_state_;
+     100             :   std::atomic<bool>                                    is_hdg_state_ready_ = false;
+     101             : 
+     102             :   ros::Timer timer_update_;
+     103             :   void       timerUpdate(const ros::TimerEvent &event);
+     104             : 
+     105             :   ros::Timer timer_check_health_;
+     106             :   void       timerCheckHealth(const ros::TimerEvent &event);
+     107             : 
+     108             : 
+     109             :   void doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id);
+     110             :   void doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp);
+     111             : 
+     112             :   bool isConverged();
+     113             : 
+     114             :   Q_t                getQ();
+     115             :   mutable std::mutex mtx_Q_;
+     116             : 
+     117             : public:
+     118          84 :   LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin,
+     119             :              std::function<std::optional<double>()> fun_get_hdg)
+     120          84 :       : LateralEstimator<lat_generic::n_states>(name, ns_frame_id),
+     121             :         parent_state_est_name_(parent_state_est_name),
+     122             :         is_core_plugin_(is_core_plugin),
+     123          84 :         fun_get_hdg_(fun_get_hdg) {
+     124          84 :   }
+     125             : 
+     126         168 :   ~LatGeneric(void) {
+     127         168 :   }
+     128             : 
+     129             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+     130             :   bool start(void) override;
+     131             :   bool pause(void) override;
+     132             :   bool reset(void) override;
+     133             : 
+     134             :   double getState(const int &state_idx_in) const override;
+     135             :   double getState(const int &state_id_in, const int &axis_in) const override;
+     136             : 
+     137             :   void setState(const double &state_in, const int &state_idx_in) override;
+     138             :   void setState(const double &state_in, const int &state_id_in, const int &axis_in) override;
+     139             : 
+     140             :   states_t getStates(void) const override;
+     141             :   void     setStates(const states_t &states_in) override;
+     142             : 
+     143             :   double getCovariance(const int &state_idx_in) const override;
+     144             :   double getCovariance(const int &state_id_in, const int &axis_in) const override;
+     145             : 
+     146             :   covariance_t getCovarianceMatrix(void) const override;
+     147             :   void         setCovarianceMatrix(const covariance_t &cov_in) override;
+     148             : 
+     149             :   double getInnovation(const int &state_idx) const override;
+     150             :   double getInnovation(const int &state_id_in, const int &axis_in) const override;
+     151             : 
+     152             :   void setDt(const double &dt);
+     153             :   void setInputCoeff(const double &input_coeff);
+     154             : 
+     155             :   void generateRepredictorModels(const double input_coeff);
+     156             : 
+     157             :   void generateA();
+     158             :   void generateB();
+     159             : 
+     160             :   std::string getNamespacedName() const;
+     161             : 
+     162             :   std::string getPrintName() const;
+     163             : };
+     164             : }  // namespace mrs_uav_state_estimators
+     165             : 
+     166             : #endif  // ESTIMATORS_LATERAL_LAT_GENERIC_H
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html new file mode 100644 index 0000000000..f10b1f5fd4 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.overview.html @@ -0,0 +1,62 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..6fa70431bbed0c82bdfc8693d0379281e7228df2 GIT binary patch literal 708 zcmV;#0z3VQP)00{{R3zw{NF0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vpKi;y_O zOB%{}8Z7WkVq8Vb85a;TMu+qO%z?qqs6t!d`_Ki(-X4L2*k+}t7^nPr@-bN4TCPl_ zAGp6E9d7CK7+_eqUf?z7BcRy=1apRLR>%N^9({@URod!l4E(Mq!gNnhOh#%nr`xJF z0&gcCa`_Kj2fR~XXGX)?Of0kTg4lj1u0XNaX4Yj}%I_Dq9E>oi0UM9B2aPcLmq6+; z8SRj4#@J{W09l#!j6(GZlPQ;|JTn?&hqW1v0Y)_RlK8rk90QMZNdi37H%47_7c7NB zOri%l;k@Xz1ZB76BAWEk^e%km5%UsOeFKDr$-Ws)8B`WmUuTojJrVIpXJz-)Q?=Qo z_U~}{q)@~Zrvmbe*OZrB)>9@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral - lateral_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:44100.0 %
Date:2024-02-24 08:13:25Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::LateralEstimator(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)84
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().284
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html new file mode 100644 index 0000000000..d23185af5c --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h.func.html @@ -0,0 +1,92 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/lateral/lateral_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions: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&)84
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator()0
mrs_uav_state_estimators::LateralEstimator<6>::~LateralEstimator().284
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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..8775d8e59b --- /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:2024-02-24 08:13:25Functions:2366.7 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+       2             : #define ESTIMATORS_LATERAL_LATERAL_ESTIMATOR_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <mrs_uav_state_estimators/estimators/partial_estimator.h>
+       7             : 
+       8             : //}
+       9             : 
+      10             : namespace mrs_uav_state_estimators
+      11             : {
+      12             : 
+      13             : namespace lateral
+      14             : {
+      15             : const char type[] = "LATERAL";
+      16             : const int  n_axes = 2;
+      17             : }  // namespace lateral
+      18             : 
+      19             : template <int n_states>
+      20             : class LateralEstimator : public PartialEstimator<n_states, lateral::n_axes> {
+      21             : 
+      22             : protected:
+      23          84 :   LateralEstimator(const std::string& name, const std::string& frame_id) : PartialEstimator<n_states, lateral::n_axes>(lateral::type, name, frame_id) {
+      24          84 :   }
+      25             : 
+      26          84 :   ~LateralEstimator(void) {
+      27          84 :   }
+      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..33e2ade94e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func-sort-c.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-02-24 08:13:25Functions: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&)84
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().284
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&)84
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().284
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&)144
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2144
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const130045
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&) const153906
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const153909
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const153914
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const153915
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const169655
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const169664
mrs_uav_state_estimators::PartialEstimator<2, 1>::publishOutput() const169666
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&) const263904
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const264036
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const264092
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const264142
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2301161
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html new file mode 100644 index 0000000000..549ed13859 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.func.html @@ -0,0 +1,176 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators - partial_estimator.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:343694.4 %
Date:2024-02-24 08:13:25Functions: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&)84
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<2, 1>::~PartialEstimator().284
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&)144
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<3, 1>::~PartialEstimator().2144
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&)84
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator()0
mrs_uav_state_estimators::PartialEstimator<6, 2>::~PartialEstimator().284
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() const169666
mrs_uav_state_estimators::PartialEstimator<2, 1>::stateIdToIndex(int const&, int const&) const0
mrs_uav_state_estimators::PartialEstimator<2, 1>::getStatesAsVector() const169664
mrs_uav_state_estimators::PartialEstimator<2, 1>::getCovarianceAsVector() const169655
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&) const263904
mrs_uav_state_estimators::PartialEstimator<3, 1>::publishOutput() const264092
mrs_uav_state_estimators::PartialEstimator<3, 1>::stateIdToIndex(int const&, int const&) const130045
mrs_uav_state_estimators::PartialEstimator<3, 1>::getStatesAsVector() const264142
mrs_uav_state_estimators::PartialEstimator<3, 1>::getCovarianceAsVector() const264036
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&) const153906
mrs_uav_state_estimators::PartialEstimator<6, 2>::publishOutput() const153915
mrs_uav_state_estimators::PartialEstimator<6, 2>::stateIdToIndex(int const&, int const&) const2301161
mrs_uav_state_estimators::PartialEstimator<6, 2>::getStatesAsVector() const153914
mrs_uav_state_estimators::PartialEstimator<6, 2>::getCovarianceAsVector() const153909
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html new file mode 100644 index 0000000000..c351510cb2 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/partial_estimator.h.gcov.html new file mode 100644 index 0000000000..d4a946e46d --- /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:2024-02-24 08:13:25Functions: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         312 :   PartialEstimator(const std::string &type, const std::string &name, const std::string &frame_id) : Estimator(type, name, frame_id) {
+      62         312 :   }
+      63             : 
+      64         312 :   ~PartialEstimator(void) {
+      65         312 :   }
+      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      587720 : std::vector<double> PartialEstimator<n_states, n_axes>::getStatesAsVector(void) const {
+     103      587720 :   const states_t      states = getStates();
+     104      587601 :   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     2642256 :   for (int i = 0; i < states.size(); i++) {
+     109     2054398 :     states_vec.push_back(states(i));
+     110             :   }
+     111     1174686 :   return states_vec;
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ getCovarianceAsvector() */
+     116             : template <int n_states, int n_axes>
+     117      587600 : std::vector<double> PartialEstimator<n_states, n_axes>::getCovarianceAsVector(void) const {
+     118      587600 :   const covariance_t  covariance = getCovarianceMatrix();
+     119      587450 :   std::vector<double> covariance_vec;
+     120             :   /* for (auto cov : covariance.reshaped<Eigen::RowMajor>(covariance.size())) { */
+     121             :   /*   covariance_vec.push_back(*cov); */
+     122             :   /* } */
+     123     2640729 :   for (int i = 0; i < covariance.rows(); i++) {
+     124    10646476 :     for (int j = 0; j < covariance.cols(); j++) {
+     125     8592035 :       covariance_vec.push_back(covariance(i, j));
+     126             :     }
+     127             :   }
+     128     1174644 :   return covariance_vec;
+     129             : }
+     130             : /*//}*/
+     131             : 
+     132             : /*//{ stateIdToIndex() */
+     133             : template <int n_states, int n_axes>
+     134     2431206 : int PartialEstimator<n_states, n_axes>::stateIdToIndex(const int &state_id_in, const int &axis_in) const {
+     135     2431206 :   return state_id_in * _n_axes_ + axis_in;
+     136             : }
+     137             : /*//}*/
+     138             : 
+     139             : /*//{ publishOutput() */
+     140             : template <int n_states, int n_axes>
+     141      587673 : void PartialEstimator<n_states, n_axes>::publishOutput() const {
+     142             : 
+     143      587673 :   if (!ch_->debug_topics.output) {
+     144           0 :     return;
+     145             :   }
+     146             : 
+     147     1175318 :   mrs_msgs::EstimatorOutput msg;
+     148      587548 :   msg.header.stamp    = ros::Time::now();
+     149      587739 :   msg.header.frame_id = getFrameId();
+     150      587707 :   msg.state           = getStatesAsVector();
+     151      587172 :   msg.covariance      = getCovarianceAsVector();
+     152             : 
+     153      587301 :   ph_output_.publish(msg);
+     154             : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ publishInput() */
+     158             : template <int n_states, int n_axes>
+     159             : template <typename u_t>
+     160      417810 : void PartialEstimator<n_states, n_axes>::publishInput(const u_t &u, const ros::Time& stamp) const {
+     161             : 
+     162      417810 :   if (!ch_->debug_topics.input) {
+     163           0 :     return;
+     164             :   }
+     165             : 
+     166      833183 :   mrs_msgs::Float64ArrayStamped msg;
+     167      414980 :   msg.header.stamp = stamp;
+     168      985306 :   for (int i = 0; i < u.rows(); i++) {
+     169      567805 :     msg.values.push_back(u(i));
+     170             :   }
+     171             : 
+     172      415397 :   ph_input_.publish(msg);
+     173             : }
+     174             : /*//}*/
+     175             : 
+     176             : /*//}*/
+     177             : 
+     178             : }  // namespace mrs_uav_state_estimators
+     179             : 
+     180             : #endif  // ESTIMATORS_PARTIAL_ESTIMATOR_H
+
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mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
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mrs_uav_state_estimators::passthrough::Passthrough::Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough()1
mrs_uav_state_estimators::passthrough::Passthrough::~Passthrough().21
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html new file mode 100644 index 0000000000..bf04eeb1cb --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.html new file mode 100644 index 0000000000..9f121a5ec1 --- /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:2024-02-24 08:13:25Functions:33100.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #ifndef ESTIMATORS_STATE_PASSTHROUGH_H
+       2             : #define ESTIMATORS_STATE_PASSTHROUGH_H
+       3             : 
+       4             : /* includes //{ */
+       5             : 
+       6             : #include <ros/ros.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : 
+      10             : #include <mrs_lib/lkf.h>
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/param_loader.h>
+      13             : #include <mrs_lib/subscribe_handler.h>
+      14             : #include <mrs_lib/publisher_handler.h>
+      15             : #include <mrs_lib/attitude_converter.h>
+      16             : #include <mrs_lib/transformer.h>
+      17             : 
+      18             : #include <mrs_uav_managers/state_estimator.h>
+      19             : 
+      20             : //}
+      21             : 
+      22             : namespace mrs_uav_state_estimators
+      23             : {
+      24             : 
+      25             : namespace passthrough
+      26             : {
+      27             : const char name[]         = "passthrough";
+      28             : const char frame_id[]     = "passthrough_origin";
+      29             : const char package_name[] = "mrs_uav_state_estimators";
+      30             : 
+      31             : const bool is_core_plugin = true;
+      32             : 
+      33             : using namespace mrs_uav_managers::estimation_manager;
+      34             : 
+      35             : class Passthrough : public mrs_uav_managers::StateEstimator {
+      36             : 
+      37             :   using CommonHandlers_t = mrs_uav_managers::estimation_manager::CommonHandlers_t;
+      38             : 
+      39             : private:
+      40             :   const std::string package_name_ = "mrs_uav_state_estimators";
+      41             : 
+      42             :   const std::string est_lat_name_ = "lat_passthrough";
+      43             : 
+      44             :   const std::string est_alt_name_ = "alt_passthrough";
+      45             : 
+      46             :   const std::string est_hdg_name_ = "hdg_passthrough";
+      47             : 
+      48             :   const bool is_core_plugin_;
+      49             : 
+      50             :   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_passthrough_odom_;
+      51             :   double                                        _critical_timeout_passthrough_odom_;
+      52             :   std::string                                   msg_topic_;
+      53             : 
+      54             :   ros::Timer                 timer_update_;
+      55             :   void                       timerUpdate(const ros::TimerEvent &event);
+      56             :   nav_msgs::OdometryConstPtr prev_msg_;
+      57             :   bool                       first_iter_ = true;
+      58             :   ros::Timer                 timer_check_health_;
+      59             :   void                       timerCheckHealth(const ros::TimerEvent &event);
+      60             : 
+      61             :   bool isConverged();
+      62             : 
+      63             :   void waitForEstimationInitialization();
+      64             : 
+      65             : public:
+      66           1 :   Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
+      67           1 :   }
+      68             : 
+      69           2 :   ~Passthrough(void) {
+      70           2 :   }
+      71             : 
+      72             :   void initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      73             :   bool start(void) override;
+      74             :   bool pause(void) override;
+      75             :   bool reset(void) override;
+      76             : 
+      77             :   /* mrs_msgs::UavState  getUavState() override; */
+      78             :   /* nav_msgs::Odometry  getInnovation() const override; */
+      79             :   /* std::vector<double> getPoseCovariance() const override; */
+      80             :   /* std::vector<double> getTwistCovariance() const override; */
+      81             : 
+      82             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      83             : };
+      84             : 
+      85             : }  // namespace passthrough
+      86             : 
+      87             : }  // namespace mrs_uav_state_estimators
+      88             : 
+      89             : #endif  // ESTIMATORS_STATE_PASSTHROUGH_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html new file mode 100644 index 0000000000..88d95237e0 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h.gcov.overview.html @@ -0,0 +1,43 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/passthrough.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + 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:2024-02-24 08:13:25Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)84
mrs_uav_state_estimators::StateGeneric::~StateGeneric().284
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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.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..cce0866d8b --- /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:2024-02-24 08:13:25Functions:2366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::StateGeneric(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool)84
mrs_uav_state_estimators::StateGeneric::~StateGeneric()0
mrs_uav_state_estimators::StateGeneric::~StateGeneric().284
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html new file mode 100644 index 0000000000..fa3e046124 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.html new file mode 100644 index 0000000000..8114675545 --- /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:2024-02-24 08:13:25Functions: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          84 :   StateGeneric(const std::string &name, const bool is_core_plugin)
+      79          84 :       : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
+      80          84 :   }
+      81             : 
+      82          84 :   ~StateGeneric(void) {
+      83          84 :   }
+      84             : 
+      85             :   void initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) override;
+      86             :   bool start(void) override;
+      87             :   bool pause(void) override;
+      88             :   bool reset(void) override;
+      89             : 
+      90             :   bool setUavState(const mrs_msgs::UavState &uav_state) override;
+      91             : 
+      92             :   std::optional<double> getHeading() const;
+      93             : 
+      94             :   void updateUavState();
+      95             : };
+      96             : 
+      97             : }  // namespace mrs_uav_state_estimators
+      98             : 
+      99             : #endif  // ESTIMATORS_STATE_STATE_GENERIC_H
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html new file mode 100644 index 0000000000..e38bed99a7 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h.gcov.overview.html @@ -0,0 +1,45 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/estimators/state/state_generic.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ + 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..314a493b19 --- /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 + + + + + + + + + + + + + + +
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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:13318472.3 %
Date:2024-02-24 08:13:25Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
<unnamed>70.7 %29 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
<unnamed>78.9 %45 / 5737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
<unnamed>70.0 %7 / 1075.0 %6 / 8
+
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+ + + + +
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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:13318472.3 %
Date:2024-02-24 08:13:25Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
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<unnamed>63.9 %23 / 3633.3 %2 / 6
processor.h +
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<unnamed>70.0 %7 / 1075.0 %6 / 8
proc_excessive_tilt.h +
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proc_saturate.h +
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+ 		72.5 %29 / 4066.7 %4 / 6
<unnamed>72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
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+ 		78.9 %45 / 5737.5 %3 / 8
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Test:MRS UAV System - Test coverage reportLines:13318472.3 %
Date:2024-02-24 08:13:25Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_excessive_tilt.h +
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proc_median_filter.h +
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<unnamed>63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
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proc_tf_to_world.h +
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Date:2024-02-24 08:13:25Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
+
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+ + + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html new file mode 100644 index 0000000000..4b4873ec1e --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/index-sort-l.html @@ -0,0 +1,142 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors + + + + + + + + + + + + + + +
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Test:MRS UAV System - Test coverage reportLines:13318472.3 %
Date:2024-02-24 08:13:25Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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proc_median_filter.h +
63.9%63.9%
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processor.h +
70.0%70.0%
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proc_excessive_tilt.h +
70.7%70.7%
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proc_saturate.h +
72.5%72.5%
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proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
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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/processorsHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:13318472.3 %
Date:2024-02-24 08:13:25Functions:173450.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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proc_excessive_tilt.h +
70.7%70.7%
+ 		70.7 %29 / 4133.3 %2 / 6
proc_median_filter.h +
63.9%63.9%
+ 		63.9 %23 / 3633.3 %2 / 6
proc_saturate.h +
72.5%72.5%
+ 		72.5 %29 / 4066.7 %4 / 6
proc_tf_to_world.h +
78.9%78.9%
+ 		78.9 %45 / 5737.5 %3 / 8
processor.h +
70.0%70.0%
+ 		70.0 %7 / 1075.0 %6 / 8
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html new file mode 100644 index 0000000000..ffc8a8a28f --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func-sort-c.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294170.7 %
Date:2024-02-24 08:13:25Functions: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&)66
mrs_uav_state_estimators::ProcExcessiveTilt<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)127473
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+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html new file mode 100644 index 0000000000..f39c42ac6a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.func.html @@ -0,0 +1,104 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294170.7 %
Date:2024-02-24 08:13:25Functions: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>&)127473
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&)66
mrs_uav_state_estimators::ProcExcessiveTilt<2>::reset()0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcExcessiveTilt<2>::ProcExcessiveTilt(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html new file mode 100644 index 0000000000..73cb0ae2b8 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html new file mode 100644 index 0000000000..058a56796a --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h.gcov.html @@ -0,0 +1,206 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_excessive_tilt.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294170.7 %
Date:2024-02-24 08:13:25Functions: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          66 : 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          66 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      45             : 
+      46             :   // | --------------------- load parameters -------------------- |
+      47          66 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      48             : 
+      49          66 :   ph->param_loader->loadParam("orientation_topic", orientation_topic_);
+      50             :   double max_tilt;
+      51          66 :   ph->param_loader->loadParam("max_tilt", max_tilt);
+      52             : 
+      53          66 :   max_tilt = M_PI * (max_tilt / 180.0);
+      54             : 
+      55          66 :   max_tilt_sq_ = std::pow(max_tilt, 2);
+      56             : 
+      57          66 :   if (!ph->param_loader->loadedSuccessfully()) {
+      58           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      59           0 :     ros::shutdown();
+      60             :   }
+      61             : 
+      62             :   // | -------------- initialize subscribe handlers ------------- |
+      63          66 :   mrs_lib::SubscribeHandlerOptions shopts;
+      64          66 :   shopts.nh                 = nh;
+      65          66 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      66          66 :   shopts.no_message_timeout = ros::Duration(1.0);
+      67          66 :   shopts.threadsafe         = true;
+      68          66 :   shopts.autostart          = true;
+      69          66 :   shopts.queue_size         = 10;
+      70          66 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      71             : 
+      72          66 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch->uav_name + "/" + orientation_topic_);
+      73          66 : }
+      74             : /*//}*/
+      75             : 
+      76             : /*//{ process() */
+      77             : template <int n_measurements>
+      78      127473 : std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process([[maybe_unused]] measurement_t& measurement) {
+      79             : 
+      80      127473 :   if (!Processor<n_measurements>::enabled_) {
+      81           0 :     return {true, true};
+      82             :   }
+      83             : 
+      84      127473 :   if (!sh_orientation_.hasMsg()) {
+      85           0 :     return {false, false};
+      86             :   }
+      87             : 
+      88      127472 :   bool ok_flag     = true;
+      89      127472 :   bool should_fuse = true;
+      90             : 
+      91             :   try {
+      92      127472 :     Eigen::Matrix3d orientation_R = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion);
+      93             : 
+      94      127467 :     const double tilt = mrs_lib::geometry::angleBetween(Eigen::Vector3d(0, 0, 1), orientation_R.col(2));
+      95             : 
+      96      127469 :     const bool is_excessive_tilt = std::pow(tilt, 2) > max_tilt_sq_;
+      97             : 
+      98      127450 :     if (is_excessive_tilt) {
+      99           1 :       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      127455 :   return {ok_flag, should_fuse};
+     110             : }
+     111             : /*//}*/
+     112             : 
+     113             : /*//{ reset() */
+     114             : template <int n_measurements>
+     115           0 : void ProcExcessiveTilt<n_measurements>::reset() {
+     116             :   // no need to do anything
+     117           0 : }
+     118             : /*//}*/
+     119             : 
+     120             : }  // namespace mrs_uav_state_estimators
+     121             : 
+     122             : #endif  // PROCESSORS_PROC_EXCESSIVE_TILT_H
+
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<2>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMedianFilter<2>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcMedianFilter<1>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)66
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)127474
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_median_filter.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:233663.9 %
Date:2024-02-24 08:13:25Functions:2633.3 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcMedianFilter<1>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)127474
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&)66
mrs_uav_state_estimators::ProcMedianFilter<2>::reset()0
mrs_uav_state_estimators::ProcMedianFilter<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)0
mrs_uav_state_estimators::ProcMedianFilter<2>::ProcMedianFilter(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_MEDIAN_FILTER_H
+       3             : #define PROCESSORS_PROC_MEDIAN_FILTER_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <mrs_lib/median_filter.h>
+       8             : #include <mrs_lib/param_loader.h>
+       9             : 
+      10             : #include <limits>
+      11             : 
+      12             : namespace mrs_uav_state_estimators
+      13             : {
+      14             : 
+      15             : using namespace mrs_uav_managers::estimation_manager;
+      16             : 
+      17             : template <int n_measurements>
+      18             : class ProcMedianFilter : public Processor<n_measurements> {
+      19             : 
+      20             : public:
+      21             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      22             : 
+      23             : public:
+      24             :   ProcMedianFilter(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      25             :                    const std::shared_ptr<PrivateHandlers_t>& ph);
+      26             : 
+      27             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      28             :   void                   reset();
+      29             : 
+      30             : private:
+      31             :   std::vector<mrs_lib::MedianFilter> vec_mf_;
+      32             :   int                                buffer_size_;
+      33             :   double                             max_diff_;
+      34             : };
+      35             : 
+      36             : /*//{ constructor */
+      37             : template <int n_measurements>
+      38          66 : 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          66 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      41             : 
+      42             :   // | --------------------- load parameters -------------------- |
+      43          66 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      44             : 
+      45          66 :   ph->param_loader->loadParam("buffer_size", buffer_size_);
+      46          66 :   ph->param_loader->loadParam("max_diff", max_diff_);
+      47             : 
+      48          66 :   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          66 :   const double min_valid = std::numeric_limits<double>::lowest();
+      55          66 :   const double max_valid = std::numeric_limits<double>::max();
+      56             : 
+      57             :   // initialize median filter
+      58         132 :   for (int i = 0; i < n_measurements; i++) {
+      59          66 :     vec_mf_.push_back(mrs_lib::MedianFilter(buffer_size_, min_valid, max_valid, max_diff_));
+      60             :   }
+      61          66 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      127474 : std::tuple<bool, bool> ProcMedianFilter<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68      127474 :   if (!Processor<n_measurements>::enabled_) {
+      69           0 :     return {true, true};
+      70             :   }
+      71             : 
+      72      127474 :   bool ok_flag     = true;
+      73      127474 :   bool should_fuse = true;
+      74      254926 :   for (int i = 0; i < measurement.rows(); i++) {
+      75      127441 :     vec_mf_[i].add(measurement(i));
+      76      127453 :     if (vec_mf_[i].full()) {
+      77      120920 :       if (!vec_mf_[i].check(measurement(i))) {
+      78           0 :         std::stringstream ss_measurement_string;
+      79           0 :         ss_measurement_string << measurement(i);
+      80           0 :         ss_measurement_string << " ";
+      81           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: measurement[%d]: %s declined by median filter (median: %.2f, max_diff: %.2f).",
+      82             :                           Processor<n_measurements>::getPrintName().c_str(), i, ss_measurement_string.str().c_str(), vec_mf_[i].median(), max_diff_);
+      83           0 :         ok_flag     = false;
+      84           0 :         should_fuse = false;
+      85             :       }
+      86             :     } else {
+      87        6532 :       ROS_WARN_THROTTLE(1.0, "[%s]: median filter not full yet", Processor<n_measurements>::getPrintName().c_str());
+      88        6533 :       ok_flag     = false;
+      89        6533 :       should_fuse = false;
+      90             :     }
+      91             :   }
+      92             : 
+      93      127447 :   return {ok_flag, should_fuse};
+      94             : }
+      95             : /*//}*/
+      96             : 
+      97             : /*//{ reset() */
+      98             : template <int n_measurements>
+      99           0 : void ProcMedianFilter<n_measurements>::reset() {
+     100           0 :   for (auto mf : vec_mf_) {
+     101           0 :     mf.clear();
+     102             :   }
+     103           0 : }
+     104             : /*//}*/
+     105             : 
+     106             : }  // namespace mrs_uav_state_estimators
+     107             : 
+     108             : #endif  // PROCESSORS_PROC_MEDIAN_FILTER_H
+
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Date:2024-02-24 08:13:25Functions:4666.7 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)4
mrs_uav_state_estimators::ProcSaturate<1>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)68
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)5580
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)130042
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Date:2024-02-24 08:13:25Functions:4666.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcSaturate<1>::reset()0
mrs_uav_state_estimators::ProcSaturate<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)130042
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)>)68
mrs_uav_state_estimators::ProcSaturate<2>::reset()0
mrs_uav_state_estimators::ProcSaturate<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)5580
mrs_uav_state_estimators::ProcSaturate<2>::ProcSaturate(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&, mrs_uav_managers::estimation_manager::StateId_t, std::function<double (int, int)>)4
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_saturate.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:294072.5 %
Date:2024-02-24 08:13:25Functions:4666.7 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_SATURATE_H
+       3             : #define PROCESSORS_PROC_SATURATE_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <mrs_lib/param_loader.h>
+       8             : 
+       9             : #include <limits>
+      10             : #include <functional>
+      11             : 
+      12             : namespace mrs_uav_state_estimators
+      13             : {
+      14             : 
+      15             : using namespace mrs_uav_managers::estimation_manager;
+      16             : 
+      17             : template <int n_measurements>
+      18             : class ProcSaturate : public Processor<n_measurements> {
+      19             : 
+      20             : public:
+      21             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      22             : 
+      23             : public:
+      24             :   ProcSaturate(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      25             :                const std::shared_ptr<PrivateHandlers_t>& ph, StateId_t state_id, std::function<double(int, int)> fun_get_state);
+      26             : 
+      27             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      28             :   void                   reset();
+      29             : 
+      30             : private:
+      31             :   const StateId_t                 state_id_;
+      32             :   std::function<double(int, int)> fun_get_state_;
+      33             : 
+      34             :   bool   keep_enabled_;
+      35             :   double saturate_min_;
+      36             :   double saturate_max_;
+      37             :   double innovation_limit_;
+      38             : };
+      39             : 
+      40             : /*//{ constructor */
+      41             : template <int n_measurements>
+      42          72 : 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          72 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph), state_id_(state_id), fun_get_state_(fun_get_state) {
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48          72 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      49             : 
+      50          72 :   ph->param_loader->loadParam("start_enabled", this->start_enabled_);
+      51          72 :   this->enabled_ = this->start_enabled_;
+      52          72 :   ph->param_loader->loadParam("keep_enabled", keep_enabled_);
+      53          72 :   ph->param_loader->loadParam("min", saturate_min_);
+      54          72 :   ph->param_loader->loadParam("max", saturate_max_);
+      55          72 :   ph->param_loader->loadParam("limit", innovation_limit_);
+      56             : 
+      57          72 :   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          72 : }
+      62             : /*//}*/
+      63             : 
+      64             : /*//{ process() */
+      65             : template <int n_measurements>
+      66      135622 : std::tuple<bool, bool> ProcSaturate<n_measurements>::process(measurement_t& measurement) {
+      67             : 
+      68             :   // if no saturation is required, processing is successful
+      69      135622 :   if (!this->enabled_) {
+      70           0 :     return {true, true};
+      71             :   }
+      72             : 
+      73      135622 :   bool ok_flag     = true;
+      74      135622 :   bool should_fuse = true;
+      75      272667 :   for (int i = 0; i < measurement.rows(); i++) {
+      76      141184 :     const double state = fun_get_state_(state_id_, i);
+      77      141198 :     ROS_INFO_ONCE("[%s]: first state[%d][%d]: %.2f", Processor<n_measurements>::getNamespacedName().c_str(), state_id_, i, state);
+      78             : 
+      79      141198 :     if (measurement(i) > state + innovation_limit_ || measurement(i) < state - innovation_limit_) {
+      80        4136 :       return {true, true};  // do not even try to saturate, trigger innovation-based switch to other estimator
+      81             :     }
+      82             : 
+      83      137036 :     if (measurement(i) > state + saturate_max_) {
+      84         753 :       const double saturated = state + saturate_max_;
+      85         753 :       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         753 :       measurement(i) = saturated;
+      88         752 :       ok_flag        = false;
+      89         752 :       should_fuse    = true;
+      90      136284 :     } 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      131472 :   if (!this->keep_enabled_ && ok_flag) {
+     102           0 :     this->enabled_ = false;
+     103             :   }
+     104             : 
+     105      131472 :   return {ok_flag, should_fuse};  // saturated measurement is valid
+     106             : }
+     107             : /*//}*/
+     108             : 
+     109             : /*//{ reset() */
+     110             : template <int n_measurements>
+     111           0 : void ProcSaturate<n_measurements>::reset() {
+     112             :   // no need to reset anything
+     113           0 : }
+     114             : /*//}*/
+     115             : 
+     116             : }  // namespace mrs_uav_state_estimators
+     117             : 
+     118             : #endif  // PROCESSORS_PROC_MEDIAN_FILTER_H
+
+
+
+ + + + +
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+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_saturate.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..9849f98e369e50987231e01d23a49867fcf9bec5 GIT binary patch literal 711 zcmV;&0yzDNP)PuAm$E_Fv^0!cQUyv9+o8t9s_bg#@ixmc=cLnHvF_eGOC_ zIC=d+pc#F7gezUL=r-izK6S^=VOz^- zoTyaRs(gREA>hUbqo%&|$VMlDoalkatPzZW+4a<;8psABfO>hZ^Mt%Mz-{|Ww&S+{ z9p@(>r*AyLfZNc_c8mc92))RAgAwwNfKTgsTGr3&x>KQIGCeA;wB$OrpygAHn&rC5 zukaXCxKlpgNuk<2$#QnE&@aCnqtE)yfqy{9M(&-32O^%(+KM|qYtXE zrX~pb0OB-yBpN*L@iN4g3^{_@nsrt4AT#|K;mSiX7BvL61LR6V{h6t7ctXc2OVI|h zbLNpK?=(n2yo|tmsftIKOh{TZYe+yl#Ug+kR@agH=DyR8CX0!H#Zozz2Apm=e;R%l z0gn8YFyx$hB+9$$O+dVi!22RE9*+ndG=NRnDt_{Imfkbz0XIJNyV$HPd+0q|yjTk< zmEAsRgp7l6{iZ*rx}q>WKf;*PT-Gm|ue_N^y`!S@HB-N6)(Oumq9=Hq_P8IzClI4d t%w`5<@?i>{ZT~FL-+iN_Y2I%;xPLjP^YBqA0G9v&002ovPDHLkV1gH|QM>>E literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html new file mode 100644 index 0000000000..53075ec892 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func-sort-c.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-02-24 08:13:25Functions:3837.5 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::ProcTfToWorld<1>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)0
mrs_uav_state_estimators::ProcTfToWorld<1>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<1>::process(Eigen::Matrix<double, 1, 1, 0, 1, 1>&)0
mrs_uav_state_estimators::ProcTfToWorld<1>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::ProcTfToWorld(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)80
mrs_uav_state_estimators::ProcTfToWorld<2>::callbackGnss(boost::shared_ptr<sensor_msgs::NavSatFix_<std::allocator<void> > const>)80549
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)167728
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html new file mode 100644 index 0000000000..40bdb8ab4b --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.func.html @@ -0,0 +1,112 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-02-24 08:13:25Functions: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>)80549
mrs_uav_state_estimators::ProcTfToWorld<2>::reset()0
mrs_uav_state_estimators::ProcTfToWorld<2>::process(Eigen::Matrix<double, 2, 1, 0, 2, 1>&)167728
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&)80
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - proc_tf_to_world.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:455778.9 %
Date:2024-02-24 08:13:25Functions:3837.5 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROC_TF_TO_WORLD_H
+       3             : #define PROCESSORS_PROC_TF_TO_WORLD_H
+       4             : 
+       5             : #include <mrs_uav_state_estimators/processors/processor.h>
+       6             : 
+       7             : #include <sensor_msgs/NavSatFix.h>
+       8             : 
+       9             : #include <mrs_lib/gps_conversions.h>
+      10             : #include <mrs_lib/subscribe_handler.h>
+      11             : #include <mrs_lib/param_loader.h>
+      12             : 
+      13             : namespace mrs_uav_state_estimators
+      14             : {
+      15             : 
+      16             : using namespace mrs_uav_managers::estimation_manager;
+      17             : 
+      18             : template <int n_measurements>
+      19             : class ProcTfToWorld : public Processor<n_measurements> {
+      20             : 
+      21             : public:
+      22             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      23             : 
+      24             : public:
+      25             :   ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      26             :                 const std::shared_ptr<PrivateHandlers_t>& ph);
+      27             : 
+      28             :   std::tuple<bool, bool> process(measurement_t& measurement) override;
+      29             :   void                   reset();
+      30             : 
+      31             : private:
+      32             :   bool is_initialized_ = false;
+      33             : 
+      34             :   std::string gnss_topic_;
+      35             : 
+      36             :   std::mutex       mtx_gnss_;
+      37             :   std::atomic_bool got_gnss_                  = false;
+      38             :   std::atomic_bool is_gnss_offset_calculated_ = false;
+      39             :   double           gnss_x_;
+      40             :   double           gnss_y_;
+      41             : 
+      42             :   mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix> sh_gnss_;
+      43             :   void                                              callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg);
+      44             : };
+      45             : 
+      46             : /*//{ constructor */
+      47             : template <int n_measurements>
+      48          80 : ProcTfToWorld<n_measurements>::ProcTfToWorld(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name,
+      49             :                                              const std::shared_ptr<CommonHandlers_t>& ch, const std::shared_ptr<PrivateHandlers_t>& ph)
+      50          80 :     : Processor<n_measurements>(nh, correction_name, name, ch, ph) {
+      51             : 
+      52          80 :   ph->param_loader->setPrefix(ch->package_name + "/" + Support::toSnakeCase(ch->nodelet_name) + "/" + Processor<n_measurements>::getNamespacedName() + "/");
+      53             : 
+      54          80 :   ph->param_loader->loadParam("gnss_topic", gnss_topic_);
+      55             : 
+      56          80 :   gnss_topic_ = "/" + ch->uav_name + "/" + gnss_topic_;
+      57             : 
+      58          80 :   if (!ph->param_loader->loadedSuccessfully()) {
+      59           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", Processor<n_measurements>::getPrintName().c_str());
+      60           0 :     ros::shutdown();
+      61             :   }
+      62             : 
+      63             :   // | -------------- initialize subscribe handlers ------------- |
+      64          80 :   mrs_lib::SubscribeHandlerOptions shopts;
+      65          80 :   shopts.nh                 = nh;
+      66          80 :   shopts.node_name          = Processor<n_measurements>::getPrintName();
+      67          80 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      68          80 :   shopts.threadsafe         = true;
+      69          80 :   shopts.autostart          = true;
+      70          80 :   shopts.queue_size         = 10;
+      71          80 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      72             : 
+      73          80 :   sh_gnss_ = mrs_lib::SubscribeHandler<sensor_msgs::NavSatFix>(shopts, gnss_topic_, &ProcTfToWorld::callbackGnss, this);
+      74             : 
+      75          80 :   is_initialized_ = true;
+      76          80 : }
+      77             : /*//}*/
+      78             : 
+      79             : /*//{ callbackGnss() */
+      80             : template <int n_measurements>
+      81       80549 : void ProcTfToWorld<n_measurements>::callbackGnss(const sensor_msgs::NavSatFix::ConstPtr msg) {
+      82             : 
+      83       80549 :   if (!is_initialized_) {
+      84       80449 :     return;
+      85             :   }
+      86             : 
+      87       80549 :   if (got_gnss_) {
+      88       80449 :     return;
+      89             :   }
+      90             : 
+      91          80 :   if (!std::isfinite(msg->latitude)) {
+      92           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->latitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      93           0 :     return;
+      94             :   }
+      95             : 
+      96          80 :   if (!std::isfinite(msg->longitude)) {
+      97           0 :     ROS_ERROR_THROTTLE(1.0, "[%s] NaN detected in GNSS variable \"msg->longitude\"!!!", Processor<n_measurements>::getPrintName().c_str());
+      98           0 :     return;
+      99             :   }
+     100             : 
+     101         160 :   std::scoped_lock lock(mtx_gnss_);
+     102          80 :   mrs_lib::UTM(msg->latitude, msg->longitude, &gnss_x_, &gnss_y_);
+     103          80 :   ROS_INFO("[%s]: First GNSS obtained: %.2f %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     104          80 :   got_gnss_ = true;
+     105             : }
+     106             : /*//}*/
+     107             : 
+     108             : /*//{ process() */
+     109             : template <int n_measurements>
+     110      167728 : std::tuple<bool, bool> ProcTfToWorld<n_measurements>::process(measurement_t& measurement) {
+     111             : 
+     112      167728 :   if (!Processor<n_measurements>::enabled_) {
+     113           0 :     return {true, true};
+     114             :   }
+     115             : 
+     116      335456 :   std::scoped_lock lock(mtx_gnss_);
+     117             : 
+     118      167723 :   if (!got_gnss_) {
+     119        7177 :     ROS_WARN_THROTTLE(1.0, "[%s]: Missing GNSS data on topic: %s", Processor<n_measurements>::getPrintName().c_str(), gnss_topic_.c_str());
+     120        7177 :     return {false, false};
+     121             :   }
+     122             : 
+     123      160533 :   if (!is_gnss_offset_calculated_) {
+     124             : 
+     125          80 :     ROS_INFO_THROTTLE(1.0, "[%s]: debug: gnss_x_: %.2f, measurement(0): %.2f, world_origin.x: %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_x_,
+     126             :                       measurement(0), Processor<n_measurements>::ch_->world_origin.x);
+     127          80 :     ROS_INFO_THROTTLE(1.0, "[%s]: debug: gnss_y_: %.2f, measurement(1): %.2f, world_origin.y: %.2f", Processor<n_measurements>::getPrintName().c_str(), gnss_y_,
+     128             :                       measurement(1), Processor<n_measurements>::ch_->world_origin.y);
+     129          80 :     gnss_x_                    = (gnss_x_ - measurement(0)) - Processor<n_measurements>::ch_->world_origin.x;
+     130          80 :     gnss_y_                    = (gnss_y_ - measurement(1)) - Processor<n_measurements>::ch_->world_origin.y;
+     131          80 :     is_gnss_offset_calculated_ = true;
+     132          80 :     ROS_INFO_THROTTLE(1.0, "[%s]: GNSS world offset calculated as: [%.2f %.2f]", Processor<n_measurements>::getPrintName().c_str(), gnss_x_, gnss_y_);
+     133             :   }
+     134             : 
+     135      160539 :   measurement(0) += gnss_x_;
+     136      160495 :   measurement(1) += gnss_y_;
+     137             : 
+     138      160532 :   if (measurement(0) > 10000 || measurement(0) < -10000 || measurement(1) > 10000 || measurement(1) < -10000) {
+     139           0 :     ROS_WARN_THROTTLE(
+     140             :         1.0,
+     141             :         "[%s]: debug: Not expected to fly further than 10 km. This is most likely a bug. measurement(0): %.2f measurement(1): %.2f gnss_x_: %.2f gnss_y_: %.2f",
+     142             :         Processor<n_measurements>::getPrintName().c_str(), measurement(0), measurement(1), gnss_x_, gnss_y_);
+     143             :   }
+     144      160540 :   return {true, true};
+     145             : }
+     146             : /*//}*/
+     147             : 
+     148             : /*//{ reset() */
+     149             : template <int n_measurements>
+     150           0 : void ProcTfToWorld<n_measurements>::reset() {
+     151           0 :   got_gnss_                  = false;
+     152           0 :   is_gnss_offset_calculated_ = false;
+     153           0 : }
+     154             : /*//}*/
+     155             : }  // namespace mrs_uav_state_estimators
+     156             : 
+     157             : #endif  // PROCESSORS_PROC_TF_TO_WORLD_H
+
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html new file mode 100644 index 0000000000..c44e2f6583 --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.overview.html @@ -0,0 +1,60 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
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+ Overview +
+ + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/proc_tf_to_world.h.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a324c1257ee9037e3fabf82919209845d495e4b0 GIT binary patch literal 777 zcmV+k1NQuhP)YeKPLfI%d(hdQDZ?M6>}3P z7RRBNhCIV~)54mKVqgP#1>TJ!GMcesrS7XLRhvTlJ-0ACX3Ubb8gmW3ep|KBYVL9} zHd-<7`;=p5I<1j5^pje73r1fJMaKwP|cqki8fe9uJfx;%Wbp_7N?c1i- zs@QF_{E-s~SCSwed~Wz?gRvB~){V2)?OgR8#$YEf;2a}>+b`Au2g(_3%}QGU_x&fx z;r8R_b#C!I{JIMSxOYYEuRb6FCn{HKGMaFJ=!Hy?0as+k1)&-66k6a>E;AEZ;L4wF zan%6)Zj})NV?%eTdI$umGoG|`1`<#x$Y`sjMpN*{;DWZp2<+Wtz^zY|f%0-py;1ik zkBLUwjN#i&Dm@6@IIgQKKx!36Tpq`0W6_nq&_R}6o3E|AfdR&8jjrC4u{Ct0GH1mn@RJ^unROSIn z8T0jue2Ov0(yxHhqK~ZpCV|9C+el>18JoPqcO>uJM{*ssdR4s?ih)8QW#%Gdft*0R z<-$p4uEB(~JE*Wz;QNNbE~)Wo;y-Qt-3Y9U&PVx|$~D((KRkav&y1%T`8*R}J(;}9 z#;$y-)Ai$Mtwhw$s5(I5?6E7^s^ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-02-24 08:13:25Functions:6875.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::Processor<1>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::toggle(bool)0
mrs_uav_state_estimators::Processor<2>::Processor(ros::NodeHandle&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const87
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const139
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&)200
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const266
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const432
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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:2024-02-24 08:13:25Functions: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&)200
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&)84
mrs_uav_state_estimators::Processor<1>::getPrintName[abi:cxx11]() const139
mrs_uav_state_estimators::Processor<1>::getNamespacedName[abi:cxx11]() const266
mrs_uav_state_estimators::Processor<2>::getPrintName[abi:cxx11]() const432
mrs_uav_state_estimators::Processor<2>::getNamespacedName[abi:cxx11]() const87
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.frameset.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.frameset.html new file mode 100644 index 0000000000..7ea1b3521d --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html new file mode 100644 index 0000000000..0e1f63eafc --- /dev/null +++ b/mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h.gcov.html @@ -0,0 +1,156 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors/processor.h + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/include/mrs_uav_state_estimators/processors - processor.h (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:71070.0 %
Date:2024-02-24 08:13:25Functions:6875.0 %
Legend: Lines: + hit + not hit +
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+
          Line data    Source code
+
+       1             : #pragma once
+       2             : #ifndef PROCESSORS_PROCESSOR_H
+       3             : #define PROCESSORS_PROCESSOR_H
+       4             : 
+       5             : namespace mrs_uav_state_estimators
+       6             : {
+       7             : 
+       8             : using namespace mrs_uav_managers::estimation_manager;
+       9             : 
+      10             : template <int n_measurements>
+      11             : class Processor {
+      12             : 
+      13             : public:
+      14             :   typedef Eigen::Matrix<double, n_measurements, 1> measurement_t;
+      15             : 
+      16             : public:
+      17             :   std::string getName() const;
+      18             :   std::string getNamespacedName() const;
+      19             :   std::string getPrintName() const;
+      20             : 
+      21             :   void toggle(bool enable);
+      22             : 
+      23             :   virtual std::tuple<bool, bool> process(measurement_t& measurement) = 0;
+      24             :   virtual void                   reset()                             = 0;
+      25             : 
+      26             : protected:
+      27         284 :   Processor([[maybe_unused]] ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+      28             :             const std::shared_ptr<PrivateHandlers_t>& ph)
+      29         284 :       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
+      30         284 :   }  // 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         353 : std::string Processor<n_measurements>::getNamespacedName() const {
+      52         353 :   return correction_name_ + "/" + name_;
+      53             : }
+      54             : /*//}*/
+      55             : 
+      56             : /*//{ getPrintName() */
+      57             : template <int n_measurements>
+      58         571 : std::string Processor<n_measurements>::getPrintName() const {
+      59         571 :   return ch_->nodelet_name + "/" + correction_name_ + "/" + name_;
+      60             : }
+      61             : /*//}*/
+      62             : 
+      63             : /*//{ toggle() */
+      64             : template <int n_measurements>
+      65           0 : void Processor<n_measurements>::toggle(bool enable) {
+      66           0 :   enabled_ = enable;
+      67           0 : }
+      68             : /*//}*/
+      69             : 
+      70             : }  // namespace mrs_uav_state_estimators
+      71             : 
+      72             : #endif  // PROCESSORS_PROCESSOR_H
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2024-02-24 08:13:25Functions: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()60
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&)60
mrs_uav_state_estimators::garmin_agl::GarminAgl::start()60
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1243
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)120495
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const124712
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Date:2024-02-24 08:13:25Functions: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()60
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&)60
mrs_uav_state_estimators::garmin_agl::GarminAgl::isConverged()0
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerUpdate(ros::TimerEvent const&)120495
mrs_uav_state_estimators::garmin_agl::GarminAgl::timerCheckHealth(ros::TimerEvent const&)1243
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()60
mrs_uav_state_estimators::garmin_agl::GarminAgl::getUavAglHeight() const124712
mrs_uav_state_estimators::garmin_agl::GarminAgl::getHeightCovariance() const0
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Current view:top level - mrs_uav_state_estimators/src/estimators/agl - garmin_agl.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2024-02-24 08:13:25Functions:61060.0 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/agl/garmin_agl.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : namespace garmin_agl
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          60 : void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          60 :   ch_ = ch;
+      17          60 :   ph_ = ph;
+      18          60 :   nh_ = nh;
+      19             : 
+      20          60 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      21             : 
+      22             :   // | --------------------- load parameters -------------------- |
+      23             : 
+      24          60 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          60 :   if (is_core_plugin_) {
+      27             : 
+      28          60 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      29          60 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      30             :   }
+      31             : 
+      32          60 :   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          60 :   _update_timer_rate_       = 100;                                                                                          // TODO: parametrize
+      39          60 :   timer_update_             = nh.createTimer(ros::Rate(_update_timer_rate_), &GarminAgl::timerUpdate, this, false, false);  // not running after init
+      40          60 :   _check_health_timer_rate_ = 1;                                                                                            // TODO: parametrize
+      41          60 :   timer_check_health_       = nh.createTimer(ros::Rate(_check_health_timer_rate_), &GarminAgl::timerCheckHealth, this);
+      42             : 
+      43             :   // | --------------- subscribers initialization --------------- |
+      44         120 :   mrs_lib::SubscribeHandlerOptions shopts;
+      45          60 :   shopts.nh                 = nh;
+      46          60 :   shopts.node_name          = getPrintName();
+      47          60 :   shopts.no_message_timeout = ros::Duration(0.5);
+      48          60 :   shopts.threadsafe         = true;
+      49          60 :   shopts.autostart          = true;
+      50          60 :   shopts.queue_size         = 10;
+      51          60 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      52             : 
+      53             :   // | ---------------- publishers initialization --------------- |
+      54          60 :   ph_agl_height_ = mrs_lib::PublisherHandler<mrs_msgs::Float64Stamped>(nh, Support::toSnakeCase(getName()) + "/agl_height", 10);
+      55          60 :   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          60 :   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          60 :   est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
+      65          60 :   est_agl_garmin_->initialize(nh, ch_, ph_);
+      66             : 
+      67          60 :   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
+      68             : 
+      69             :   // | ------------------ initialize published messages ------------------ |
+      70          60 :   agl_height_init_.header.frame_id     = ns_frame_id_;
+      71          60 :   agl_height_cov_init_.header.frame_id = ns_frame_id_;
+      72             : 
+      73             :   // | ------------------ finish initialization ----------------- |
+      74             : 
+      75          60 :   if (changeState(INITIALIZED_STATE)) {
+      76          60 :     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          60 : }
+      81             : /*//}*/
+      82             : 
+      83             : /*//{ start() */
+      84          60 : bool GarminAgl::start(void) {
+      85             : 
+      86             : 
+      87          60 :   if (isInState(READY_STATE)) {
+      88             : 
+      89             :     bool est_agl_garmin_start_successful;
+      90             : 
+      91          60 :     if (est_agl_garmin_->isStarted() || est_agl_garmin_->isRunning()) {
+      92           0 :       est_agl_garmin_start_successful = true;
+      93             :     } else {
+      94          60 :       est_agl_garmin_start_successful = est_agl_garmin_->start();
+      95             :     }
+      96             : 
+      97          60 :     if (est_agl_garmin_start_successful) {
+      98          60 :       timer_update_.start();
+      99          60 :       changeState(STARTED_STATE);
+     100          60 :       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      120495 : void GarminAgl::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     147             : 
+     148      120495 :   if (!isInitialized()) {
+     149           0 :     return;
+     150             :   }
+     151             : 
+     152      120495 :   const ros::Time time_now = ros::Time::now();
+     153             : 
+     154      240990 :   mrs_msgs::Float64Stamped agl_height = agl_height_init_;
+     155      120495 :   agl_height.header.stamp             = time_now;
+     156      120495 :   agl_height.value                    = est_agl_garmin_->getState(POSITION);
+     157             : 
+     158      240990 :   mrs_msgs::Float64ArrayStamped agl_height_cov;
+     159      120495 :   agl_height_cov.header.stamp = time_now;
+     160             : 
+     161      120495 :   const int n_states = 2;  // TODO this should be defined somewhere else
+     162      120495 :   agl_height_cov.values.resize(n_states * n_states);
+     163      120495 :   agl_height_cov.values.at(n_states * POSITION + POSITION) = est_agl_garmin_->getCovariance(POSITION);
+     164      120495 :   agl_height_cov.values.at(n_states * VELOCITY + VELOCITY) = est_agl_garmin_->getCovariance(VELOCITY);
+     165             : 
+     166      120495 :   mrs_lib::set_mutexed(mtx_agl_height_, agl_height, agl_height_);
+     167      120495 :   mrs_lib::set_mutexed(mtx_agl_height_cov_, agl_height_cov, agl_height_cov_);
+     168             : 
+     169      120495 :   publishAglHeight();
+     170      120495 :   publishCovariance();
+     171      120495 :   publishDiagnostics();
+     172             : }
+     173             : /*//}*/
+     174             : 
+     175             : /*//{ timerCheckHealth() */
+     176        1243 : void GarminAgl::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     177             : 
+     178        1243 :   if (!isInitialized()) {
+     179           0 :     return;
+     180             :   }
+     181             : 
+     182        1243 :   if (isInState(INITIALIZED_STATE)) {
+     183             : 
+     184          68 :     if (est_agl_garmin_->isReady()) {
+     185          60 :       changeState(READY_STATE);
+     186          60 :       ROS_INFO("[%s]: Estimator is ready to start", getPrintName().c_str());
+     187             :     } else {
+     188           8 :       ROS_INFO("[%s]: %s subestimators to be ready", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     189           8 :       return;
+     190             :     }
+     191             :   }
+     192             : 
+     193             : 
+     194        1235 :   if (isInState(STARTED_STATE)) {
+     195          61 :     ROS_INFO("[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     196             : 
+     197          61 :     if (est_agl_garmin_->isRunning()) {
+     198          60 :       ROS_INFO("[%s]: Subestimators converged", getPrintName().c_str());
+     199          60 :       changeState(RUNNING_STATE);
+     200             :     } else {
+     201           1 :       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      124712 : mrs_msgs::Float64Stamped GarminAgl::getUavAglHeight() const {
+     219      124712 :   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          60 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::garmin_agl::GarminAgl, mrs_uav_managers::AglEstimator)
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/agl/index.html b/mrs_uav_state_estimators/src/estimators/agl/index.html new file mode 100644 index 0000000000..e7b1ff133e --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/agl/index.html @@ -0,0 +1,102 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/agl + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/aglHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:7510472.1 %
Date:2024-02-24 08:13:25Functions:61060.0 %
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.cpp +
72.1%72.1%
+ 		72.1 %75 / 10460.0 %6 / 10
+
+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..642d6b61f3 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func-sort-c.html @@ -0,0 +1,212 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
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Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21339553.9 %
Date:2024-02-24 08:13:25Functions:223366.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)144
mrs_uav_state_estimators::AltGeneric::isConverged()144
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)144
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)221
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)273
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const932
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1139
mrs_uav_state_estimators::AltGeneric::start()3525
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) const130041
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const130049
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const163142
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const263826
mrs_uav_state_estimators::AltGeneric::setDt(double const&)264091
mrs_uav_state_estimators::AltGeneric::getStates() const264130
mrs_uav_state_estimators::AltGeneric::generateA()264376
mrs_uav_state_estimators::AltGeneric::generateB()264464
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)299890
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) const407372
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&)407401
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)407411
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const567261
mrs_uav_state_estimators::AltGeneric::getState(int const&) const974690
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html new file mode 100644 index 0000000000..105b90f214 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.func.html @@ -0,0 +1,212 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/altitude - alt_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:21339553.9 %
Date:2024-02-24 08:13:25Functions:223366.7 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::AltGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)144
mrs_uav_state_estimators::AltGeneric::isConverged()144
mrs_uav_state_estimators::AltGeneric::timerUpdate(ros::TimerEvent const&)299890
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&)407401
mrs_uav_state_estimators::AltGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)407411
mrs_uav_state_estimators::AltGeneric::setInputCoeff(double const&)273
mrs_uav_state_estimators::AltGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::AltGeneric::callbackReconfigure(mrs_uav_state_estimators::AltitudeEstimatorConfig&, unsigned int)144
mrs_uav_state_estimators::AltGeneric::setCovarianceMatrix(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&)0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::AltGeneric::pause()0
mrs_uav_state_estimators::AltGeneric::reset()0
mrs_uav_state_estimators::AltGeneric::setDt(double const&)264091
mrs_uav_state_estimators::AltGeneric::start()3525
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&)221
mrs_uav_state_estimators::AltGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::AltGeneric::generateA()264376
mrs_uav_state_estimators::AltGeneric::generateB()264464
mrs_uav_state_estimators::AltGeneric::setStates(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)0
mrs_uav_state_estimators::AltGeneric::getPrintName[abi:cxx11]() const1139
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&) const567261
mrs_uav_state_estimators::AltGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&) const163142
mrs_uav_state_estimators::AltGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::AltGeneric::getNamespacedName[abi:cxx11]() const932
mrs_uav_state_estimators::AltGeneric::getCovarianceMatrix() const263826
mrs_uav_state_estimators::AltGeneric::getState(int const&) const974690
mrs_uav_state_estimators::AltGeneric::getState(int const&, int const&) const130049
mrs_uav_state_estimators::AltGeneric::getStates() const264130
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) const407372
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) const130041
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::AltGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.frameset.html new file mode 100644 index 0000000000..be84a0e587 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html new file mode 100644 index 0000000000..2a141d9a4d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp.gcov.html @@ -0,0 +1,839 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/altitude/alt_generic.cpp + + + + + + + + + + + + + + +
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:21339553.9 %
Date:2024-02-24 08:13:25Functions:223366.7 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/altitude/alt_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14         144 : void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16         144 :   ch_ = ch;
+      17         144 :   ph_ = ph;
+      18             : 
+      19         144 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22         144 :   dt_ = 0.01;
+      23         144 :   input_coeff_ = 10;
+      24         144 :   default_input_coeff_ = 10;
+      25             : 
+      26         144 :   generateA();
+      27         144 :   generateB();
+      28             : 
+      29         144 :   H_ <<
+      30         144 :     1, 0, 0;
+      31             : 
+      32         144 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             :   // clang-format on
+      36             : 
+      37             :   // | --------------- initialize parameter loader -------------- |
+      38             : 
+      39         144 :   if (is_core_plugin_) {
+      40             : 
+      41         144 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      42         144 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43             :   }
+      44             : 
+      45         144 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      46             : 
+      47             :   // | --------------------- load parameters -------------------- |
+      48             : 
+      49         144 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50         144 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      51         144 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      52         144 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      53         144 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      54         144 :   if (is_repredictor_enabled_) {
+      55           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      56             :   }
+      57             : 
+      58             :   // | --------------- corrections initialization --------------- |
+      59         144 :   ph->param_loader->loadParam("corrections", correction_names_);
+      60             : 
+      61         356 :   for (auto corr_name : correction_names_) {
+      62         212 :     corrections_.push_back(std::make_shared<Correction<alt_generic::n_measurements>>(
+      63      130465 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::ALTITUDE, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      64      407372 :         [this](const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      65      407372 :           return this->doCorrection(meas, R, state);
+      66             :         }));
+      67             :   }
+      68             : 
+      69         144 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      70             : 
+      71             :   // | ----------- initialize process noise covariance ---------- |
+      72         144 :   Q_ = Q_t::Zero();
+      73             :   double tmp_noise;
+      74         144 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      75         144 :   Q_(POSITION, POSITION) = tmp_noise;
+      76         144 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      77         144 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      78         144 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      79         144 :   Q_(ACCELERATION, ACCELERATION) = tmp_noise;
+      80             : 
+      81             :   // | ------- check if all parameters loaded successfully ------ |
+      82         144 :   if (!ph->param_loader->loadedSuccessfully()) {
+      83           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      84           0 :     ros::shutdown();
+      85             :   }
+      86             : 
+      87             :   // | ------------- initialize dynamic reconfigure ------------- |
+      88             :   drmgr_ =
+      89         144 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&AltGeneric::callbackReconfigure, this, _1, _2));
+      90         144 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      91         144 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      92         144 :   drmgr_->config.acc = Q_(ACCELERATION, ACCELERATION);
+      93         144 :   drmgr_->update_config(drmgr_->config);
+      94             : 
+      95             :   // | --------------- Kalman filter intialization -------------- |
+      96         144 :   const x_t        x0 = x_t::Zero();
+      97         144 :   const P_t        P0 = 1e3 * P_t::Identity();
+      98         144 :   const statecov_t sc0({x0, P0});
+      99         144 :   sc_ = sc0;
+     100             : 
+     101         144 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     102         144 :   if (is_repredictor_enabled_) {
+     103             : 
+     104           0 :     generateRepredictorModels(input_coeff_);
+     105             : 
+     106           0 :     const u_t       u0 = u_t::Zero();
+     107           0 :     const ros::Time t0 = ros::Time::now();
+     108           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     109             : 
+     110           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     111             :   }
+     112             : 
+     113             :   // | ------------------ timers initialization ----------------- |
+     114         144 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerUpdate, this);  // not running after init
+     115             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &AltGeneric::timerCheckHealth, this); */
+     116             : 
+     117             :   // | --------------- subscribers initialization --------------- |
+     118             :   // subscriber to odometry
+     119         288 :   mrs_lib::SubscribeHandlerOptions shopts;
+     120         144 :   shopts.nh                 = nh;
+     121         144 :   shopts.node_name          = getPrintName();
+     122         144 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     123         144 :   shopts.threadsafe         = true;
+     124         144 :   shopts.autostart          = true;
+     125         144 :   shopts.queue_size         = 10;
+     126         144 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     127             : 
+     128         144 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     129             : 
+     130             :   // | ---------------- publishers initialization --------------- |
+     131         144 :   if (ch_->debug_topics.input) {
+     132         144 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     133             :   }
+     134         144 :   if (ch_->debug_topics.output) {
+     135         144 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     136             :   }
+     137         144 :   if (ch_->debug_topics.diag) {
+     138           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     139             :   }
+     140             : 
+     141             :   // | ------------------ finish initialization ----------------- |
+     142             : 
+     143         144 :   if (changeState(INITIALIZED_STATE)) {
+     144         144 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     145             :   } else {
+     146           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     147             :   }
+     148         144 : }
+     149             : /*//}*/
+     150             : 
+     151             : /*//{ start() */
+     152        3525 : bool AltGeneric::start(void) {
+     153             : 
+     154        3525 :   if (isInState(READY_STATE)) {
+     155             :     /* timer_update_.start(); */
+     156         144 :     changeState(STARTED_STATE);
+     157         144 :     return true;
+     158             : 
+     159             :   } else {
+     160        3381 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     161        3381 :     return false;
+     162             :   }
+     163             : }
+     164             : /*//}*/
+     165             : 
+     166             : /*//{ pause() */
+     167           0 : bool AltGeneric::pause(void) {
+     168             : 
+     169           0 :   if (isInState(RUNNING_STATE)) {
+     170           0 :     changeState(STOPPED_STATE);
+     171           0 :     return true;
+     172             : 
+     173             :   } else {
+     174           0 :     return false;
+     175             :   }
+     176             : }
+     177             : /*//}*/
+     178             : 
+     179             : /*//{ reset() */
+     180           0 : bool AltGeneric::reset(void) {
+     181             : 
+     182           0 :   if (!isInitialized()) {
+     183           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     184           0 :     return false;
+     185             :   }
+     186             : 
+     187           0 :   changeState(STOPPED_STATE);
+     188             : 
+     189             :   // Initialize LKF state and covariance
+     190           0 :   const x_t        x0 = x_t::Zero();
+     191           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     192           0 :   const statecov_t sc0({x0, P0});
+     193           0 :   sc_ = sc0;
+     194             : 
+     195             :   // Instantiate the LKF itself
+     196           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     197           0 :   if (is_repredictor_enabled_) {
+     198             : 
+     199           0 :     const u_t       u0 = u_t::Zero();
+     200           0 :     const ros::Time t0 = ros::Time(0);
+     201           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     202             :   }
+     203             : 
+     204           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     205             : 
+     206           0 :   return true;
+     207             : }
+     208             : /*//}*/
+     209             : 
+     210             : /* timerUpdate() //{*/
+     211      299890 : void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
+     212             : 
+     213             : 
+     214      299890 :   if (!isInitialized()) {
+     215       35720 :     return;
+     216             :   }
+     217             : 
+     218      299823 :   switch (getCurrentSmState()) {
+     219             : 
+     220           0 :     case UNINITIALIZED_STATE: {
+     221           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     222           0 :       break;
+     223             :     }
+     224             : 
+     225        4753 :     case READY_STATE: {
+     226        4753 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     227        4753 :       break;
+     228             :     }
+     229             : 
+     230        7696 :     case INITIALIZED_STATE: {
+     231             :       // initialize the estimator with current corrections
+     232        7916 :       for (auto correction : corrections_) {
+     233        7759 :         auto res = correction->getProcessedCorrection();
+     234        7738 :         if (res) {
+     235         221 :           auto measurement_stamped = res.value();
+     236         221 :           setState(measurement_stamped.value(0), correction->getStateId());
+     237         221 :           ROS_INFO("[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     238             :         } else {
+     239        7529 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     240             :                             correction->getNamespacedName().c_str());
+     241        7524 :           return;
+     242             :         }
+     243             :       }
+     244         144 :       changeState(READY_STATE);
+     245         144 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     246         144 :       break;
+     247             :     }
+     248             : 
+     249         144 :     case STARTED_STATE: {
+     250         144 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     251             : 
+     252         144 :       if (isConverged()) {
+     253         144 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     254         144 :         changeState(RUNNING_STATE);
+     255             :       }
+     256         144 :       break;
+     257             :     }
+     258             : 
+     259      287297 :     case RUNNING_STATE: {
+     260      716460 :       for (auto correction : corrections_) {
+     261      429134 :         if (!correction->isHealthy()) {
+     262           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     263           0 :           changeState(ERROR_STATE);
+     264             :         }
+     265             :       }
+     266      287343 :       break;
+     267             :     }
+     268             : 
+     269           0 :     case STOPPED_STATE: {
+     270           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     271           0 :       break;
+     272             :     }
+     273             : 
+     274           0 :     case ERROR_STATE: {
+     275           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     276           0 :       ros::Time t_now = ros::Time::now();
+     277           0 :       if (is_error_state_first_time_) {
+     278           0 :         prev_time_in_error_state_  = t_now;
+     279           0 :         is_error_state_first_time_ = false;
+     280           0 :         error_state_duration_      = ros::Duration(0.0);
+     281             :       }
+     282           0 :       error_state_duration_ += t_now - prev_time_in_error_state_;
+     283             : 
+     284             : 
+     285             :       // check if all corrections are healthy now
+     286           0 :       bool all_corrections_healthy = true;
+     287           0 :       for (auto correction : corrections_) {
+     288           0 :         if (!correction->isHealthy()) {
+     289           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     290           0 :           all_corrections_healthy = false;
+     291             :         }
+     292             :       }
+     293             : 
+     294           0 :       if (all_corrections_healthy && innovation_ok_) {
+     295             :         // initialize the estimator again if corrections become healthy
+     296           0 :         if (error_state_duration_.toSec() > 5.0) {
+     297           0 :           ROS_INFO("[%s]: corrections healthy for %.2f s", getPrintName().c_str(), error_state_duration_.toSec());
+     298           0 :           changeState(INITIALIZED_STATE);
+     299           0 :           is_error_state_first_time_ = true;
+     300           0 :         }
+     301             :       } else {
+     302           0 :         is_error_state_first_time_ = true;
+     303             :       }
+     304             : 
+     305           0 :       prev_time_in_error_state_ = t_now;
+     306             : 
+     307           0 :       break;
+     308             :     }
+     309             :   }
+     310             : 
+     311      292414 :   if (sh_control_input_.newMsg()) {
+     312      132118 :     is_input_ready_ = true;
+     313             :   }
+     314             : 
+     315             :   // check age of input
+     316      291989 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     317          22 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     318             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     319          22 :     is_input_ready_ = false;
+     320             :   }
+     321             : 
+     322      291944 :   if (!isRunning() && !isStarted()) {
+     323        4894 :     return;
+     324             :   }
+     325             : 
+     326      287181 :   if (first_iter_) {
+     327         144 :     first_iter_ = false;
+     328         144 :     return;
+     329             :   }
+     330             : 
+     331      287037 :   double dt = (event.current_real - event.last_real).toSec();
+     332      287153 :   if (dt <= 0.0) {
+     333       23138 :     return;
+     334             :   }
+     335             : 
+     336      264015 :   if (!is_repredictor_enabled_) {  // repredictor calculates dt on its own
+     337      263620 :     setDt(dt);
+     338             :   }
+     339             : 
+     340             :   // prediction step
+     341      264141 :   u_t       u;
+     342      263492 :   ros::Time input_stamp;
+     343      263667 :   if (is_input_ready_) {
+     344      152740 :     mrs_msgs::EstimatorInputConstPtr msg            = sh_control_input_.getMsg();
+     345      152780 :     const tf2::Vector3               des_acc_global = getAccGlobal(msg, 0);  // we don't care about heading
+     346      153098 :     input_stamp                                     = msg->header.stamp;
+     347      152532 :     if (input_coeff_ != default_input_coeff_){
+     348         107 :       setInputCoeff(default_input_coeff_);
+     349             :     }
+     350      152527 :     u(0) = des_acc_global.getZ();
+     351             :   } else {
+     352      110372 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     353      110876 :     input_stamp = ros::Time::now();
+     354      110968 :     if (input_coeff_ != 0){
+     355         166 :       setInputCoeff(0);
+     356             :     }
+     357      110968 :     u = u_t::Zero();
+     358             :   }
+     359             : 
+     360             :   // go through available corrections and apply them
+     361             :   /* for (auto correction : corrections_) { */
+     362             :   /*   auto res = correction->getProcessedCorrection(); */
+     363             :   /*   if (res) { */
+     364             :   /*     auto measurement_stamped = res.value(); */
+     365             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     366             :   /*   } */
+     367             :   /* } */
+     368             : 
+     369      262599 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     370      263241 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     371             : 
+     372             :   try {
+     373             :     // Apply the prediction step
+     374      526393 :     std::scoped_lock lock(mutex_lkf_);
+     375      263086 :     if (is_repredictor_enabled_) {
+     376           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     377           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     378             :     } else {
+     379      263086 :       sc = lkf_->predict(sc, u, Q, dt_);
+     380             :     }
+     381             :   }
+     382           0 :   catch (const std::exception &e) {
+     383             :     // In case of error, alert the user
+     384           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     385             :   }
+     386             : 
+     387      261813 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     388             : 
+     389             :   // publishing
+     390      262691 :   publishInput(u, input_stamp);
+     391      264148 :   publishOutput();
+     392      264154 :   publishDiagnostics();
+     393             : }
+     394             : /*//}*/
+     395             : 
+     396             : /*//{ timerCheckHealth() */
+     397           0 : void AltGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     398             : 
+     399           0 :   if (!isInitialized()) {
+     400           0 :     return;
+     401             :   }
+     402             : 
+     403           0 :   switch (getCurrentSmState()) {
+     404             : 
+     405           0 :     case UNINITIALIZED_STATE: {
+     406           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     407           0 :       break;
+     408             :     }
+     409             : 
+     410           0 :     case READY_STATE: {
+     411           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     412           0 :       break;
+     413             :     }
+     414             : 
+     415           0 :     case INITIALIZED_STATE: {
+     416             : 
+     417             :       // initialize the estimator with current corrections
+     418           0 :       for (auto correction : corrections_) {
+     419           0 :         auto res = correction->getProcessedCorrection();
+     420           0 :         if (res) {
+     421           0 :           auto measurement_stamped = res.value();
+     422           0 :           setState(measurement_stamped.value(0), correction->getStateId());
+     423           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(0));
+     424             :         } else {
+     425           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     426             :                             correction->getNamespacedName().c_str());
+     427           0 :           return;
+     428             :         }
+     429             :       }
+     430           0 :       changeState(READY_STATE);
+     431           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     432           0 :       break;
+     433             :     }
+     434             : 
+     435           0 :     case STARTED_STATE: {
+     436           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s for convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     437             : 
+     438           0 :       if (isConverged()) {
+     439           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     440           0 :         changeState(RUNNING_STATE);
+     441             :       }
+     442           0 :       break;
+     443             :     }
+     444             : 
+     445           0 :     case RUNNING_STATE: {
+     446           0 :       for (auto correction : corrections_) {
+     447           0 :         if (!correction->isHealthy()) {
+     448           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     449           0 :           changeState(ERROR_STATE);
+     450             :         }
+     451             :       }
+     452           0 :       break;
+     453             :     }
+     454             : 
+     455           0 :     case STOPPED_STATE: {
+     456           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     457           0 :       break;
+     458             :     }
+     459             : 
+     460           0 :     case ERROR_STATE: {
+     461           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     462           0 :       bool all_corrections_healthy = true;
+     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 :           all_corrections_healthy = false;
+     467             :         }
+     468             :       }
+     469             :       // initialize the estimator again if corrections become healthy
+     470           0 :       if (all_corrections_healthy) {
+     471           0 :         changeState(INITIALIZED_STATE);
+     472             :       }
+     473           0 :       break;
+     474             :     }
+     475             :   }
+     476             : 
+     477           0 :   if (sh_control_input_.newMsg()) {
+     478           0 :     is_input_ready_ = true;
+     479             :   }
+     480             : 
+     481             :   // check age of input
+     482           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     483           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     484             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     485           0 :     is_input_ready_ = false;
+     486             :   }
+     487             : }
+     488             : /*//}*/
+     489             : 
+     490             : /*//{ doCorrection() */
+     491      407411 : void AltGeneric::doCorrection(const Correction<alt_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     492      407411 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     493      406071 : }
+     494             : /*//}*/
+     495             : 
+     496             : /*//{ doCorrection() */
+     497      407401 : void AltGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     498             : 
+     499      407401 :   if (!isInitialized()) {
+     500        3743 :     return;
+     501             :   }
+     502             : 
+     503             :   // we do not want to perform corrections until the estimator is initialized
+     504      407305 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     505        3743 :     return;
+     506             :   }
+     507             : 
+     508             :   // for position state check the innovation
+     509      403404 :   if (H_idx == POSITION) {
+     510      234566 :     std::scoped_lock lock(mtx_innovation_);
+     511             : 
+     512      234631 :     is_mitigating_jump_ = false;
+     513      234712 :     innovation_(0)      = z(0) - getState(POSITION);
+     514             : 
+     515      234684 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     516           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), pos_innovation_limit_);
+     517           0 :       innovation_ok_ = false;
+     518           0 :       switch (exc_innovation_action_) {
+     519           0 :         case ExcInnoAction_t::ELAND: {
+     520           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", ros::this_node::getName().c_str());
+     521           0 :           changeState(ERROR_STATE);
+     522           0 :           break;
+     523             :         }
+     524           0 :         case ExcInnoAction_t::SWITCH: {
+     525           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", ros::this_node::getName().c_str());
+     526           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?
+     527           0 :           changeState(ERROR_STATE);
+     528           0 :           break;
+     529             :         }
+     530           0 :         case ExcInnoAction_t::MITIGATE: {
+     531           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", ros::this_node::getName().c_str());
+     532           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?
+     533           0 :           is_mitigating_jump_ = true;
+     534           0 :           setState(z(0), POSITION);
+     535           0 :           break;
+     536             :         }
+     537           0 :         case ExcInnoAction_t::NONE: {
+     538           0 :           ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", ros::this_node::getName().c_str());
+     539           0 :           break;
+     540             :         }
+     541             :       }
+     542             :     }
+     543      234682 :     innovation_ok_ = true;
+     544             :   }
+     545             : 
+     546      403527 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     547             :   try {
+     548             :     // Apply the correction step
+     549             :     {
+     550      805346 :       std::scoped_lock lock(mutex_lkf_);
+     551      403643 :       H_        = H_t::Zero();
+     552      403543 :       H_(H_idx) = 1;
+     553      403015 :       lkf_->H   = H_;
+     554      402348 :       if (is_repredictor_enabled_) {
+     555             : 
+     556           0 :         lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     557             :       } else {
+     558      402348 :         sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     559             :       }
+     560             :     }
+     561             :   }
+     562           0 :   catch (const std::exception &e) {
+     563             :     // In case of error, alert the user
+     564           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     565             :   }
+     566             : 
+     567      400221 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     568             : }  // namespace mrs_uav_state_estimators
+     569             : /*//}*/
+     570             : 
+     571             : /*//{ isConverged() */
+     572         144 : bool AltGeneric::isConverged() {
+     573             : 
+     574             :   // TODO: check convergence by rate of change of determinant
+     575             : 
+     576         144 :   return true;
+     577             : }
+     578             : /*//}*/
+     579             : 
+     580             : /*//{ getState() */
+     581      130049 : double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     582      130049 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     583             : }
+     584             : 
+     585      974690 : double AltGeneric::getState(const int &state_idx_in) const {
+     586      974690 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     587             : }
+     588             : /*//}*/
+     589             : 
+     590             : /*//{ setState() */
+     591           0 : void AltGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     592           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     593           0 : }
+     594             : 
+     595         221 : void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
+     596         221 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     597         221 : }
+     598             : /*//}*/
+     599             : 
+     600             : /*//{ getStates() */
+     601      264130 : AltGeneric::states_t AltGeneric::getStates(void) const {
+     602      528105 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     603             : }
+     604             : /*//}*/
+     605             : 
+     606             : /*//{ setStates() */
+     607           0 : void AltGeneric::setStates(const states_t &states_in) {
+     608           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     609           0 : }
+     610             : /*//}*/
+     611             : 
+     612             : /*//{ getCovariance() */
+     613           0 : double AltGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     614           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     615             : }
+     616             : 
+     617      567261 : double AltGeneric::getCovariance(const int &state_idx_in) const {
+     618      567261 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     619             : }
+     620             : /*//}*/
+     621             : 
+     622             : /*//{ getCovarianceMatrix() */
+     623      263826 : AltGeneric::covariance_t AltGeneric::getCovarianceMatrix(void) const {
+     624      527674 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     625             : }
+     626             : /*//}*/
+     627             : 
+     628             : /*//{ setCovarianceMatrix() */
+     629           0 : void AltGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     630           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     631           0 : }
+     632             : /*//}*/
+     633             : 
+     634             : /*//{ getInnovation() */
+     635      163142 : double AltGeneric::getInnovation(const int &state_idx) const {
+     636      163142 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     637             : }
+     638             : 
+     639           0 : double AltGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     640           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     641             : }
+     642             : /*//}*/
+     643             : 
+     644             : /*//{ setDt() */
+     645      264091 : void AltGeneric::setDt(const double &dt) {
+     646      264091 :   dt_ = dt;
+     647      264091 :   generateA();
+     648      263541 :   generateB();
+     649      527588 :   std::scoped_lock lock(mutex_lkf_);
+     650      263702 :   lkf_->A = A_;
+     651      263747 :   lkf_->B = B_;
+     652      263562 : }
+     653             : /*//}*/
+     654             : 
+     655             : /*//{ setInputCoeff() */
+     656         273 : void AltGeneric::setInputCoeff(const double &input_coeff) {
+     657         273 :   input_coeff_ = input_coeff;
+     658         273 :   generateA();
+     659         273 :   generateB();
+     660         543 :   std::scoped_lock lock(mutex_lkf_);
+     661         269 :   lkf_->A = A_;
+     662         271 :   lkf_->B = B_;
+     663             : 
+     664         273 :   if (is_repredictor_enabled_) {
+     665           0 :     models_.clear();
+     666           0 :     generateRepredictorModels(input_coeff_);
+     667             :   }
+     668         271 : }
+     669             : /*//}*/
+     670             : 
+     671             : /*//{ generateRepredictorModels() */
+     672           0 : void AltGeneric::generateRepredictorModels(const double input_coeff) {
+     673             : 
+     674           0 :     for (int i = 0; i < alt_generic::n_states; i++) {
+     675             : 
+     676           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     677           0 :         A_t A;
+     678             :         // clang-format off
+     679           0 :         A <<
+     680           0 :           1, dt, 0.5 * dt * dt,
+     681           0 :           0, 1, dt,
+     682           0 :           0, 0, 1-(input_coeff * dt);
+     683             :         // clang-format on
+     684           0 :         return A;
+     685           0 :       };
+     686             : 
+     687           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     688           0 :         B_t B = B.Zero();
+     689             :         // clang-format off
+     690           0 :         B <<
+     691             :           0,
+     692           0 :           0,
+     693           0 :           (input_coeff * dt);
+     694             :         // clang-format on
+     695           0 :         return B;
+     696           0 :       };
+     697             : 
+     698           0 :       H_t H = H_t::Zero();
+     699           0 :       H(i)  = 1;
+     700           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     701             :     }
+     702           0 : }
+     703             : /*//}*/
+     704             : 
+     705             : /*//{ generateA() */
+     706      264376 : void AltGeneric::generateA() {
+     707             : 
+     708             :   // clang-format off
+     709      264376 :     A_ <<
+     710      263606 :       1, dt_, 0.5 * dt_ * dt_,
+     711      263835 :       0, 1, dt_,
+     712      264080 :       0, 0, 1-(input_coeff_ * dt_);
+     713             :   // clang-format on
+     714      263765 : }
+     715             : /*//}*/
+     716             : 
+     717             : /*//{ generateB() */
+     718      264464 : void AltGeneric::generateB() {
+     719             : 
+     720             :   // clang-format off
+     721      264464 :     B_ <<
+     722             :       0,
+     723      263816 :       0,
+     724      263701 :       (input_coeff_ * dt_);
+     725             :   // clang-format on
+     726      263707 : }
+     727             : /*//}*/
+     728             : 
+     729             : /*//{ callbackReconfigure() */
+     730         144 : void AltGeneric::callbackReconfigure(AltitudeEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     731             : 
+     732         144 :   if (!isInitialized()) {
+     733         144 :     return;
+     734             :   }
+     735             : 
+     736           0 :   Q_t Q;
+     737           0 :   Q(POSITION, POSITION)         = config.pos;
+     738           0 :   Q(VELOCITY, VELOCITY)         = config.vel;
+     739           0 :   Q(ACCELERATION, ACCELERATION) = config.acc;
+     740           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     741             : }
+     742             : /*//}*/
+     743             : 
+     744             : /*//{ getNamespacedName() */
+     745         932 : std::string AltGeneric::getNamespacedName() const {
+     746        1864 :   return parent_state_est_name_ + "/" + getName();
+     747             : }
+     748             : /*//}*/
+     749             : 
+     750             : /*//{ getPrintName() */
+     751        1139 : std::string AltGeneric::getPrintName() const {
+     752        2278 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     753             : }
+     754             : /*//}*/
+     755             : };  // namespace mrs_uav_state_estimators
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::HdgGeneric::pause()0
mrs_uav_state_estimators::HdgGeneric::reset()0
mrs_uav_state_estimators::HdgGeneric::setDt(double const&)0
mrs_uav_state_estimators::HdgGeneric::start()0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::generateA()0
mrs_uav_state_estimators::HdgGeneric::generateB()0
mrs_uav_state_estimators::HdgGeneric::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgGeneric::getPrintName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getLastValidHdg() const0
mrs_uav_state_estimators::HdgGeneric::getNamespacedName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovarianceMatrix() const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getStates() const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html new file mode 100644 index 0000000000..1c5b80da9c --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.func.html @@ -0,0 +1,216 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03570.0 %
Date:2024-02-24 08:13:25Functions:0340.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)0
mrs_uav_state_estimators::HdgGeneric::isConverged()0
mrs_uav_state_estimators::HdgGeneric::timerUpdate(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(Eigen::Matrix<double, 1, 1, 0, 1, 1> const&, double, mrs_uav_managers::estimation_manager::StateId_t const&, ros::Time const&)0
mrs_uav_state_estimators::HdgGeneric::doCorrection(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)0
mrs_uav_state_estimators::HdgGeneric::setInputCoeff(double const&)0
mrs_uav_state_estimators::HdgGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::HdgGeneric::callbackReconfigure(mrs_uav_state_estimators::HeadingEstimatorConfig&, unsigned int)0
mrs_uav_state_estimators::HdgGeneric::setCovarianceMatrix(Eigen::Matrix<double, 2, 2, 0, 2, 2> const&)0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::HdgGeneric::pause()0
mrs_uav_state_estimators::HdgGeneric::reset()0
mrs_uav_state_estimators::HdgGeneric::setDt(double const&)0
mrs_uav_state_estimators::HdgGeneric::start()0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::setState(double const&, int const&, int const&)0
mrs_uav_state_estimators::HdgGeneric::generateA()0
mrs_uav_state_estimators::HdgGeneric::generateB()0
mrs_uav_state_estimators::HdgGeneric::setStates(Eigen::Matrix<double, 2, 1, 0, 2, 1> const&)0
mrs_uav_state_estimators::HdgGeneric::getPrintName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getCovariance(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getInnovation(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getLastValidHdg() const0
mrs_uav_state_estimators::HdgGeneric::getNamespacedName[abi:cxx11]() const0
mrs_uav_state_estimators::HdgGeneric::getCovarianceMatrix() const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&) const0
mrs_uav_state_estimators::HdgGeneric::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgGeneric::getStates() const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t)#2}::operator()(mrs_uav_state_estimators::Correction<1>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t) const0
mrs_uav_state_estimators::HdgGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)::{lambda(int, int)#1}::operator()(int, int) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::HdgGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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+
+ + + +
Generated by: LCOV version 1.14
+
+ + + 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..ed666cac04 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp.gcov.html @@ -0,0 +1,795 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_generic.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:03570.0 %
Date:2024-02-24 08:13:25Functions:0340.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14           0 : void HdgGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           0 :   ch_ = ch;
+      17           0 :   ph_ = ph;
+      18             : 
+      19           0 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // clang-format off
+      22           0 :   dt_ = 0.01;
+      23           0 :   input_coeff_ = 20;
+      24           0 :   default_input_coeff_ = 20;
+      25             : 
+      26           0 :   generateA();
+      27           0 :   generateB();
+      28             : 
+      29           0 :   H_ <<
+      30           0 :     1, 0;
+      31             : 
+      32           0 :   innovation_ << 
+      33             :     0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40           0 :   if (is_core_plugin_) {
+      41             : 
+      42           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43           0 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49           0 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      50           0 :   ph->param_loader->loadParam("position_innovation_limit", pos_innovation_limit_);
+      51           0 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      52           0 :   if (is_repredictor_enabled_) {
+      53           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      54             :   }
+      55             : 
+      56             :   // | --------------- corrections initialization --------------- |
+      57           0 :   ph->param_loader->loadParam("corrections", correction_names_);
+      58             : 
+      59           0 :   for (auto corr_name : correction_names_) {
+      60           0 :     corrections_.push_back(std::make_shared<Correction<hdg_generic::n_measurements>>(
+      61           0 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::HEADING, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      62           0 :         [this](const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      63           0 :           return this->doCorrection(meas, R, state);
+      64             :         }));
+      65             :   }
+      66             : 
+      67           0 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      68             : 
+      69             :   // | ----------- initialize process noise covariance ---------- |
+      70           0 :   Q_ = Q_t::Zero();
+      71             :   double tmp_noise;
+      72           0 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      73           0 :   Q_(POSITION, POSITION) = tmp_noise;
+      74           0 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      75           0 :   Q_(VELOCITY, VELOCITY) = tmp_noise;
+      76             : 
+      77             :   // | ------- check if all parameters loaded successfully ------ |
+      78           0 :   if (!ph->param_loader->loadedSuccessfully()) {
+      79           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      80           0 :     ros::shutdown();
+      81             :   }
+      82             : 
+      83             :   // | ------------- initialize dynamic reconfigure ------------- |
+      84             :   drmgr_ =
+      85           0 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&HdgGeneric::callbackReconfigure, this, _1, _2));
+      86           0 :   drmgr_->config.pos = Q_(POSITION, POSITION);
+      87           0 :   drmgr_->config.vel = Q_(VELOCITY, VELOCITY);
+      88           0 :   drmgr_->update_config(drmgr_->config);
+      89             : 
+      90             :   // | --------------- Kalman filter intialization -------------- |
+      91           0 :   const x_t        x0 = x_t::Zero();
+      92           0 :   const P_t        P0 = 1e3 * P_t::Identity();
+      93           0 :   const statecov_t sc0({x0, P0});
+      94           0 :   sc_ = sc0;
+      95             : 
+      96           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+      97           0 :   if (is_repredictor_enabled_) {
+      98             : 
+      99           0 :     generateRepredictorModels(input_coeff_);
+     100             : 
+     101           0 :     const u_t       u0 = u_t::Zero();
+     102           0 :     const ros::Time t0 = ros::Time::now();
+     103           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     104             : 
+     105           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     106             :   }
+     107             : 
+     108             :   // | ------------------ timers initialization ----------------- |
+     109           0 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerUpdate, this);  // not running after init
+     110             :   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerCheckHealth, this); */
+     111             : 
+     112             :   // | --------------- subscribers initialization --------------- |
+     113             :   // subscriber to odometry
+     114           0 :   mrs_lib::SubscribeHandlerOptions shopts;
+     115           0 :   shopts.nh                 = nh;
+     116           0 :   shopts.node_name          = getPrintName();
+     117           0 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     118           0 :   shopts.threadsafe         = true;
+     119           0 :   shopts.autostart          = true;
+     120           0 :   shopts.queue_size         = 10;
+     121           0 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     122             : 
+     123           0 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     124             : 
+     125             :   // | ---------------- publishers initialization --------------- |
+     126           0 :   if (ch_->debug_topics.input) {
+     127           0 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     128             :   }
+     129           0 :   if (ch_->debug_topics.output) {
+     130           0 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     131             :   }
+     132           0 :   if (ch_->debug_topics.diag) {
+     133           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     134             :   }
+     135             : 
+     136             :   // | ------------------ finish initialization ----------------- |
+     137             : 
+     138           0 :   if (changeState(INITIALIZED_STATE)) {
+     139           0 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     140             :   } else {
+     141           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     142             :   }
+     143           0 : }
+     144             : /*//}*/
+     145             : 
+     146             : /*//{ start() */
+     147           0 : bool HdgGeneric::start(void) {
+     148             : 
+     149           0 :   if (isInState(READY_STATE)) {
+     150             :     /* timer_update_.start(); */
+     151           0 :     changeState(STARTED_STATE);
+     152           0 :     return true;
+     153             : 
+     154             :   } else {
+     155           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     156           0 :     return false;
+     157             :   }
+     158             : }
+     159             : /*//}*/
+     160             : 
+     161             : /*//{ pause() */
+     162           0 : bool HdgGeneric::pause(void) {
+     163             : 
+     164           0 :   if (isInState(RUNNING_STATE)) {
+     165           0 :     changeState(STOPPED_STATE);
+     166           0 :     return true;
+     167             : 
+     168             :   } else {
+     169           0 :     return false;
+     170             :   }
+     171             : }
+     172             : /*//}*/
+     173             : 
+     174             : /*//{ reset() */
+     175           0 : bool HdgGeneric::reset(void) {
+     176             : 
+     177           0 :   if (!isInitialized()) {
+     178           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     179           0 :     return false;
+     180             :   }
+     181             : 
+     182           0 :   changeState(STOPPED_STATE);
+     183             : 
+     184             :   // Initialize LKF state and covariance
+     185           0 :   const x_t        x0 = x_t::Zero();
+     186           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     187           0 :   const statecov_t sc0({x0, P0});
+     188           0 :   sc_ = sc0;
+     189             : 
+     190             :   // Instantiate the LKF itself
+     191           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     192           0 :   if (is_repredictor_enabled_) {
+     193             : 
+     194           0 :     const u_t       u0 = u_t::Zero();
+     195           0 :     const ros::Time t0 = ros::Time(0);
+     196           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     197             :   }
+     198             : 
+     199           0 :   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 calculates dt on its own
+     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 :     if (input_coeff_ != default_input_coeff_){
+     328           0 :       setInputCoeff(default_input_coeff_);
+     329             :     }
+     330           0 :     u(0) = sh_control_input_.getMsg()->control_hdg_rate;
+     331             :   } else {
+     332           0 :     input_stamp = ros::Time::now();
+     333           0 :     if (input_coeff_ != 0){
+     334           0 :       setInputCoeff(0);
+     335             :     }
+     336           0 :     u = u_t::Zero();
+     337             :   }
+     338             : 
+     339           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     340           0 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     341             :   try {
+     342             :     // Apply the prediction step
+     343           0 :     std::scoped_lock lock(mutex_lkf_);
+     344           0 :     if (is_repredictor_enabled_) {
+     345           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     346           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     347             :     } else {
+     348           0 :       sc = lkf_->predict(sc, u, Q, dt_);
+     349             :     }
+     350             :   }
+     351           0 :   catch (const std::exception &e) {
+     352             :     // In case of error, alert the user
+     353           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     354             :   }
+     355             : 
+     356           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     357             : 
+     358           0 :   if (!isError()) {
+     359           0 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, sc.x(POSITION), last_valid_hdg_);
+     360             :   }
+     361             : 
+     362             :   // publishing
+     363           0 :   publishInput(u, input_stamp);
+     364           0 :   publishOutput();
+     365           0 :   publishDiagnostics();
+     366             : }
+     367             : /*//}*/
+     368             : 
+     369             : /*//{ timerCheckHealth() */
+     370           0 : void HdgGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     371             : 
+     372           0 :   if (!isInitialized()) {
+     373           0 :     return;
+     374             :   }
+     375             : 
+     376           0 :   switch (getCurrentSmState()) {
+     377             : 
+     378           0 :     case UNINITIALIZED_STATE: {
+     379           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     380           0 :       break;
+     381             :     }
+     382             : 
+     383           0 :     case READY_STATE: {
+     384           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     385           0 :       break;
+     386             :     }
+     387             : 
+     388           0 :     case INITIALIZED_STATE: {
+     389             :       // initialize the estimator with current corrections
+     390           0 :       for (auto correction : corrections_) {
+     391           0 :         auto res = correction->getProcessedCorrection();
+     392           0 :         if (res) {
+     393           0 :           auto measurement_stamped = res.value();
+     394           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     395           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
+     396             :         } else {
+     397           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+     398             :                             correction->getNamespacedName().c_str());
+     399           0 :           return;
+     400             :         }
+     401             :       }
+     402           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     403           0 :       changeState(READY_STATE);
+     404           0 :       break;
+     405             :     }
+     406             : 
+     407           0 :     case STARTED_STATE: {
+     408           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     409           0 :       if (isConverged()) {
+     410           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     411           0 :         changeState(RUNNING_STATE);
+     412             :       }
+     413           0 :       break;
+     414             :     }
+     415             : 
+     416           0 :     case RUNNING_STATE: {
+     417           0 :       for (auto correction : corrections_) {
+     418           0 :         if (!correction->isHealthy()) {
+     419           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     420           0 :           changeState(ERROR_STATE);
+     421             :         }
+     422             :       }
+     423           0 :       break;
+     424             :     }
+     425             : 
+     426           0 :     case STOPPED_STATE: {
+     427           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     428           0 :       break;
+     429             :     }
+     430             : 
+     431           0 :     case ERROR_STATE: {
+     432           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     433           0 :       bool all_corrections_healthy = true;
+     434           0 :       for (auto correction : corrections_) {
+     435           0 :         if (!correction->isHealthy()) {
+     436           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     437           0 :           all_corrections_healthy = false;
+     438             :         }
+     439             :       }
+     440             :       // initialize the estimator again if corrections become healthy
+     441           0 :       if (all_corrections_healthy) {
+     442           0 :         changeState(INITIALIZED_STATE);
+     443             :       }
+     444           0 :       break;
+     445             :     }
+     446             :   }
+     447             : 
+     448           0 :   if (sh_control_input_.newMsg()) {
+     449           0 :     is_input_ready_ = true;
+     450             :   }
+     451             : 
+     452             :   // check age of input
+     453           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {
+     454           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f), using zero input instead", getPrintName().c_str(),
+     455             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     456           0 :     is_input_ready_ = false;
+     457             :   }
+     458             : }
+     459             : /*//}*/
+     460             : 
+     461             : /*//{ doCorrection() */
+     462           0 : void HdgGeneric::doCorrection(const Correction<hdg_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     463           0 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     464           0 : }
+     465             : /*//}*/
+     466             : 
+     467             : /*//{ doCorrection() */
+     468           0 : void HdgGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_idx, const ros::Time &meas_stamp) {
+     469             : 
+     470           0 :   if (!isInitialized()) {
+     471           0 :     return;
+     472             :   }
+     473             : 
+     474             :   // copy measurement as we might need to modify it (unwrap)
+     475           0 :   z_t meas = z;
+     476             : 
+     477             :   // we do not want to perform corrections until the estimator is initialized
+     478           0 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     479           0 :     return;
+     480             :   }
+     481             : 
+     482           0 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     483             : 
+     484             :   // for position state check the innovation
+     485           0 :   if (H_idx == POSITION) {
+     486             : 
+     487             :     // unwrap the hdg measurement wrt current state
+     488           0 :     meas(POSITION) = mrs_lib::geometry::radians::unwrap(meas(POSITION), sc.x(POSITION));
+     489             : 
+     490           0 :     std::scoped_lock lock(mtx_innovation_);
+     491             : 
+     492           0 :     innovation_(0) = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(meas(0)), mrs_lib::geometry::radians(sc.x(POSITION)));
+     493             : 
+     494           0 :     if (fabs(innovation_(0)) > pos_innovation_limit_) {
+     495           0 :       ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - hdg: %.2f", getPrintName().c_str(), innovation_(0));
+     496           0 :       innovation_ok_ = false;
+     497           0 :       changeState(ERROR_STATE);
+     498             :     }
+     499             :   }
+     500             : 
+     501             :   try {
+     502             :     // Apply the correction step
+     503             :     {
+     504           0 :       std::scoped_lock lock(mutex_lkf_);
+     505           0 :       H_        = H_t::Zero();
+     506           0 :       H_(H_idx) = 1;
+     507           0 :       lkf_->H   = H_;
+     508           0 :       if (is_repredictor_enabled_) {
+     509           0 :         lkf_rep_->addMeasurement(meas, R_t::Ones() * R, meas_stamp, models_[H_idx]);
+     510             :       } else {
+     511           0 :         sc = lkf_->correct(sc, meas, R_t::Ones() * R);
+     512             :       }
+     513             :     }
+     514           0 :     innovation_ok_ = true;
+     515             :   }
+     516           0 :   catch (const std::exception &e) {
+     517             :     // In case of error, alert the user
+     518           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     519             :   }
+     520             : 
+     521           0 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     522             : }
+     523             : /*//}*/
+     524             : 
+     525             : /*//{ isConverged() */
+     526           0 : bool HdgGeneric::isConverged() {
+     527             : 
+     528             :   // TODO: check convergence by rate of change of determinant
+     529             : 
+     530           0 :   return true;
+     531             : }
+     532             : /*//}*/
+     533             : 
+     534             : /*//{ getState() */
+     535           0 : double HdgGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     536           0 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     537             : }
+     538             : 
+     539           0 : double HdgGeneric::getState(const int &state_idx_in) const {
+     540           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     541             : }
+     542             : /*//}*/
+     543             : 
+     544             : /*//{ setState() */
+     545           0 : void HdgGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     546           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     547           0 : }
+     548             : 
+     549           0 : void HdgGeneric::setState(const double &state_in, const int &state_idx_in) {
+     550           0 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     551           0 : }
+     552             : /*//}*/
+     553             : 
+     554             : /*//{ getStates() */
+     555           0 : HdgGeneric::states_t HdgGeneric::getStates(void) const {
+     556           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     557             : }
+     558             : /*//}*/
+     559             : 
+     560             : /*//{ setStates() */
+     561           0 : void HdgGeneric::setStates(const states_t &states_in) {
+     562           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     563           0 : }
+     564             : /*//}*/
+     565             : 
+     566             : /*//{ getCovariance() */
+     567           0 : double HdgGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     568           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     569             : }
+     570             : 
+     571           0 : double HdgGeneric::getCovariance(const int &state_idx_in) const {
+     572           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     573             : }
+     574             : /*//}*/
+     575             : 
+     576             : /*//{ getCovarianceMatrix() */
+     577           0 : HdgGeneric::covariance_t HdgGeneric::getCovarianceMatrix(void) const {
+     578           0 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     579             : }
+     580             : /*//}*/
+     581             : 
+     582             : /*//{ setCovarianceMatrix() */
+     583           0 : void HdgGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     584           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     585           0 : }
+     586             : /*//}*/
+     587             : 
+     588             : /*//{ getInnovation() */
+     589           0 : double HdgGeneric::getInnovation(const int &state_idx) const {
+     590           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     591             : }
+     592             : 
+     593           0 : double HdgGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     594           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     595             : }
+     596             : /*//}*/
+     597             : 
+     598             : /*//{ setDt() */
+     599           0 : void HdgGeneric::setDt(const double &dt) {
+     600           0 :   dt_ = dt;
+     601           0 :   generateA();
+     602           0 :   generateB();
+     603           0 :   std::scoped_lock lock(mutex_lkf_);
+     604           0 :   lkf_->A = A_;
+     605           0 :   lkf_->B = B_;
+     606           0 : }
+     607             : /*//}*/
+     608             : 
+     609             : /*//{ setInputCoeff() */
+     610           0 : void HdgGeneric::setInputCoeff(const double &input_coeff) {
+     611           0 :   input_coeff_ = input_coeff;
+     612           0 :   generateA();
+     613           0 :   generateB();
+     614           0 :   std::scoped_lock lock(mutex_lkf_);
+     615           0 :   lkf_->A = A_;
+     616           0 :   lkf_->B = B_;
+     617             : 
+     618           0 :   if (is_repredictor_enabled_) {
+     619           0 :     models_.clear();
+     620           0 :     generateRepredictorModels(input_coeff_);
+     621             :   }
+     622           0 : }
+     623             : /*//}*/
+     624             : 
+     625             : /*//{ generateRepredictorModels() */
+     626           0 : void HdgGeneric::generateRepredictorModels(const double input_coeff) {
+     627             : 
+     628           0 :     for (int i = 0; i < hdg_generic::n_states; i++) {
+     629             : 
+     630           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     631           0 :         A_t A;
+     632             :         // clang-format off
+     633           0 :         A <<
+     634           0 :           1, dt,
+     635           0 :           0, 1-(input_coeff * dt);
+     636             :         // clang-format on
+     637           0 :         return A;
+     638           0 :       };
+     639             : 
+     640           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     641           0 :         B_t B = B.Zero();
+     642             :         // clang-format off
+     643           0 :         B <<
+     644             :           0,
+     645           0 :           (input_coeff * dt);
+     646             :         // clang-format on
+     647           0 :         return B;
+     648           0 :       };
+     649             : 
+     650           0 :       H_t H = H_t::Zero();
+     651           0 :       H(i)  = 1;
+     652           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     653             :     }
+     654           0 : }
+     655             : /*//}*/
+     656             : 
+     657             : /*//{ generateA() */
+     658           0 : void HdgGeneric::generateA() {
+     659             : 
+     660             :   // clang-format off
+     661           0 :     A_ <<
+     662           0 :       1, dt_,
+     663           0 :       0, 1-(input_coeff_ * dt_);
+     664             :   // clang-format on
+     665           0 : }
+     666             : /*//}*/
+     667             : 
+     668             : /*//{ generateB() */
+     669           0 : void HdgGeneric::generateB() {
+     670             : 
+     671             :   // clang-format off
+     672           0 :     B_ <<
+     673             :       0,
+     674           0 :       (input_coeff_ * dt_);
+     675             :   // clang-format on
+     676           0 : }
+     677             : /*//}*/
+     678             : 
+     679             : /*//{ getLastValidHdg() */
+     680           0 : double HdgGeneric::getLastValidHdg() const {
+     681           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     682             : }
+     683             : /*//}*/
+     684             : 
+     685             : /*//{ callbackReconfigure() */
+     686           0 : void HdgGeneric::callbackReconfigure(HeadingEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     687             : 
+     688           0 :   if (!isInitialized()) {
+     689           0 :     return;
+     690             :   }
+     691             : 
+     692           0 :   Q_t Q;
+     693           0 :   Q(POSITION, POSITION) = config.pos;
+     694           0 :   Q(VELOCITY, VELOCITY) = config.vel;
+     695           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     696             : }
+     697             : /*//}*/
+     698             : 
+     699             : /*//{ getNamespacedName() */
+     700           0 : std::string HdgGeneric::getNamespacedName() const {
+     701           0 :   return parent_state_est_name_ + "/" + getName();
+     702             : }
+     703             : /*//}*/
+     704             : 
+     705             : /*//{ getPrintName() */
+     706           0 : std::string HdgGeneric::getPrintName() const {
+     707           0 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     708             : }
+     709             : /*//}*/
+     710             : 
+     711             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9113368.4 %
Date:2024-02-24 08:13:25Functions: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&)84
mrs_uav_state_estimators::HdgPassthrough::start()145
mrs_uav_state_estimators::HdgPassthrough::getNamespacedName[abi:cxx11]() const168
mrs_uav_state_estimators::HdgPassthrough::getPrintName[abi:cxx11]() const505
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const169664
mrs_uav_state_estimators::HdgPassthrough::getStates() const169664
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)169666
mrs_uav_state_estimators::HdgPassthrough::callbackAngularVelocity(boost::shared_ptr<geometry_msgs::Vector3Stamped_<std::allocator<void> > const>)171536
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)172633
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)175242
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)346737
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const590076
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html new file mode 100644 index 0000000000..e06188323f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/heading/hdg_passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9113368.4 %
Date:2024-02-24 08:13:25Functions:122352.2 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::HdgPassthrough::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
mrs_uav_state_estimators::HdgPassthrough::timerUpdate(ros::TimerEvent const&)169666
mrs_uav_state_estimators::HdgPassthrough::timerCheckHealth(ros::TimerEvent const&)172633
mrs_uav_state_estimators::HdgPassthrough::callbackOrientation(boost::shared_ptr<geometry_msgs::QuaternionStamped_<std::allocator<void> > const>)175242
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>)171536
mrs_uav_state_estimators::HdgPassthrough::pause()0
mrs_uav_state_estimators::HdgPassthrough::reset()0
mrs_uav_state_estimators::HdgPassthrough::start()145
mrs_uav_state_estimators::HdgPassthrough::setState(double const&, int const&)346737
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]() const505
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]() const168
mrs_uav_state_estimators::HdgPassthrough::getCovarianceMatrix() const169664
mrs_uav_state_estimators::HdgPassthrough::getState(int const&) const590076
mrs_uav_state_estimators::HdgPassthrough::getState(int const&, int const&) const0
mrs_uav_state_estimators::HdgPassthrough::getStates() const169664
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/heading - hdg_passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9113368.4 %
Date:2024-02-24 08:13:25Functions:122352.2 %
Legend: Lines: + hit + not hit +
+
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+
          Line data    Source code
+
+       1             : #define VERSION "0.0.6.0"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : 
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14          84 : void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16          84 :   ch_ = ch;
+      17          84 :   ph_ = ph;
+      18             : 
+      19          84 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21          84 :   hdg_state_      = states_t::Zero();
+      22          84 :   hdg_covariance_ = covariance_t::Zero();
+      23             : 
+      24          84 :   innovation_ << 
+      25          84 :     0, 0;
+      26             : 
+      27             : 
+      28             :   // | --------------- param loader initialization --------------- |
+      29             : 
+      30          84 :   if (is_core_plugin_) {
+      31             : 
+      32          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      33          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      34             :   }
+      35             : 
+      36          84 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      37             : 
+      38             :   // | --------------------- load parameters -------------------- |
+      39          84 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      40             : 
+      41          84 :   ph->param_loader->loadParam("topics/orientation", orient_topic_);
+      42          84 :   ph->param_loader->loadParam("topics/angular_velocity", ang_vel_topic_);
+      43             : 
+      44          84 :   if (!ph->param_loader->loadedSuccessfully()) {
+      45           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      46           0 :     ros::shutdown();
+      47             :   }
+      48             : 
+      49             :   // | ------------------ timers initialization ----------------- |
+      50          84 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerUpdate, this, false, false);  // not running after init
+      51          84 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgPassthrough::timerCheckHealth, this);
+      52             : 
+      53             :   // | --------------- subscribers initialization --------------- |
+      54             :   // subscriber to odometry
+      55         168 :   mrs_lib::SubscribeHandlerOptions shopts;
+      56          84 :   shopts.nh                 = nh;
+      57          84 :   shopts.node_name          = getPrintName();
+      58          84 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      59          84 :   shopts.threadsafe         = true;
+      60          84 :   shopts.autostart          = true;
+      61          84 :   shopts.queue_size         = 10;
+      62          84 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      63             : 
+      64         168 :   sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, "/" + ch_->uav_name + "/" + orient_topic_,
+      65          84 :                                                                                 &HdgPassthrough::callbackOrientation, this);
+      66         168 :   sh_ang_vel_     = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, "/" + ch_->uav_name + "/" + ang_vel_topic_,
+      67          84 :                                                                          &HdgPassthrough::callbackAngularVelocity, this);
+      68             : 
+      69             :   // | ---------------- publishers initialization --------------- |
+      70          84 :   if (ch_->debug_topics.output) {
+      71          84 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+      72             :   }
+      73          84 :   if (ch_->debug_topics.diag) {
+      74           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+      75             :   }
+      76             : 
+      77             :   // | ------------------ finish initialization ----------------- |
+      78             : 
+      79          84 :   if (changeState(INITIALIZED_STATE)) {
+      80          84 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+      81             :   } else {
+      82           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      83             :   }
+      84          84 : }
+      85             : /*//}*/
+      86             : 
+      87             : /*//{ start() */
+      88         145 : bool HdgPassthrough::start(void) {
+      89             : 
+      90         145 :   if (isInState(READY_STATE)) {
+      91          84 :     timer_update_.start();
+      92          84 :     changeState(STARTED_STATE);
+      93          84 :     return true;
+      94             : 
+      95             :   } else {
+      96          61 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+      97          61 :     return false;
+      98             :   }
+      99             : }
+     100             : /*//}*/
+     101             : 
+     102             : /*//{ pause() */
+     103           0 : bool HdgPassthrough::pause(void) {
+     104             : 
+     105           0 :   if (isInState(RUNNING_STATE)) {
+     106           0 :     changeState(STOPPED_STATE);
+     107           0 :     return true;
+     108             : 
+     109             :   } else {
+     110           0 :     return false;
+     111             :   }
+     112             : }
+     113             : /*//}*/
+     114             : 
+     115             : /*//{ reset() */
+     116           0 : bool HdgPassthrough::reset(void) {
+     117             : 
+     118           0 :   if (!isInitialized()) {
+     119           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     120           0 :     return false;
+     121             :   }
+     122             : 
+     123           0 :   changeState(STOPPED_STATE);
+     124             : 
+     125           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     126             : 
+     127           0 :   return true;
+     128             : }
+     129             : /*//}*/
+     130             : 
+     131             : /*//{ callbackOrientation() */
+     132      175242 : void HdgPassthrough::callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg) {
+     133             : 
+     134      175242 :   if (!isInitialized()) {
+     135           4 :     return;
+     136             :   }
+     137             : 
+     138             :   double hdg;
+     139             :   try {
+     140      175230 :     hdg = mrs_lib::AttitudeConverter(msg->quaternion).getHeading();
+     141             :   }
+     142           0 :   catch (...) {
+     143           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     144             :   }
+     145             : 
+     146      175220 :   setState(hdg, POSITION);
+     147             : 
+     148      175194 :   if (!isError()) {
+     149      175176 :     mrs_lib::set_mutexed(mutex_last_valid_hdg_, hdg, last_valid_hdg_);
+     150             :   }
+     151             : }
+     152             : /*//}*/
+     153             : 
+     154             : /*//{ callbackAngularVelocity() */
+     155      171536 : void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped::ConstPtr msg) {
+     156             : 
+     157      171536 :   if (!isInitialized() || !sh_orientation_.hasMsg()) {
+     158           2 :     return;
+     159             :   }
+     160             : 
+     161             :   double hdg_rate;
+     162             :   try {
+     163      171531 :     hdg_rate = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+     164             :   }
+     165           0 :   catch (...) {
+     166           0 :     ROS_ERROR_THROTTLE(1.0, "[%s]: failed getting heading", getPrintName().c_str());
+     167             :   }
+     168             : 
+     169      171367 :   setState(hdg_rate, VELOCITY);
+     170             : }
+     171             : /*//}*/
+     172             : 
+     173             : /* timerUpdate() //{*/
+     174      169666 : void HdgPassthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     175             : 
+     176             : 
+     177      169666 :   if (!isInitialized()) {
+     178           0 :     return;
+     179             :   }
+     180             : 
+     181      169661 :   publishOutput();
+     182      169669 :   publishDiagnostics();
+     183             : }
+     184             : /*//}*/
+     185             : 
+     186             : /*//{ timerCheckHealth() */
+     187      172633 : void HdgPassthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     188             : 
+     189      172633 :   if (!isInitialized()) {
+     190           9 :     return;
+     191             :   }
+     192             : 
+     193      172607 :   if (isInState(INITIALIZED_STATE) && is_orient_ready_ && is_ang_vel_ready_) {
+     194             : 
+     195          84 :     changeState(READY_STATE);
+     196          84 :     ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     197             :   }
+     198             : 
+     199      172592 :   if (isInState(STARTED_STATE)) {
+     200             : 
+     201          84 :     ROS_INFO_THROTTLE(1.0, "[%s]: Estimator Running", getPrintName().c_str());
+     202          84 :     changeState(RUNNING_STATE);
+     203             :   }
+     204             : 
+     205      172589 :   if (sh_orientation_.hasMsg()) {
+     206      171075 :     is_orient_ready_ = true;
+     207             :   } else {
+     208        1536 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received orientation yet", getPrintName().c_str());
+     209             :   }
+     210             : 
+     211      172626 :   if (sh_ang_vel_.hasMsg()) {
+     212      169813 :     is_ang_vel_ready_ = true;
+     213             :   } else {
+     214        2759 :     ROS_WARN_THROTTLE(1.0, "[%s]: has not received angular velocity yet", getPrintName().c_str());
+     215             :   }
+     216             : }
+     217             : /*//}*/
+     218             : 
+     219             : /*//{ getState() */
+     220           0 : double HdgPassthrough::getState(const int &state_id_in, const int &axis_in) const {
+     221           0 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     222             : }
+     223             : 
+     224      590076 : double HdgPassthrough::getState(const int &state_idx_in) const {
+     225      590076 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     226             : }
+     227             : /*//}*/
+     228             : 
+     229             : /*//{ setState() */
+     230           0 : void HdgPassthrough::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     231           0 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     232           0 : }
+     233             : 
+     234      346737 : void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
+     235             : 
+     236      346737 :   const double prev_hdg_state   = mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_(state_idx_in));
+     237      346510 :   prev_hdg_state_(state_idx_in) = prev_hdg_state;
+     238      346575 :   mrs_lib::set_mutexed(mtx_hdg_state_, state_in, hdg_state_(state_idx_in));
+     239             : 
+     240      346549 :   const double innovation = mrs_lib::geometry::radians::dist(mrs_lib::geometry::radians(state_in), mrs_lib::geometry::radians(prev_hdg_state));
+     241      346510 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_(state_idx_in));
+     242      346567 : }
+     243             : /*//}*/
+     244             : 
+     245             : /*//{ getStates() */
+     246      169664 : HdgPassthrough::states_t HdgPassthrough::getStates(void) const {
+     247      169664 :   return mrs_lib::get_mutexed(mtx_hdg_state_, hdg_state_);
+     248             : }
+     249             : /*//}*/
+     250             : 
+     251             : /*//{ setStates() */
+     252           0 : void HdgPassthrough::setStates(const states_t &states_in) {
+     253           0 :   mrs_lib::set_mutexed(mtx_hdg_state_, states_in, hdg_state_);
+     254           0 : }
+     255             : /*//}*/
+     256             : 
+     257             : /*//{ getCovariance() */
+     258           0 : double HdgPassthrough::getCovariance(const int &state_id_in, const int &axis_in) const {
+     259           0 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     260             : }
+     261             : 
+     262           0 : double HdgPassthrough::getCovariance(const int &state_idx_in) const {
+     263           0 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_(state_idx_in, state_idx_in));
+     264             : }
+     265             : /*//}*/
+     266             : 
+     267             : /*//{ getCovarianceMatrix() */
+     268      169664 : HdgPassthrough::covariance_t HdgPassthrough::getCovarianceMatrix(void) const {
+     269      169664 :   return mrs_lib::get_mutexed(mtx_hdg_covariance_, hdg_covariance_);
+     270             : }
+     271             : /*//}*/
+     272             : 
+     273             : /*//{ setCovarianceMatrix() */
+     274           0 : void HdgPassthrough::setCovarianceMatrix(const covariance_t &cov_in) {
+     275           0 :   mrs_lib::set_mutexed(mtx_hdg_covariance_, cov_in, hdg_covariance_);
+     276           0 : }
+     277             : /*//}*/
+     278             : 
+     279             : /*//{ getInnovation() */
+     280           0 : double HdgPassthrough::getInnovation(const int &state_idx) const {
+     281           0 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_(state_idx));
+     282             : }
+     283             : 
+     284           0 : double HdgPassthrough::getInnovation(const int &state_id_in, const int &axis_in) const {
+     285           0 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     286             : }
+     287             : /*//}*/
+     288             : 
+     289             : /*//{ getLastValidHdg() */
+     290           0 : double HdgPassthrough::getLastValidHdg() const {
+     291           0 :   return mrs_lib::get_mutexed(mutex_last_valid_hdg_, last_valid_hdg_);
+     292             : }
+     293             : /*//}*/
+     294             : 
+     295             : /*//{ getNamespacedName() */
+     296         168 : std::string HdgPassthrough::getNamespacedName() const {
+     297         336 :   return parent_state_est_name_ + "/" + getName();
+     298             : }
+     299             : /*//}*/
+     300             : 
+     301             : /*//{ getPrintName() */
+     302         505 : std::string HdgPassthrough::getPrintName() const {
+     303        1010 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     304             : }
+     305             : /*//}*/
+     306             : 
+     307             : };  // namespace mrs_uav_state_estimators
+
+
+
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Test:MRS UAV System - Test coverage reportLines:24143755.1 %
Date:2024-02-24 08:13:25Functions:253375.8 %
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
mrs_uav_state_estimators::LatGeneric::isConverged()84
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)84
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)159
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)312
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)312
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const508
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const804
mrs_uav_state_estimators::LatGeneric::start()3829
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) const11150
mrs_uav_state_estimators::LatGeneric::setDt(double const&)153912
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const153913
mrs_uav_state_estimators::LatGeneric::getStates() const153914
mrs_uav_state_estimators::LatGeneric::generateA()154151
mrs_uav_state_estimators::LatGeneric::generateB()154154
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)172448
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&)176949
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) const176964
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)176970
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const325985
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const326141
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const652159
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const652230
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1321202
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1321448
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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:24143755.1 %
Date:2024-02-24 08:13:25Functions:253375.8 %
Legend: Lines: + hit + not hit +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::LatGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
mrs_uav_state_estimators::LatGeneric::isConverged()84
mrs_uav_state_estimators::LatGeneric::timerUpdate(ros::TimerEvent const&)172448
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&)176949
mrs_uav_state_estimators::LatGeneric::doCorrection(mrs_uav_state_estimators::Correction<2>::MeasurementStamped const&, double, mrs_uav_managers::estimation_manager::StateId_t const&)176970
mrs_uav_state_estimators::LatGeneric::setInputCoeff(double const&)159
mrs_uav_state_estimators::LatGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::LatGeneric::callbackReconfigure(mrs_uav_state_estimators::LateralEstimatorConfig&, unsigned int)84
mrs_uav_state_estimators::LatGeneric::setCovarianceMatrix(Eigen::Matrix<double, 6, 6, 0, 6, 6> const&)0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)0
mrs_uav_state_estimators::LatGeneric::pause()0
mrs_uav_state_estimators::LatGeneric::reset()0
mrs_uav_state_estimators::LatGeneric::setDt(double const&)153912
mrs_uav_state_estimators::LatGeneric::start()3829
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&)312
mrs_uav_state_estimators::LatGeneric::setState(double const&, int const&, int const&)312
mrs_uav_state_estimators::LatGeneric::generateA()154151
mrs_uav_state_estimators::LatGeneric::generateB()154154
mrs_uav_state_estimators::LatGeneric::setStates(Eigen::Matrix<double, 6, 1, 0, 6, 1> const&)0
mrs_uav_state_estimators::LatGeneric::getPrintName[abi:cxx11]() const804
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&) const652159
mrs_uav_state_estimators::LatGeneric::getCovariance(int const&, int const&) const652230
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&) const325985
mrs_uav_state_estimators::LatGeneric::getInnovation(int const&, int const&) const326141
mrs_uav_state_estimators::LatGeneric::getNamespacedName[abi:cxx11]() const508
mrs_uav_state_estimators::LatGeneric::getCovarianceMatrix() const153913
mrs_uav_state_estimators::LatGeneric::getState(int const&) const1321202
mrs_uav_state_estimators::LatGeneric::getState(int const&, int const&) const1321448
mrs_uav_state_estimators::LatGeneric::getStates() const153914
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) const176964
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) const11150
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#2}::operator()(double) const0
mrs_uav_state_estimators::LatGeneric::generateRepredictorModels(double)::{lambda(double)#1}::operator()(double) const0
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LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/lateral - lat_generic.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:24143755.1 %
Date:2024-02-24 08:13:25Functions:253375.8 %
Legend: Lines: + hit + not hit +
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          Line data    Source code
+
+       1             : #define VERSION "0.0.0.1"
+       2             : 
+       3             : /* includes //{ */
+       4             : 
+       5             : #include <mrs_uav_state_estimators/estimators/lateral/lat_generic.h>
+       6             : 
+       7             : //}
+       8             : 
+       9             : namespace mrs_uav_state_estimators
+      10             : {
+      11             : 
+      12             : /* initialize() //{*/
+      13          84 : void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      14             : 
+      15          84 :   ch_ = ch;
+      16          84 :   ph_ = ph;
+      17             : 
+      18          84 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      19             : 
+      20             :   // clang-format off
+      21          84 :   dt_ = 0.01;
+      22          84 :   input_coeff_ = 10;
+      23          84 :   default_input_coeff_ = 10;
+      24             : 
+      25          84 :   generateA();
+      26          84 :   generateB();
+      27             : 
+      28          84 :   H_ <<
+      29          84 :     1, 0, 0, 0, 0, 0,
+      30          84 :     0, 1, 0, 0, 0, 0;
+      31             : 
+      32          84 :   innovation_ << 
+      33          84 :     0, 0;
+      34             : 
+      35             : 
+      36             :   // clang-format on
+      37             : 
+      38             :   // | --------------- initialize parameter loader -------------- |
+      39             : 
+      40          84 :   if (is_core_plugin_) {
+      41             : 
+      42          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      43          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + parent_state_est_name_ + "/" + getName() + ".yaml");
+      44             :   }
+      45             : 
+      46          84 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      47             : 
+      48             :   // | --------------------- load parameters -------------------- |
+      49          84 :   ph->param_loader->loadParam("hdg_source_topic", hdg_source_topic_);
+      50          84 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      51          84 :   ph->param_loader->loadParam("innovation/limit", pos_innovation_limit_);
+      52          84 :   ph->param_loader->loadParam("innovation/action", exc_innovation_action_name_);
+      53          84 :   exc_innovation_action_ = map_exc_inno_action.at(exc_innovation_action_name_);
+      54          84 :   ph->param_loader->loadParam("repredictor/enabled", is_repredictor_enabled_);
+      55          84 :   if (is_repredictor_enabled_) {
+      56           0 :     ph->param_loader->loadParam("repredictor/buffer_size", rep_buffer_size_);
+      57             :   }
+      58             : 
+      59             :   // | --------------- corrections initialization --------------- |
+      60          84 :   ph->param_loader->loadParam("corrections", correction_names_);
+      61             : 
+      62         172 :   for (auto corr_name : correction_names_) {
+      63          88 :     corrections_.push_back(std::make_shared<Correction<lat_generic::n_measurements>>(
+      64       11326 :         nh, getNamespacedName(), corr_name, ns_frame_id_, EstimatorType_t::LATERAL, ch_, ph_, [this](int a, int b) { return this->getState(a, b); },
+      65      176964 :         [this](const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t state) {
+      66      176964 :           return this->doCorrection(meas, R, state);
+      67             :         }));
+      68             :   }
+      69             : 
+      70             :   // | ------- check if all parameters loaded successfully ------ |
+      71          84 :   if (!ph->param_loader->loadedSuccessfully()) {
+      72           0 :     ROS_ERROR("[%s]: Could not load all non-optional parameters. Shutting down.", getPrintName().c_str());
+      73           0 :     ros::shutdown();
+      74             :   }
+      75             : 
+      76          84 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getNamespacedName() + "/");
+      77             : 
+      78             :   // | ----------- initialize process noise covariance ---------- |
+      79          84 :   Q_ = Q_t::Zero();
+      80             :   double tmp_noise;
+      81          84 :   ph->param_loader->loadParam("process_noise/pos", tmp_noise);
+      82          84 :   Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X)) = tmp_noise;
+      83          84 :   Q_(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y)) = tmp_noise;
+      84          84 :   ph->param_loader->loadParam("process_noise/vel", tmp_noise);
+      85          84 :   Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X)) = tmp_noise;
+      86          84 :   Q_(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y)) = tmp_noise;
+      87          84 :   ph->param_loader->loadParam("process_noise/acc", tmp_noise);
+      88          84 :   Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = tmp_noise;
+      89          84 :   Q_(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = tmp_noise;
+      90             : 
+      91             :   // | ------------- initialize dynamic reconfigure ------------- |
+      92             :   drmgr_ =
+      93          84 :       std::make_unique<drmgr_t>(ros::NodeHandle("~/" + getNamespacedName()), true, getPrintName(), boost::bind(&LatGeneric::callbackReconfigure, this, _1, _2));
+      94          84 :   drmgr_->config.pos = Q_(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X));
+      95          84 :   drmgr_->config.vel = Q_(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X));
+      96          84 :   drmgr_->config.acc = Q_(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X));
+      97          84 :   drmgr_->update_config(drmgr_->config);
+      98             : 
+      99             :   // | --------------- Kalman filter intialization -------------- |
+     100          84 :   const x_t        x0 = x_t::Zero();
+     101          84 :   const P_t        P0 = 1e3 * P_t::Identity();
+     102          84 :   const statecov_t sc0({x0, P0});
+     103          84 :   sc_ = sc0;
+     104             : 
+     105          84 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     106          84 :   if (is_repredictor_enabled_) {
+     107             : 
+     108           0 :     generateRepredictorModels(input_coeff_);
+     109             : 
+     110           0 :     const u_t       u0 = u_t::Zero();
+     111           0 :     const ros::Time t0 = ros::Time::now();
+     112           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_.at(0), rep_buffer_size_);
+     113             : 
+     114           0 :     setDt(1.0 / ch_->desired_uav_state_rate);
+     115             :   }
+     116             : 
+     117             :   // | ------------------ timers initialization ----------------- |
+     118          84 :   timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerUpdate, this);  // not running after init
+     119             :   /* timer_check_health_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &LatGeneric::timerCheckHealth, this); */
+     120             : 
+     121             :   // | --------------- subscribers initialization --------------- |
+     122             :   // subscriber to odometry
+     123         168 :   mrs_lib::SubscribeHandlerOptions shopts;
+     124          84 :   shopts.nh                 = nh;
+     125          84 :   shopts.node_name          = getPrintName();
+     126          84 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     127          84 :   shopts.threadsafe         = true;
+     128          84 :   shopts.autostart          = true;
+     129          84 :   shopts.queue_size         = 10;
+     130          84 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     131             : 
+     132          84 :   sh_control_input_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimatorInput>(shopts, "control_input_in");
+     133             :   sh_hdg_state_ =
+     134          84 :       mrs_lib::SubscribeHandler<mrs_msgs::EstimatorOutput>(shopts, hdg_source_topic_);  // for transformation of desired accelerations from body to global frame
+     135             : 
+     136             :   // | ---------------- publishers initialization --------------- |
+     137          84 :   if (ch_->debug_topics.input) {
+     138          84 :     ph_input_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, getNamespacedName() + "/input", 10);
+     139             :   }
+     140          84 :   if (ch_->debug_topics.output) {
+     141          84 :     ph_output_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorOutput>(nh, getNamespacedName() + "/output", 10);
+     142             :   }
+     143          84 :   if (ch_->debug_topics.diag) {
+     144           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, getNamespacedName() + "/diagnostics", 10);
+     145             :   }
+     146             : 
+     147             :   // | ------------------ finish initialization ----------------- |
+     148             : 
+     149          84 :   if (changeState(INITIALIZED_STATE)) {
+     150          84 :     ROS_INFO("[%s]: Estimator initialized, version %s", getPrintName().c_str(), VERSION);
+     151             :   } else {
+     152           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+     153             :   }
+     154          84 : }
+     155             : /*//}*/
+     156             : 
+     157             : /*//{ start() */
+     158        3829 : bool LatGeneric::start(void) {
+     159             : 
+     160        3829 :   if (isInState(READY_STATE)) {
+     161             :     /* timer_update_.start(); */
+     162          84 :     changeState(STARTED_STATE);
+     163          84 :     return true;
+     164             : 
+     165             :   } else {
+     166        3745 :     ROS_WARN_THROTTLE(1.0, "[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     167        3745 :     return false;
+     168             :   }
+     169             : }
+     170             : /*//}*/
+     171             : 
+     172             : /*//{ pause() */
+     173           0 : bool LatGeneric::pause(void) {
+     174             : 
+     175           0 :   if (isInState(RUNNING_STATE)) {
+     176           0 :     changeState(STOPPED_STATE);
+     177           0 :     return true;
+     178             : 
+     179             :   } else {
+     180           0 :     return false;
+     181             :   }
+     182             : }
+     183             : /*//}*/
+     184             : 
+     185             : /*//{ reset() */
+     186           0 : bool LatGeneric::reset(void) {
+     187             : 
+     188           0 :   if (!isInitialized()) {
+     189           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     190           0 :     return false;
+     191             :   }
+     192             : 
+     193           0 :   changeState(STOPPED_STATE);
+     194             : 
+     195             :   // Initialize LKF state and covariance
+     196           0 :   const x_t        x0 = x_t::Zero();
+     197           0 :   const P_t        P0 = 1e6 * P_t::Identity();
+     198           0 :   const statecov_t sc0({x0, P0});
+     199           0 :   sc_ = sc0;
+     200             : 
+     201             :   // Instantiate the LKF itself
+     202           0 :   lkf_ = std::make_shared<lkf_t>(A_, B_, H_);
+     203           0 :   if (is_repredictor_enabled_) {
+     204             : 
+     205           0 :     const u_t       u0 = u_t::Zero();
+     206           0 :     const ros::Time t0 = ros::Time(0);
+     207           0 :     lkf_rep_           = std::make_unique<mrs_lib::Repredictor<varstep_lkf_t>>(x0, P0, u0, Q_, t0, models_[0], rep_buffer_size_);
+     208             :   }
+     209             : 
+     210           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     211             : 
+     212           0 :   return true;
+     213             : }
+     214             : /*//}*/
+     215             : 
+     216             : /* timerUpdate() //{*/
+     217      172448 : void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
+     218             : 
+     219      172448 :   if (!isInitialized()) {
+     220       18534 :     return;
+     221             :   }
+     222             : 
+     223      172410 :   switch (getCurrentSmState()) {
+     224             : 
+     225           0 :     case UNINITIALIZED_STATE: {
+     226           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     227           0 :       break;
+     228             :     }
+     229             : 
+     230          35 :     case READY_STATE: {
+     231          35 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     232          35 :       break;
+     233             :     }
+     234             : 
+     235        6350 :     case INITIALIZED_STATE: {
+     236             :       // initialize the estimator with current corrections
+     237        6506 :       for (auto correction : corrections_) {
+     238        6421 :         auto res = correction->getProcessedCorrection();
+     239        6422 :         if (res) {
+     240         156 :           auto measurement_stamped = res.value(); 
+     241         156 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     242         156 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     243         156 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     244             :                             measurement_stamped.value(AXIS_Y));
+     245             :         } else {
+     246        6266 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+     247        6266 :           return;
+     248             :         }
+     249             :       }
+     250          84 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     251          84 :       changeState(READY_STATE);
+     252          84 :       break;
+     253             :     }
+     254             : 
+     255          84 :     case STARTED_STATE: {
+     256          84 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     257          84 :       if (isConverged()) {
+     258          84 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     259          84 :         changeState(RUNNING_STATE);
+     260             :       }
+     261          84 :       break;
+     262             :     }
+     263             : 
+     264      165947 :     case RUNNING_STATE: {
+     265      343155 :       for (auto correction : corrections_) {
+     266      177203 :         if (!correction->isHealthy()) {
+     267           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     268           0 :           changeState(ERROR_STATE);
+     269             :         }
+     270             :       }
+     271      165943 :       break;
+     272             :     }
+     273             : 
+     274           0 :     case STOPPED_STATE: {
+     275           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     276           0 :       break;
+     277             :     }
+     278             : 
+     279           0 :     case ERROR_STATE: {
+     280           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     281             : 
+     282           0 :       ros::Time t_now = ros::Time::now();
+     283           0 :       if (is_error_state_first_time_) {
+     284           0 :         prev_time_in_error_state_  = t_now;
+     285           0 :         is_error_state_first_time_ = false;
+     286           0 :         error_state_duration_      = ros::Duration(0.0);
+     287             :       }
+     288           0 :       error_state_duration_ += t_now - prev_time_in_error_state_;
+     289             : 
+     290             : 
+     291             :       // check if all corrections are healthy now
+     292           0 :       bool all_corrections_healthy = true;
+     293           0 :       for (auto correction : corrections_) {
+     294           0 :         if (!correction->isHealthy()) {
+     295           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     296           0 :           all_corrections_healthy = false;
+     297             :         }
+     298             :       }
+     299             : 
+     300           0 :       if (all_corrections_healthy && innovation_ok_) {
+     301             :         // initialize the estimator again if corrections become healthy
+     302           0 :         if (error_state_duration_.toSec() > 5.0) {
+     303           0 :           ROS_INFO("[%s]: corrections healthy for %.2f s", getPrintName().c_str(), error_state_duration_.toSec());
+     304           0 :           changeState(INITIALIZED_STATE);
+     305           0 :           is_error_state_first_time_ = true;
+     306           0 :         }
+     307             :       } else {
+     308           0 :         is_error_state_first_time_ = true;
+     309             :       }
+     310             : 
+     311           0 :       prev_time_in_error_state_ = t_now;
+     312             : 
+     313           0 :       break;
+     314             :     }
+     315             :   }
+     316             : 
+     317      166145 :   if (sh_control_input_.newMsg()) {
+     318       80112 :     is_input_ready_ = true;
+     319             :   }
+     320             : 
+     321             :   // check age of input
+     322      166146 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     323          13 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     324             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     325          13 :     is_input_ready_ = false;
+     326             :   }
+     327             : 
+     328      166131 :   if (fun_get_hdg_()) {
+     329      165991 :     is_hdg_state_ready_ = true;
+     330             :   }
+     331             : 
+     332      166149 :   if (!isRunning() && !isStarted()) {
+     333         108 :     return;
+     334             :   }
+     335             : 
+     336      166013 :   if (first_iter_) {
+     337          84 :     first_iter_ = false;
+     338          84 :     return;
+     339             :   }
+     340             : 
+     341             :   // obtain dt for state prediction
+     342      165929 :   double dt = (event.current_real - event.last_real).toSec();
+     343      165922 :   if (dt <= 0.0) {  // sometimes the timer ticks twice simultaneously in simulation - we ignore the second tick
+     344       12045 :     return;
+     345             :   }
+     346             : 
+     347      153877 :   if (!is_repredictor_enabled_) { // repredictor calculates dt on its own
+     348      153886 :     setDt(dt);
+     349             :   }
+     350             : 
+     351             :   // obtain unbiased desired control acceleration in the estimator frame that will be used as input to the estimator
+     352      153869 :   u_t       u;
+     353      153897 :   ros::Time input_stamp;
+     354      153868 :   if (is_input_ready_ && is_hdg_state_ready_) {
+     355       91260 :     auto res = fun_get_hdg_();
+     356       91282 :     if (!res) {
+     357           0 :       ROS_ERROR_THROTTLE(1.0, "[%s]: could not obtain heading", getPrintName().c_str());
+     358           0 :       return;
+     359             :     }
+     360             : 
+     361       91280 :     const tf2::Vector3 des_acc_global = getAccGlobal(sh_control_input_.getMsg(), res.value());
+     362       91160 :     input_stamp                       = sh_control_input_.getMsg()->header.stamp;
+     363       91211 :     if (input_coeff_ != default_input_coeff_){
+     364          62 :       setInputCoeff(default_input_coeff_);
+     365             :     }
+     366       91211 :     u(0) = des_acc_global.getX();
+     367       91148 :     u(1) = des_acc_global.getY();
+     368             : 
+     369             :   } else {  // this is ok before the controller starts controlling but bad during actual flight (causes delayed estimated acceleration and velocity)
+     370       62596 :     ROS_DEBUG_THROTTLE(1.0, "[%s]: not receiving control input, estimation suboptimal, potentially unstable", getPrintName().c_str());
+     371       62612 :     input_stamp = ros::Time::now();
+     372       62613 :     if (input_coeff_ != 0){
+     373          97 :       setInputCoeff(0);
+     374             :     }
+     375       62613 :     u = u_t::Zero();
+     376             :   }
+     377             : 
+     378             :   // go through available corrections and apply them
+     379             :   /* for (auto correction : corrections_) { */
+     380             :   /*   auto res = correction->getProcessedCorrection(); */
+     381             :   /*   if (res) { */
+     382             :   /*     auto measurement_stamped = res.value(); */
+     383             :   /*     doCorrection(measurement_stamped.value, correction->getR(), correction->getStateId(), measurement_stamped.stamp); */
+     384             :   /*   } */
+     385             :   /* } */
+     386             : 
+     387             :   // get current state, covariance, and process noise
+     388      153801 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     389      153859 :   Q_t        Q  = mrs_lib::get_mutexed(mtx_Q_, Q_);
+     390             : 
+     391             :   // prediction step
+     392             :   try {
+     393             :     // Apply the prediction step
+     394      307694 :     std::scoped_lock lock(mutex_lkf_);
+     395      153827 :     if (is_repredictor_enabled_) {
+     396           0 :       lkf_rep_->addInputChangeWithNoise(u, Q, input_stamp, models_[0]);
+     397           0 :       sc = lkf_rep_->predictTo(ros::Time::now());
+     398             :     } else {
+     399      153827 :       sc = lkf_->predict(sc, u, Q, dt_);
+     400             :     }
+     401             :   }
+     402           0 :   catch (const std::exception &e) {
+     403           0 :     ROS_ERROR("[%s]: LKF prediction failed: %s", getPrintName().c_str(), e.what());
+     404           0 :     changeState(ERROR_STATE);
+     405             :   }
+     406             : 
+     407             :   // update the state and covariance variable that is queried by the estimation manager
+     408      153824 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     409             : 
+     410             :   // publishing
+     411      153844 :   publishInput(u, input_stamp);
+     412      153914 :   publishOutput();
+     413      153915 :   publishDiagnostics();
+     414             : }
+     415             : /*//}*/
+     416             : 
+     417             : /*//{ timerCheckHealth() */
+     418           0 : void LatGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     419             : 
+     420           0 :   if (!isInitialized()) {
+     421           0 :     return;
+     422             :   }
+     423             : 
+     424           0 :   switch (getCurrentSmState()) {
+     425             : 
+     426           0 :     case UNINITIALIZED_STATE: {
+     427           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s initialization", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     428           0 :       break;
+     429             :     }
+     430             : 
+     431           0 :     case READY_STATE: {
+     432           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s estimator start", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     433           0 :       break;
+     434             :     }
+     435             : 
+     436           0 :     case INITIALIZED_STATE: {
+     437             :       // initialize the estimator with current corrections
+     438           0 :       for (auto correction : corrections_) {
+     439           0 :         auto res = correction->getProcessedCorrection();
+     440           0 :         if (res) {
+     441           0 :           auto measurement_stamped = res.value();
+     442           0 :           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
+     443           0 :           setState(measurement_stamped.value(AXIS_Y), correction->getStateId(), AXIS_Y);
+     444           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X),
+     445             :                             measurement_stamped.value(AXIS_Y));
+     446             :         } else {
+     447           0 :           ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getPrintName().c_str());
+     448           0 :           return;
+     449             :         }
+     450             :       }
+     451           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Ready to start", getPrintName().c_str());
+     452           0 :       changeState(READY_STATE);
+     453           0 :       break;
+     454             :     }
+     455             : 
+     456           0 :     case STARTED_STATE: {
+     457           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     458           0 :       if (isConverged()) {
+     459           0 :         ROS_INFO_THROTTLE(1.0, "[%s]: LKF converged", getPrintName().c_str());
+     460           0 :         changeState(RUNNING_STATE);
+     461             :       }
+     462           0 :       break;
+     463             :     }
+     464             : 
+     465           0 :     case RUNNING_STATE: {
+     466           0 :       for (auto correction : corrections_) {
+     467           0 :         if (!correction->isHealthy()) {
+     468           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     469           0 :           changeState(ERROR_STATE);
+     470             :         }
+     471             :       }
+     472           0 :       break;
+     473             :     }
+     474             : 
+     475           0 :     case STOPPED_STATE: {
+     476           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is stopped", getPrintName().c_str());
+     477           0 :       break;
+     478             :     }
+     479             : 
+     480           0 :     case ERROR_STATE: {
+     481           0 :       ROS_INFO_THROTTLE(1.0, "[%s]: Estimator is in ERROR state", getPrintName().c_str());
+     482           0 :       bool all_corrections_healthy = true;
+     483           0 :       for (auto correction : corrections_) {
+     484           0 :         if (!correction->isHealthy()) {
+     485           0 :           ROS_ERROR_THROTTLE(1.0, "[%s]: Correction %s is not healthy!", getPrintName().c_str(), correction->getNamespacedName().c_str());
+     486           0 :           correction->resetProcessors();
+     487           0 :           all_corrections_healthy = false;
+     488             :         }
+     489             :       }
+     490             :       // initialize the estimator again if corrections become healthy
+     491           0 :       if (all_corrections_healthy) {
+     492           0 :         changeState(INITIALIZED_STATE);
+     493             :       }
+     494           0 :       break;
+     495             :     }
+     496             :   }
+     497             : 
+     498           0 :   if (sh_control_input_.newMsg()) {
+     499           0 :     is_input_ready_ = true;
+     500             :   }
+     501             : 
+     502             :   // check age of input
+     503           0 :   if (is_input_ready_ && (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec() > 0.1) {  // TODO: parametrize, if older than say 1 second, eland
+     504           0 :     ROS_WARN_THROTTLE(1.0, "[%s]: input too old (%.4f s), using zero input instead", getPrintName().c_str(),
+     505             :                       (ros::Time::now() - sh_control_input_.lastMsgTime()).toSec());
+     506           0 :     is_input_ready_ = false;
+     507             :   }
+     508             : 
+     509           0 :   if (fun_get_hdg_()) {
+     510           0 :     is_hdg_state_ready_ = true;
+     511             :   }
+     512             : }
+     513             : /*//}*/
+     514             : 
+     515             : /*//{ doCorrection() */
+     516      176970 : void LatGeneric::doCorrection(const Correction<lat_generic::n_measurements>::MeasurementStamped &meas, const double R, const StateId_t &state_id) {
+     517      176970 :   doCorrection(meas.value, R, state_id, meas.stamp);
+     518      176940 : }
+     519             : /*//}*/
+     520             : 
+     521             : /*//{ doCorrection() */
+     522      176949 : void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &state_id, const ros::Time &meas_stamp) {
+     523             : 
+     524      176949 :   if (!isInitialized()) {
+     525         154 :     return;
+     526             :   }
+     527             : 
+     528             :   // we do not want to perform corrections until the estimator is initialized
+     529      176908 :   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
+     530         151 :     return;
+     531             :   }
+     532             : 
+     533             :   // for position state check the innovation
+     534      176717 :   if (state_id == POSITION) {
+     535             :     {
+     536      165782 :       std::scoped_lock lock(mtx_innovation_);
+     537             : 
+     538      165797 :       is_mitigating_jump_ = false;
+     539      165850 :       innovation_(0)      = z(0) - getState(POSITION, AXIS_X);
+     540      165770 :       innovation_(1)      = z(1) - getState(POSITION, AXIS_Y);
+     541             : 
+     542      165800 :       if (fabs(innovation_(0)) > pos_innovation_limit_ || fabs(innovation_(1)) > pos_innovation_limit_) {
+     543           0 :         ROS_WARN_THROTTLE(1.0, "[%s]: innovation too large - [%.2f %.2f] lim: %.2f", getPrintName().c_str(), innovation_(0), innovation_(1),
+     544             :                           pos_innovation_limit_);
+     545           0 :         innovation_ok_ = false;
+     546           0 :         switch (exc_innovation_action_) {
+     547           0 :           case ExcInnoAction_t::ELAND: {
+     548           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger eland in control manager", ros::this_node::getName().c_str());
+     549           0 :             changeState(ERROR_STATE);
+     550           0 :             break;
+     551             :           }
+     552           0 :           case ExcInnoAction_t::SWITCH: {
+     553           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: innovation should trigger estimator switch but no eland", ros::this_node::getName().c_str());
+     554           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?
+     555           0 :             innovation_(1) = 0.0;
+     556           0 :             changeState(ERROR_STATE);
+     557           0 :             break;
+     558             :           }
+     559           0 :           case ExcInnoAction_t::MITIGATE: {
+     560           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation should trigger estimate jump mitigation", ros::this_node::getName().c_str());
+     561           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?
+     562           0 :             innovation_(1)      = 0.0;
+     563           0 :             is_mitigating_jump_ = true;
+     564           0 :             setState(z(0), POSITION, AXIS_X);
+     565           0 :             setState(z(1), POSITION, AXIS_Y);
+     566           0 :             break;
+     567             :           }
+     568           0 :           case ExcInnoAction_t::NONE: {
+     569           0 :             ROS_WARN_THROTTLE(1.0, "[%s]: large innovation ignored", ros::this_node::getName().c_str());
+     570           0 :             break;
+     571             :           }
+     572             :         }
+     573             :       }
+     574      165811 :       innovation_ok_ = true;
+     575             :     }
+     576             :   }
+     577             : 
+     578      176727 :   statecov_t sc = mrs_lib::get_mutexed(mutex_sc_, sc_);
+     579             :   try {
+     580             :     // Apply the correction step
+     581      353461 :     std::scoped_lock lock(mutex_lkf_);
+     582      176772 :     H_                           = H_t::Zero();
+     583      176752 :     H_(AXIS_X, state_id * 2)     = 1;
+     584      176716 :     H_(AXIS_Y, state_id * 2 + 1) = 1;
+     585      176748 :     lkf_->H                      = H_;
+     586             : 
+     587      176605 :     if (is_repredictor_enabled_) {
+     588             : 
+     589           0 :       lkf_rep_->addMeasurement(z, R_t::Ones() * R, meas_stamp, models_[state_id]);
+     590             :     } else {
+     591      176605 :       sc = lkf_->correct(sc, z, R_t::Ones() * R);
+     592             :     }
+     593             :   }
+     594           0 :   catch (const std::exception &e) {
+     595             :     // In case of error, alert the user
+     596           0 :     ROS_ERROR("[%s]: LKF correction failed: %s", getPrintName().c_str(), e.what());
+     597             :   }
+     598             : 
+     599      176537 :   mrs_lib::set_mutexed(mutex_sc_, sc, sc_);
+     600             : }  // namespace mrs_uav_state_estimators
+     601             : /*//}*/
+     602             : 
+     603             : /*//{ isConverged() */
+     604          84 : bool LatGeneric::isConverged() {
+     605             : 
+     606             :   // TODO: check convergence by rate of change of determinant
+     607             : 
+     608          84 :   return true;
+     609             : }
+     610             : /*//}*/
+     611             : 
+     612             : /*//{ getState() */
+     613     1321448 : double LatGeneric::getState(const int &state_id_in, const int &axis_in) const {
+     614     1321448 :   return getState(stateIdToIndex(state_id_in, axis_in));
+     615             : }
+     616             : 
+     617     1321202 : double LatGeneric::getState(const int &state_idx_in) const {
+     618     1321202 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x(state_idx_in);
+     619             : }
+     620             : /*//}*/
+     621             : 
+     622             : /*//{ setState() */
+     623         312 : void LatGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
+     624         312 :   setState(state_in, stateIdToIndex(state_id_in, axis_in));
+     625         312 : }
+     626             : 
+     627         312 : void LatGeneric::setState(const double &state_in, const int &state_idx_in) {
+     628         312 :   mrs_lib::set_mutexed(mutex_sc_, state_in, sc_.x(state_idx_in));
+     629         312 : }
+     630             : /*//}*/
+     631             : 
+     632             : /*//{ getStates() */
+     633      153914 : LatGeneric::states_t LatGeneric::getStates(void) const {
+     634      307822 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).x;
+     635             : }
+     636             : /*//}*/
+     637             : 
+     638             : /*//{ setStates() */
+     639           0 : void LatGeneric::setStates(const states_t &states_in) {
+     640           0 :   mrs_lib::set_mutexed(mutex_sc_, states_in, sc_.x);
+     641           0 : }
+     642             : /*//}*/
+     643             : 
+     644             : /*//{ getCovariance() */
+     645      652230 : double LatGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
+     646      652230 :   return getCovariance(stateIdToIndex(state_id_in, axis_in));
+     647             : }
+     648             : 
+     649      652159 : double LatGeneric::getCovariance(const int &state_idx_in) const {
+     650      652159 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P(state_idx_in, state_idx_in);
+     651             : }
+     652             : /*//}*/
+     653             : 
+     654             : /*//{ getCovarianceMatrix() */
+     655      153913 : LatGeneric::covariance_t LatGeneric::getCovarianceMatrix(void) const {
+     656      307818 :   return mrs_lib::get_mutexed(mutex_sc_, sc_).P;
+     657             : }
+     658             : /*//}*/
+     659             : 
+     660             : /*//{ setCovarianceMatrix() */
+     661           0 : void LatGeneric::setCovarianceMatrix(const covariance_t &cov_in) {
+     662           0 :   mrs_lib::set_mutexed(mutex_sc_, cov_in, sc_.P);
+     663           0 : }
+     664             : /*//}*/
+     665             : 
+     666             : /*//{ getInnovation() */
+     667      325985 : double LatGeneric::getInnovation(const int &state_idx) const {
+     668      325985 :   return mrs_lib::get_mutexed(mtx_innovation_, innovation_)(state_idx);
+     669             : }
+     670             : 
+     671      326141 : double LatGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
+     672      326141 :   return getInnovation(stateIdToIndex(state_id_in, axis_in));
+     673             : }
+     674             : /*//}*/
+     675             : 
+     676             : /*//{ setDt() */
+     677      153912 : void LatGeneric::setDt(const double &dt) {
+     678      153912 :   dt_ = dt;
+     679      153912 :   generateA();
+     680      153910 :   generateB();
+     681      307815 :   std::scoped_lock lock(mutex_lkf_);
+     682      153882 :   lkf_->A = A_;
+     683      153893 :   lkf_->B = B_;
+     684      153869 : }
+     685             : /*//}*/
+     686             : 
+     687             : /*//{ setInputCoeff() */
+     688         159 : void LatGeneric::setInputCoeff(const double &input_coeff) {
+     689         159 :   input_coeff_ = input_coeff;
+     690         159 :   generateA();
+     691         159 :   generateB();
+     692         318 :   std::scoped_lock lock(mutex_lkf_);
+     693         159 :   lkf_->A = A_;
+     694         159 :   lkf_->B = B_;
+     695             : 
+     696         159 :   if (is_repredictor_enabled_) {
+     697           0 :     models_.clear();
+     698           0 :     generateRepredictorModels(input_coeff_);
+     699             :   }
+     700         159 : }
+     701             : /*//}*/
+     702             : 
+     703             : /*//{ generateRepredictorModels() */
+     704           0 : void LatGeneric::generateRepredictorModels(const double input_coeff) {
+     705           0 :     for (int i = 0; (int)(i < lat_generic::n_states / 2); i++) {
+     706             : 
+     707           0 :       auto lambda_generateA = [input_coeff](const double dt) {
+     708           0 :         A_t A;
+     709             :         // clang-format off
+     710           0 :         A <<
+     711           0 :           1, 0, dt, 0, 0.5 * dt * dt, 0,
+     712           0 :           0, 1, 0, dt, 0, 0.5 * dt * dt,
+     713           0 :           0, 0, 1, 0, dt, 0,
+     714           0 :           0, 0, 0, 1, 0, dt,
+     715           0 :           0, 0, 0, 0, 1-(input_coeff * dt), 0,
+     716           0 :           0, 0, 0, 0, 0, 1-(input_coeff * dt);
+     717             :         // clang-format on
+     718           0 :         return A;
+     719           0 :       };
+     720             : 
+     721           0 :       auto lambda_generateB = [input_coeff]([[maybe_unused]] const double dt) {
+     722           0 :         B_t B = B.Zero();
+     723             :         // clang-format off
+     724           0 :           B <<
+     725           0 :             0, 0,
+     726           0 :             0, 0,
+     727           0 :             0, 0,
+     728           0 :             0, 0,
+     729           0 :             input_coeff * dt, 0,
+     730           0 :             0, input_coeff * dt;
+     731             :         // clang-format on
+     732             : 
+     733           0 :         return B;
+     734           0 :       };
+     735             : 
+     736           0 :       H_t H                = H.Zero();
+     737           0 :       H(AXIS_X, i * 2)     = 1;
+     738           0 :       H(AXIS_Y, i * 2 + 1) = 1;
+     739           0 :       models_.push_back(std::make_shared<varstep_lkf_t>(lambda_generateA, lambda_generateB, H));
+     740             :     }
+     741           0 : }
+     742             : /*//}*/
+     743             : 
+     744             : /*//{ generateA() */
+     745      154151 : void LatGeneric::generateA() {
+     746             : 
+     747             :   // clang-format off
+     748      154151 :     A_ <<
+     749      154119 :       1, 0, dt_, 0, 0.5 * dt_ * dt_, 0,
+     750      154136 :       0, 1, 0, dt_, 0, 0.5 * dt_ * dt_,
+     751      154137 :       0, 0, 1, 0, dt_, 0,
+     752      154144 :       0, 0, 0, 1, 0, dt_,
+     753      154148 :       0, 0, 0, 0, 1-(input_coeff_ * dt_), 0,
+     754      154152 :       0, 0, 0, 0, 0, 1-(input_coeff_ * dt_);
+     755             :   // clang-format on
+     756      154140 : }
+     757             : /*//}*/
+     758             : 
+     759             : /*//{ generateB() */
+     760      154154 : void LatGeneric::generateB() {
+     761             : 
+     762             :   // clang-format off
+     763      154154 :     B_ <<
+     764      154143 :       0, 0,
+     765      154120 :       0, 0,
+     766      154124 :       0, 0,
+     767      154141 :       0, 0,
+     768      154144 :       input_coeff_ * dt_, 0,
+     769      154144 :       0, input_coeff_ * dt_;
+     770             :   // clang-format on
+     771      154133 : }
+     772             : /*//}*/
+     773             : 
+     774             : /*//{ callbackReconfigure() */
+     775          84 : void LatGeneric::callbackReconfigure(LateralEstimatorConfig &config, [[maybe_unused]] uint32_t level) {
+     776             : 
+     777          84 :   if (!isInitialized()) {
+     778          84 :     return;
+     779             :   }
+     780             : 
+     781           0 :   Q_t Q;
+     782           0 :   Q(stateIdToIndex(POSITION, AXIS_X), stateIdToIndex(POSITION, AXIS_X))         = config.pos;
+     783           0 :   Q(stateIdToIndex(POSITION, AXIS_Y), stateIdToIndex(POSITION, AXIS_Y))         = config.pos;
+     784           0 :   Q(stateIdToIndex(VELOCITY, AXIS_X), stateIdToIndex(VELOCITY, AXIS_X))         = config.vel;
+     785           0 :   Q(stateIdToIndex(VELOCITY, AXIS_Y), stateIdToIndex(VELOCITY, AXIS_Y))         = config.vel;
+     786           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_X), stateIdToIndex(ACCELERATION, AXIS_X)) = config.acc;
+     787           0 :   Q(stateIdToIndex(ACCELERATION, AXIS_Y), stateIdToIndex(ACCELERATION, AXIS_Y)) = config.acc;
+     788           0 :   mrs_lib::set_mutexed(mtx_Q_, Q, Q_);
+     789             : }
+     790             : /*//}*/
+     791             : 
+     792             : /*//{ getNamespacedName() */
+     793         508 : std::string LatGeneric::getNamespacedName() const {
+     794        1016 :   return parent_state_est_name_ + "/" + getName();
+     795             : }
+     796             : /*//}*/
+     797             : 
+     798             : /*//{ getPrintName() */
+     799         804 : std::string LatGeneric::getPrintName() const {
+     800        1608 :   return ch_->nodelet_name + "/" + parent_state_est_name_ + "/" + getName();
+     801             : }
+     802             : /*//}*/
+     803             : };  // namespace mrs_uav_state_estimators
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + diff --git a/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/lateral/lat_generic.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..508d03d81b4e53c31168d589e7b140e4bb5e1fec GIT binary patch literal 3146 zcmV-Q47Kx#P)_F@S;5{wS;5}G*?*N6>jy}HP|j}LK3%VuODPrz5I-ryMTpSeE>6cv(Kgju9By;G-wTKn?T=mzEA279A;Z^cfaW;{*|*Kn zgwguw4-~uOcUl;e9UZg5n!vhF-NtDK%dwopo*C(aFubC70Ggz+XJv#ZA12P>H@a*O z+Tq5ymB3qhWhA2Exi0ci1p}5CFa~fDu-sJ$;KFP<38{>cqMWgq`Jak>T-TR8w)A3O zhjm{~qeB-8<;qHBTS6cZse(~@=3}w^dLj8^m}JozKm4Py1ca?Mu3H6IFBy+% zOb=|*FdqXW8zy?ll4Aj6M|h3|=l}%2u@u&<1MoLIn!y?0>HzE(3L+I?Ai?=KKum%w znlrrXESQ*LJ6fK^oSgtzfU+yY3vNFjlX1dqrTa{Xxt65I0!9J|Ixhes8YN|n5t4xz zGu1P*BnvYEyQ^S+H1AVzrr9_=#`i|>e)-zA=#eOZevjBTWrK)w^sfPs8GUnnKX<3U zU(fSePl`k*k~2)VDMlTMP`sB^bV@&(qwehu$=vz0m}bqmnG33bR8LN;0LBOyxupP> z+!O&_#3($wesmMiS&8vT>lJqy&^XYeHTeM>?pkrAvLVH>B#hQMA~Bm(G3zjU29o`z zX$_l;M~iGq(T5TehW+K!N6QNYHoP=wm3{o4H8YPo`rs*taL?s$K?WBZ-4BO8srj3l zkMY|P&uloN>E)wwspsKoNx9BFX`JMQHUX*UD>JGqM`{z?nLx@3%QCcAF?xF1b2N^3 zAZ~WpF&jZF7Z-_KLLMW}v2Ag!mcp!Lja~YKVHPv0LYu5JHq|-+3C6ealQA~jJOa42 zvJ^dYG)qrgO8pDeS)2B7LITA2Ya(^almH};H^JRjY z9H|#^Oh01J%Ve3?!AQ$`h1r8#l@3_d6BhI@^1wcFxztE5I3K27g-Z&HICZJa(fH^? z!a=fSdw+--(P{AOiDd2(&?1jUrRiYLoY)VXE!{KB2CY%YgMD8433}V2mr`Ul-Zs%A`w; zHqY@GCa08rbSjl1-ey2c2FWC7eu_phtC`~}MQ~N}N(&(GpffES&aX>~F!9R3*3!UO zp>(x8R)9+C)5xD+!*ILpF(eFw--CCa=ocRw(~kV)3Q%&JJ)mVv>QycS!_QwCw6V9M zxN2j6<=q`Qz2Dr}ff$t*g_xZ>(LF)M8l?*&Gj0wZkj4o7T>Ya7*v5y(72wMTxRYR| z1T-xT<)fDc8vpDF&@}98J%lJAci2oZ6H;m1N`2QbMTwZ4o=9{s@n+zoAtUy=?eQ`s zVLaFNm`6!8IQEoBh&?;X@8?FPJ;?>b$3S_>bHW}-8+q(oX?v&Ec zM%mMTa)%anEulfmx^gL}8~fAS@ya@vF*LVgvPZo zsE(3k^yx4p(^R}k5BuU*Z<$k`XL-UGDBUfVFw?Rm75CF~u?a6N;Wy?upHTrrRiY}0sBKRdAZ<=Q5$-S2l zk2AJD8+%N(2w2!Xo}YYI6VGsCkUJOMoNC9A5zsbbV$TclIK_GwY0QZQFuD!9XS69f z^_u%&iN)0>Ng1wsDQH7iiRoat-U1AOSC|wyUap6GJYYS>;+21N{o6cyY;g7wWqN!R0d~2~#%{dIj+E|KH1Pg?xVJh5LCpN+vB1m-ogvImFtqorGWQM!?qzp27Q5OlK`=lnD zKhrSqFLi}nAEABCcOXWm2NJ%J#sxY`Kzri+u-}Z1)qq=j^GbPKz$bKcv6_at2Vy` z_J6r7jT-3V%@6sA>;w@)#T~(#*7i|Q*st2h(~F9XLnte@s7 zS{aWF_#;%Ox;`|gy1q*o?|-ntR{_RQc0r|QZ?E& z)~2VBQ>U-_D;Hl=u^9XsUsA@#T;WCRaP(hgXsNLuVQpnNVa0!ma6KvPDuCPtxJSQ~J}^U46r_rp_< z-g>-jz<Kt#w9+p4WwJxY$eW7UeBAxgWS;YeCRHx}F?ll1BV30fc*$v3ftOWdw z;abe4Fg)S7V2;PI`dqzdd=~X$hYQMp=FwAaw)$ollzhn>(&dEtCY!Kl9)McQU;;c^ zzEnW;GwB-Wu8VYS^=mW6wTQ#_WH2_+ny53M)~}-%!W=A3c!$m{O6Se~qG!QzmwOEGnPcb5 z>#u4S4}{FMQDfes!_MneQTDBZz<6G|?@JI^FCF zE_o?)W3XT!Yc>1<`-tc0Q1Yo^ACo%XLmr!p!xK>}`K+Xi};Ja1MD^C`|h zq=m%jN?J&-yXabL^U$>LVoPzAJoaCY8O|tjbL{xIC_l~zY^4AKpk_-k(5HSBUyH+QZY#7%Ap%{bfU(=)gO zU=NL)h>u40tT=&;FoyikMgWh8n=r0#_ zxEMel7XuiVY~xTD7&F^>z|2Sa$xw^4bk7>teTMX8@eO^Tdz794(Q3!DOOHi-Qc1(a zo-YGtO>SaL5~c#0q{lqs48J92IphwFR5GCF;X(5zPZa@rD`7qN!H-y~G&axOAo?)m zdlt*S-hc4R@NuIZA3+&zL2&8AyZGNrfQvtBA3ix%2NY4&fC4H8V{|T`?5*|$Blw&g zU<7D=nCBh*oQ{-GA#cVeAEHV^jPv^6K85JuBa{xQVi7#y$Kq# k-~y^2L%vD~mXd+{4}ZzB4 + + + + + + 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:2024-02-24 08:13:25Functions: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()16
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()16
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()16
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().216
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/gps_baro.cpp.func.html new file mode 100644 index 0000000000..62321c6bbc --- /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:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()16
mrs_uav_state_estimators::gps_baro::GpsBaro::GpsBaro()16
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro()16
mrs_uav_state_estimators::gps_baro::GpsBaro::~GpsBaro().216
+
+
+ + + +
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..d030b2f7f8 --- /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:2024-02-24 08:13:25Functions: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          16 :   GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
+      15          16 :   }
+      16             : 
+      17          32 :   ~GpsBaro(void) {
+      18          32 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_baro
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          16 : 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
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - gps_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()64
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()64
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()64
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().264
+
+
+ + + +
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..ff71a68552 --- /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:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()64
mrs_uav_state_estimators::gps_garmin::GpsGarmin::GpsGarmin()64
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin()64
mrs_uav_state_estimators::gps_garmin::GpsGarmin::~GpsGarmin().264
+
+
+ + + +
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..4b70f4b0a4 --- /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:2024-02-24 08:13:25Functions: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          64 :   GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
+      15          64 :   }
+      16             : 
+      17         128 :   ~GpsGarmin(void) {
+      18         128 :   }
+      19             : };
+      20             : 
+      21             : }  // namespace gps_garmin
+      22             : }  // namespace mrs_uav_state_estimators
+      23             : 
+      24             : #include <pluginlib/class_list_macros.h>
+      25          64 : 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..79cd9ef81a --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-f.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
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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:2024-02-24 08:13:25Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
<unnamed>76.4 %97 / 12755.6 %5 / 9
state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
<unnamed>66.2 %194 / 29358.3 %7 / 12
gps_baro.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
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+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + 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..d08e6326bb --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail-sort-l.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-02-24 08:13:25Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
+ +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
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passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
<unnamed>76.4 %97 / 12755.6 %5 / 9
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
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<unnamed>100.0 %5 / 5100.0 %4 / 4
rtk.cpp +
100.0%
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gps_garmin.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-detail.html b/mrs_uav_state_estimators/src/estimators/state/index-detail.html new file mode 100644 index 0000000000..2bb41cb1db --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-detail.html @@ -0,0 +1,200 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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:2024-02-24 08:13:25Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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+ +
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Filename Sort by nameLine Coverage ( hide details ) Sort by line coverageFunctions Sort by function coverage
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
<unnamed>100.0 %5 / 5100.0 %4 / 4
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
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rtk.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
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state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
<unnamed>66.2 %194 / 29358.3 %7 / 12
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-sort-f.html b/mrs_uav_state_estimators/src/estimators/state/index-sort-f.html new file mode 100644 index 0000000000..6e43027af4 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-sort-f.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-02-24 08:13:25Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
state_generic.cpp +
66.2%66.2%
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gps_baro.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
rtk.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
+
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+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html b/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html new file mode 100644 index 0000000000..38a6b5915e --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index-sort-l.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
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:2024-02-24 08:13:25Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
+
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
rtk.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
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+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/index.html b/mrs_uav_state_estimators/src/estimators/state/index.html new file mode 100644 index 0000000000..3759230024 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/index.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/stateHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:31144070.7 %
Date:2024-02-24 08:13:25Functions:283775.7 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
gps_baro.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
gps_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
passthrough.cpp +
76.4%76.4%
+ 		76.4 %97 / 12755.6 %5 / 9
rtk.cpp +
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+ 		100.0 %5 / 5100.0 %4 / 4
rtk_garmin.cpp +
100.0%
+ 		100.0 %5 / 5100.0 %4 / 4
state_generic.cpp +
66.2%66.2%
+ 		66.2 %194 / 29358.3 %7 / 12
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html new file mode 100644 index 0000000000..d1af71c2b7 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.func-sort-c.html @@ -0,0 +1,116 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-02-24 08:13:25Functions: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&)1037
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1054
+
+
+ + + +
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..d8244c5085 --- /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:2024-02-24 08:13:25Functions:5955.6 %
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_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&)1037
mrs_uav_state_estimators::passthrough::Passthrough::timerCheckHealth(ros::TimerEvent const&)1054
mrs_uav_state_estimators::passthrough::Passthrough::pause()0
mrs_uav_state_estimators::passthrough::Passthrough::reset()0
mrs_uav_state_estimators::passthrough::Passthrough::start()1
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html new file mode 100644 index 0000000000..cf08741b5f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html new file mode 100644 index 0000000000..b04853f4ff --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.html @@ -0,0 +1,343 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_state_estimators/src/estimators/state - passthrough.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:9712776.4 %
Date:2024-02-24 08:13:25Functions:5955.6 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <mrs_uav_state_estimators/estimators/state/passthrough.h>
+       4             : 
+       5             : //}
+       6             : 
+       7             : namespace mrs_uav_state_estimators
+       8             : {
+       9             : 
+      10             : namespace passthrough
+      11             : {
+      12             : 
+      13             : /* initialize() //{*/
+      14           1 : void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      15             : 
+      16           1 :   ch_ = ch;
+      17           1 :   ph_ = ph;
+      18             : 
+      19           1 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      20             : 
+      21             :   // | --------------- param loader initialization -------------- |
+      22             : 
+      23           1 :   if (is_core_plugin_) {
+      24             : 
+      25           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      26           1 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      27             :   }
+      28             : 
+      29           1 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      30             : 
+      31             :   // | --------------------- load parameters -------------------- |
+      32           1 :   ph->param_loader->loadParam("max_flight_z", max_flight_z_);
+      33           1 :   ph->param_loader->loadParam("message/topic", msg_topic_);
+      34           1 :   msg_topic_ = "/" + ch_->uav_name + "/" + msg_topic_;
+      35             : 
+      36             :   // | ------------------ timers initialization ----------------- |
+      37           1 :   timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerUpdate, this, false, false);  // not running after init
+      38           1 :   timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &Passthrough::timerCheckHealth, this);
+      39             : 
+      40             :   // | --------------- subscribers initialization --------------- |
+      41           2 :   mrs_lib::SubscribeHandlerOptions shopts;
+      42           1 :   shopts.nh                 = nh;
+      43           1 :   shopts.node_name          = getPrintName();
+      44           1 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      45           1 :   shopts.threadsafe         = true;
+      46           1 :   shopts.autostart          = true;
+      47           1 :   shopts.queue_size         = 10;
+      48           1 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      49             : 
+      50           1 :   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
+      51             : 
+      52             :   // | ---------------- publishers initialization --------------- |
+      53           1 :   ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
+      54           1 :   if (ch_->debug_topics.state) {
+      55           1 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      56             :   }
+      57           1 :   if (ch_->debug_topics.covariance) {
+      58           0 :     ph_pose_covariance_  = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/pose_covariance", 10);
+      59           0 :     ph_twist_covariance_ = mrs_lib::PublisherHandler<mrs_msgs::Float64ArrayStamped>(nh, Support::toSnakeCase(getName()) + "/twist_covariance", 10);
+      60             :   }
+      61           1 :   if (ch_->debug_topics.innovation) {
+      62           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      63             :   }
+      64           1 :   if (ch_->debug_topics.diag) {
+      65           0 :     ph_diagnostics_ = mrs_lib::PublisherHandler<mrs_msgs::EstimatorDiagnostics>(nh, Support::toSnakeCase(getName()) + "/diagnostics", 10);
+      66             :   }
+      67             : 
+      68             :   // | ------------------ initialize published messages ------------------ |
+      69           1 :   uav_state_init_.header.frame_id = ns_frame_id_;
+      70           1 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+      71             : 
+      72           1 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+      73           1 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+      74           1 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+      75             : 
+      76           1 :   innovation_init_.header.frame_id         = ns_frame_id_;
+      77           1 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+      78           1 :   innovation_init_.pose.pose.orientation.w = 1.0;
+      79             : 
+      80             :   // | ------------------ finish initialization ----------------- |
+      81             : 
+      82           1 :   if (changeState(INITIALIZED_STATE)) {
+      83           1 :     ROS_INFO("[%s]: Estimator initialized", getPrintName().c_str());
+      84             :   } else {
+      85           0 :     ROS_INFO("[%s]: Estimator could not be initialized", getPrintName().c_str());
+      86             :   }
+      87           1 : }
+      88             : /*//}*/
+      89             : 
+      90             : /*//{ start() */
+      91           1 : bool Passthrough::start(void) {
+      92             : 
+      93             : 
+      94           1 :   if (isInState(READY_STATE)) {
+      95             : 
+      96           1 :     timer_update_.start();
+      97           1 :     changeState(STARTED_STATE);
+      98           1 :     return true;
+      99             : 
+     100             :   } else {
+     101           0 :     ROS_WARN("[%s]: Estimator must be in READY_STATE to start it", getPrintName().c_str());
+     102           0 :     ros::Duration(1.0).sleep();
+     103             :   }
+     104           0 :   return false;
+     105             : 
+     106             :   ROS_ERROR("[%s]: Failed to start", getPrintName().c_str());
+     107             :   return false;
+     108             : }
+     109             : /*//}*/
+     110             : 
+     111             : /*//{ pause() */
+     112           0 : bool Passthrough::pause(void) {
+     113             : 
+     114           0 :   if (isInState(RUNNING_STATE)) {
+     115           0 :     changeState(STOPPED_STATE);
+     116           0 :     return true;
+     117             :   }
+     118           0 :   return false;
+     119             : }
+     120             : /*//}*/
+     121             : 
+     122             : /*//{ reset() */
+     123           0 : bool Passthrough::reset(void) {
+     124             : 
+     125           0 :   if (!isInitialized()) {
+     126           0 :     ROS_ERROR("[%s]: Cannot reset uninitialized estimator", getPrintName().c_str());
+     127           0 :     return false;
+     128             :   }
+     129             : 
+     130           0 :   changeState(STOPPED_STATE);
+     131             : 
+     132           0 :   ROS_INFO("[%s]: Estimator reset", getPrintName().c_str());
+     133             : 
+     134           0 :   return true;
+     135             : }
+     136             : /*//}*/
+     137             : 
+     138             : /* timerUpdate() //{*/
+     139        1037 : void Passthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     140             : 
+     141             : 
+     142        1037 :   if (!isInitialized()) {
+     143           0 :     return;
+     144             :   }
+     145             : 
+     146        1037 :   const ros::Time time_now = ros::Time::now();
+     147             : 
+     148        2074 :   nav_msgs::OdometryConstPtr msg = sh_passthrough_odom_.getMsg();
+     149             : 
+     150        1037 :   if (first_iter_) {
+     151           1 :     prev_msg_   = msg;
+     152           1 :     first_iter_ = false;
+     153             :   }
+     154             : 
+     155        2074 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     156             : 
+     157        1037 :   uav_state.header.stamp = time_now;
+     158             : 
+     159        1037 :   uav_state.pose.position    = msg->pose.pose.position;
+     160        1037 :   uav_state.pose.orientation = msg->pose.pose.orientation;
+     161             : 
+     162        1037 :   uav_state.velocity.linear  = Support::rotateVector(msg->twist.twist.linear, msg->pose.pose.orientation);
+     163        1037 :   uav_state.velocity.angular = msg->twist.twist.angular;
+     164             : 
+     165        2074 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     166             : 
+     167        2074 :   nav_msgs::Odometry innovation = innovation_init_;
+     168        1037 :   innovation.header.stamp       = time_now;
+     169             : 
+     170        1037 :   innovation.pose.pose.position.x = prev_msg_->pose.pose.position.x - msg->pose.pose.position.x;
+     171        1037 :   innovation.pose.pose.position.y = prev_msg_->pose.pose.position.y - msg->pose.pose.position.y;
+     172        1037 :   innovation.pose.pose.position.z = prev_msg_->pose.pose.position.z - msg->pose.pose.position.z;
+     173             : 
+     174        2074 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     175        1037 :   pose_covariance.header.stamp  = time_now;
+     176        1037 :   twist_covariance.header.stamp = time_now;
+     177             : 
+     178        1037 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     179        1037 :   pose_covariance.values.resize(n_states * n_states);
+     180        1037 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     181        1037 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     182        1037 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     183             : 
+     184        1037 :   twist_covariance.values.resize(n_states * n_states);
+     185        1037 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = 1e-10;
+     186        1037 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = 1e-10;
+     187        1037 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = 1e-10;
+     188             : 
+     189        1037 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     190        1037 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     191        1037 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     192        1037 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     193        1037 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     194             : 
+     195        1037 :   publishUavState();
+     196        1037 :   publishOdom();
+     197        1037 :   publishCovariance();
+     198        1037 :   publishInnovation();
+     199        1037 :   publishDiagnostics();
+     200             : 
+     201        1037 :   prev_msg_ = msg;
+     202             : }
+     203             : /*//}*/
+     204             : 
+     205             : /*//{ timerCheckHealth() */
+     206        1054 : void Passthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
+     207             : 
+     208        1054 :   if (!isInitialized()) {
+     209           0 :     return;
+     210             :   }
+     211             : 
+     212        1054 :   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        1038 :   if (isInState(STARTED_STATE)) {
+     225             : 
+     226           1 :     changeState(RUNNING_STATE);
+     227             :   }
+     228             : }
+     229             : /*//}*/
+     230             : 
+     231             : /*//{ isConverged() */
+     232           0 : bool Passthrough::isConverged() {
+     233             : 
+     234             :   // TODO: check convergence by rate of change of determinant
+     235             :   // most likely not used in top-level estimator
+     236             : 
+     237           0 :   return true;
+     238             : }
+     239             : /*//}*/
+     240             : 
+     241             : /*//{ setUavState() */
+     242           0 : bool Passthrough::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     243             : 
+     244           0 :   if (!isInState(STOPPED_STATE)) {
+     245           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     246           0 :     return false;
+     247             :   }
+     248             : 
+     249           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     250           0 :   return false;
+     251             : }
+     252             : /*//}*/
+     253             : 
+     254             : }  // namespace passthrough
+     255             : 
+     256             : }  // namespace mrs_uav_state_estimators
+     257             : 
+     258             : #include <pluginlib/class_list_macros.h>
+     259           1 : PLUGINLIB_EXPORT_CLASS(mrs_uav_state_estimators::passthrough::Passthrough, mrs_uav_managers::StateEstimator)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html new file mode 100644 index 0000000000..5a663b9a3d --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.overview.html @@ -0,0 +1,85 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/passthrough.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + + +
+ Top

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/passthrough.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..a57b3d1729bc3cdac5e4ae2ad4e24468373c0602 GIT binary patch literal 1099 zcmV-R1ho5!P)CR&-|8ai1Q<*+6d4na1&0Mk zrYzb^4VF?m$^_?ucXr{IX=DbBSx|OS#%OII(-i59jDZGlK*u>+0!@d@)G^qPw`1vA z5I8zu8oC^q8cqViaU^8tqMJbA8e^E|!GRmdB+OBks`;Z>FYQ>7@56w1Mg`no%WEq{K{?J={g%RO<`JEIPElp`a-e>NZIyFAu`fr1cTx;zevpp>H-w=Hez0H1or28Hphso^eiqdNx~U5^`VZgEm@}w4@WW}Lj9fl` zQh^>fSSI5s)`=AI-C#5(vSv*jj^M8h#8fwzUQBX)Ehq= z&a44HYI+|ysN>BqtwJfV;+~R5PyGnKID!Os`AF$kci}8L-2Nn&UjS;DQ8lVZUjRF- z&d7zg1vD^YxKZLm-~(f9TvTjOp5YdgLT@GLD!yc0P002ovPDHLkV1lbW1y=w7 literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func-sort-c.html new file mode 100644 index 0000000000..aa33ee0a31 --- /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:2024-02-24 08:13:25Functions: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
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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.cpp.func.html b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html new file mode 100644 index 0000000000..e77d005e7a --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk::Rtk::Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk()2
mrs_uav_state_estimators::rtk::Rtk::~Rtk().22
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+
+ + + +
Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk.cpp.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..a925168e74 --- /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:2024-02-24 08:13:25Functions: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..8d4185af39 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func-sort-c.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
+
+
+ + + +
Generated by: LCOV version 1.14
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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..93af68510f --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.func.html @@ -0,0 +1,96 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin()2
mrs_uav_state_estimators::rtk_garmin::RtkGarmin::~RtkGarmin().22
+
+
+ + + +
Generated by: LCOV version 1.14
+
+ + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html new file mode 100644 index 0000000000..5a40bb2c46 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.frameset.html @@ -0,0 +1,19 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + <center>Frames not supported by your browser!<br></center> + + + + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html new file mode 100644 index 0000000000..6dfdaaf211 --- /dev/null +++ b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.html @@ -0,0 +1,109 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_state_estimators/src/estimators/state - rtk_garmin.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:55100.0 %
Date:2024-02-24 08:13:25Functions:44100.0 %
Legend: Lines: + hit + not hit +
+
+ + + + + + + + +

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

+ Overview +
+ + diff --git a/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.png b/mrs_uav_state_estimators/src/estimators/state/rtk_garmin.cpp.gcov.png new file mode 100644 index 0000000000000000000000000000000000000000..606fb073ca70818dc0b3b5dba84fd6a7044d0512 GIT binary patch literal 231 zcmeAS@N?(olHy`uVBq!ia0vp^0YEIt!VDxsGPYO&DTx4|5ZC|z|E~gq^JNDtZ&EXPgU2N!e?RY*!@G!k?Ta()7BTAKis#>5!bv}um4PI*Z02~7mGQc zuCNw3Xkx0Ko_*uhD$z@81X?onZt12fEV|g{c9?_v+hwVbPc627Ikr{%)|^j!tT$gZ WJ^4%e>pP$W7(8A5T-G@yGywov30pG& literal 0 HcmV?d00001 diff --git a/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html b/mrs_uav_state_estimators/src/estimators/state/state_generic.cpp.func-sort-c.html new file mode 100644 index 0000000000..de35e7c065 --- /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:2024-02-24 08:13:25Functions: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&)84
mrs_uav_state_estimators::StateGeneric::start()6626
mrs_uav_state_estimators::StateGeneric::updateUavState()163169
mrs_uav_state_estimators::StateGeneric::timerUpdate(ros::TimerEvent const&)172719
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)172719
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()() const257410
mrs_uav_state_estimators::StateGeneric::getHeading() const257420
+
+
+ + + +
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..029ba06ab6 --- /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:2024-02-24 08:13:25Functions:71258.3 %
Legend: Lines: + hit + not hit +
+
+ +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

Function Name Sort by function nameHit count Sort by hit count
mrs_uav_state_estimators::StateGeneric::initialize(ros::NodeHandle&, std::shared_ptr<mrs_uav_managers::estimation_manager::CommonHandlers_t> const&, std::shared_ptr<mrs_uav_managers::estimation_manager::PrivateHandlers_t> const&)84
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&)172719
mrs_uav_state_estimators::StateGeneric::updateUavState()163169
mrs_uav_state_estimators::StateGeneric::timerCheckHealth(ros::TimerEvent const&)0
mrs_uav_state_estimators::StateGeneric::timerPubAttitude(ros::TimerEvent const&)172719
mrs_uav_state_estimators::StateGeneric::pause()0
mrs_uav_state_estimators::StateGeneric::reset()0
mrs_uav_state_estimators::StateGeneric::start()6626
mrs_uav_state_estimators::StateGeneric::getHeading() const257420
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()() const257410
+
+
+ + + +
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..ae92f43692 --- /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:2024-02-24 08:13:25Functions: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          84 : void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<CommonHandlers_t> &ch, const std::shared_ptr<PrivateHandlers_t> &ph) {
+      12             : 
+      13          84 :   ch_ = ch;
+      14          84 :   ph_ = ph;
+      15             : 
+      16         168 :   ros::NodeHandle nh(parent_nh);
+      17             : 
+      18          84 :   if (is_core_plugin_) {
+      19             : 
+      20          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+      21          84 :     ph->param_loader->addYamlFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+      22             :   }
+      23             : 
+      24          84 :   ph->param_loader->setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
+      25             : 
+      26          84 :   ph->param_loader->loadParam("estimators/lateral/name", est_lat_name_);
+      27          84 :   ph->param_loader->loadParam("estimators/altitude/name", est_alt_name_);
+      28          84 :   ph->param_loader->loadParam("estimators/heading/name", est_hdg_name_);
+      29          84 :   ph->param_loader->loadParam("estimators/heading/passthrough", is_hdg_passthrough_);
+      30             : 
+      31          84 :   ph->param_loader->loadParam("override_frame_id/enabled", is_override_frame_id_);
+      32          84 :   if (is_override_frame_id_) {
+      33           0 :     ph->param_loader->loadParam("override_frame_id/frame_id", frame_id_);
+      34             :   }
+      35             : 
+      36         168 :   std::string topic_orientation;
+      37          84 :   ph->param_loader->loadParam("topics/orientation", topic_orientation);
+      38          84 :   topic_orientation_ = "/" + ch_->uav_name + "/" + topic_orientation;
+      39         168 :   std::string topic_angular_velocity;
+      40          84 :   ph->param_loader->loadParam("topics/angular_velocity", topic_angular_velocity);
+      41          84 :   topic_angular_velocity_ = "/" + ch_->uav_name + "/" + topic_angular_velocity;
+      42             : 
+      43          84 :   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          84 :   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
+      49             : 
+      50             :   // | ------------------ timers initialization ----------------- |
+      51          84 :   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          84 :   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
+      54             : 
+      55             :   // | --------------- subscribers initialization --------------- |
+      56         168 :   mrs_lib::SubscribeHandlerOptions shopts;
+      57          84 :   shopts.nh                 = nh;
+      58          84 :   shopts.node_name          = getPrintName();
+      59          84 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+      60          84 :   shopts.threadsafe         = true;
+      61          84 :   shopts.autostart          = true;
+      62          84 :   shopts.queue_size         = 10;
+      63          84 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+      64             : 
+      65          84 :   sh_hw_api_orient_  = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, topic_orientation_);
+      66          84 :   sh_hw_api_ang_vel_ = mrs_lib::SubscribeHandler<geometry_msgs::Vector3Stamped>(shopts, topic_angular_velocity_);
+      67             : 
+      68             :   // | ---------------- publishers initialization --------------- |
+      69          84 :   ph_odom_     = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);
+      70          84 :   ph_attitude_ = mrs_lib::PublisherHandler<geometry_msgs::QuaternionStamped>(nh, Support::toSnakeCase(getName()) + "/attitude", 10);
+      71             : 
+      72          84 :   if (ch_->debug_topics.state) {
+      73          84 :     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
+      74             :   }
+      75          84 :   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          84 :   if (ch_->debug_topics.innovation) {
+      80           0 :     ph_innovation_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/innovation", 10);
+      81             :   }
+      82          84 :   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         168 :   std::vector<double> max_altitudes;
+      88             : 
+      89          84 :   if (is_hdg_passthrough_) {
+      90          84 :     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          84 :   est_hdg_->initialize(nh, ch_, ph_);
+      95          84 :   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
+      96             : 
+      97      257494 :   est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
+      98          84 :   est_lat_->initialize(nh, ch_, ph_);
+      99          84 :   max_altitudes.push_back(est_lat_->getMaxFlightZ());
+     100             : 
+     101          84 :   est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
+     102          84 :   est_alt_->initialize(nh, ch_, ph_);
+     103          84 :   max_altitudes.push_back(est_alt_->getMaxFlightZ());
+     104             : 
+     105          84 :   max_flight_z_ = *std::min_element(max_altitudes.begin(), max_altitudes.end());
+     106             : 
+     107             :   // | ------------------ initialize published messages ------------------ |
+     108          84 :   uav_state_init_.header.frame_id = ns_frame_id_;
+     109          84 :   uav_state_init_.child_frame_id  = ch_->frames.ns_fcu;
+     110             : 
+     111          84 :   uav_state_init_.estimator_horizontal = est_lat_name_;
+     112          84 :   uav_state_init_.estimator_vertical   = est_alt_name_;
+     113          84 :   uav_state_init_.estimator_heading    = est_hdg_name_;
+     114             : 
+     115          84 :   innovation_init_.header.frame_id         = ns_frame_id_;
+     116          84 :   innovation_init_.child_frame_id          = ch_->frames.ns_fcu;
+     117          84 :   innovation_init_.pose.pose.orientation.w = 1.0;
+     118             : 
+     119             :   // | ------------------ finish initialization ----------------- |
+     120             : 
+     121          84 :   if (changeState(INITIALIZED_STATE)) {
+     122          84 :     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          84 : }
+     127             : /*//}*/
+     128             : 
+     129             : /*//{ start() */
+     130        6626 : bool StateGeneric::start(void) {
+     131             : 
+     132        6626 :   if (isInState(READY_STATE)) {
+     133             : 
+     134             :     bool est_lat_start_successful, est_alt_start_successful, est_hdg_start_successful;
+     135             : 
+     136        6626 :     if (est_lat_->isStarted() || est_lat_->isRunning()) {
+     137        2797 :       est_lat_start_successful = true;
+     138             :     } else {
+     139        3829 :       est_lat_start_successful = est_lat_->start();
+     140             :     }
+     141             : 
+     142        6626 :     if (est_alt_->isStarted() || est_alt_->isRunning()) {
+     143        3161 :       est_alt_start_successful = true;
+     144             :     } else {
+     145        3465 :       est_alt_start_successful = est_alt_->start();
+     146             :     }
+     147             : 
+     148        6626 :     if (est_hdg_->isStarted() || est_hdg_->isRunning()) {
+     149        6481 :       timer_pub_attitude_.start();
+     150        6481 :       est_hdg_start_successful = true;
+     151             :     } else {
+     152         145 :       est_hdg_start_successful = est_hdg_->start();
+     153             :     }
+     154             : 
+     155        6626 :     if (est_lat_start_successful && est_alt_start_successful && est_hdg_start_successful) {
+     156             :       /* timer_update_.start(); */
+     157          84 :       changeState(STARTED_STATE);
+     158          84 :       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        6542 :   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      172719 : void StateGeneric::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
+     209             : 
+     210             : 
+     211      172719 :   if (!isInitialized()) {
+     212        9527 :     return;
+     213             :   }
+     214             : 
+     215      344282 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     216             : 
+     217      172130 :   switch (getCurrentSmState()) {
+     218             : 
+     219           0 :     case UNINITIALIZED_STATE: {
+     220           0 :       break;
+     221             :     }
+     222        2369 :     case INITIALIZED_STATE: {
+     223             : 
+     224        2369 :       if (sh_hw_api_orient_.hasMsg() && sh_hw_api_ang_vel_.hasMsg()) {
+     225          84 :         if (est_lat_->isInitialized() && est_alt_->isInitialized() && est_hdg_->isInitialized()) {
+     226          84 :           changeState(READY_STATE);
+     227          84 :           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        2285 :         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        2285 :         return;
+     235             :       }
+     236             : 
+     237          84 :       break;
+     238             :     }
+     239             : 
+     240        6572 :     case READY_STATE: {
+     241        6572 :       break;
+     242             :     }
+     243             : 
+     244         105 :     case STARTED_STATE: {
+     245             : 
+     246         105 :       ROS_INFO_THROTTLE(1.0, "[%s]: %s convergence of LKF", getPrintName().c_str(), Support::waiting_for_string.c_str());
+     247             : 
+     248         105 :       if (est_lat_->isRunning() && est_alt_->isRunning() && est_hdg_->isRunning()) {
+     249          84 :         ROS_INFO_THROTTLE(1.0, "[%s]: Subestimators converged", getPrintName().c_str());
+     250          84 :         changeState(RUNNING_STATE);
+     251             :       } else {
+     252          21 :         return;
+     253             :       }
+     254          84 :       break;
+     255             :     }
+     256             : 
+     257      163099 :     case RUNNING_STATE: {
+     258      163099 :       if (est_lat_->isError() || est_alt_->isError() || est_hdg_->isError()) {
+     259           0 :         changeState(ERROR_STATE);
+     260             :       }
+     261      163084 :       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      169807 :   if (!isRunning() && !isStarted()) {
+     277        6655 :     return;
+     278             :   }
+     279             : 
+     280      163160 :   updateUavState();
+     281             : 
+     282      163116 :   publishUavState();
+     283      163192 :   publishOdom();
+     284      163193 :   publishCovariance();
+     285      163193 :   publishInnovation();
+     286      163193 :   publishDiagnostics();
+     287             : }
+     288             : /*//}*/
+     289             : 
+     290             : /*//{ timerCheckHealth() */
+     291           0 : void StateGeneric::timerCheckHealth([[maybe_unused]] 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      172719 : void StateGeneric::timerPubAttitude([[maybe_unused]] const ros::TimerEvent &event) {
+     366             : 
+     367      172719 :   if (!isInitialized()) {
+     368        3087 :     return;
+     369             :   }
+     370             : 
+     371      344294 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerPubAttitude", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     372             : 
+     373      172131 :   if (!sh_hw_api_orient_.hasMsg()) {
+     374        1451 :     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        1451 :     return;
+     376             :   }
+     377             : 
+     378      170685 :   if (!est_hdg_->isRunning() && !isError()) {
+     379        1071 :     ROS_WARN_THROTTLE(1.0, "[%s]: cannot publish attitude, heading estimator is not running", getPrintName().c_str());
+     380        1071 :     return;
+     381             :   }
+     382             : 
+     383      169620 :   scope_timer.checkpoint("checks");
+     384             : 
+     385      169610 :   const ros::Time time_now = ros::Time::now();
+     386             : 
+     387      169634 :   geometry_msgs::QuaternionStamped att;
+     388      169611 :   att.header.stamp    = time_now;
+     389      169611 :   att.header.frame_id = ns_frame_id_ + "_att_only";
+     390             : 
+     391             :   double hdg;
+     392      169572 :   if (isError()) {
+     393           0 :     hdg = est_hdg_->getLastValidHdg();
+     394             :   } else {
+     395      169598 :     hdg = est_hdg_->getState(POSITION);
+     396             :   }
+     397             : 
+     398      169588 :   auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     399      169466 :   if (res) {
+     400      169575 :     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      169349 :   scope_timer.checkpoint("rotate");
+     407             : 
+     408      169566 :   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      169503 :   scope_timer.checkpoint("nan check");
+     414             : 
+     415      169453 :   ph_attitude_.publish(att);
+     416      169634 :   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      163169 : void StateGeneric::updateUavState() {
+     432             : 
+     433      163169 :   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      163161 :   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      326345 :   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::updateUavState", ch_->scope_timer.logger, ch_->scope_timer.enabled);
+     443             : 
+     444      163169 :   const ros::Time time_now = ros::Time::now();
+     445             : 
+     446      163192 :   mrs_msgs::UavState uav_state = uav_state_init_;
+     447      163186 :   uav_state.header.stamp       = time_now;
+     448             : 
+     449             :   // do not rotate orientation if passthrough hdg
+     450      163186 :   if (est_hdg_name_ == "hdg_passthrough") {
+     451           0 :     uav_state.pose.orientation = sh_hw_api_orient_.getMsg()->quaternion;
+     452             :   } else {
+     453             :     double hdg;
+     454      163173 :     if (isError()) {
+     455           0 :       hdg = est_hdg_->getLastValidHdg();
+     456             :     } else {
+     457      163168 :       hdg = est_hdg_->getState(POSITION);
+     458             :     }
+     459             : 
+     460      163144 :     auto res = rotateQuaternionByHeading(sh_hw_api_orient_.getMsg()->quaternion, hdg);
+     461      163040 :     if (res) {
+     462      163141 :       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      163023 :   scope_timer.checkpoint("rotate orientation");
+     470             : 
+     471      163138 :   uav_state.velocity.angular = sh_hw_api_ang_vel_.getMsg()->vector;
+     472             : 
+     473      163043 :   uav_state.pose.position.x = est_lat_->getState(POSITION, AXIS_X);
+     474      163163 :   uav_state.pose.position.y = est_lat_->getState(POSITION, AXIS_Y);
+     475      163138 :   uav_state.pose.position.z = est_alt_->getState(POSITION);
+     476             : 
+     477      163111 :   uav_state.velocity.linear.x = est_lat_->getState(VELOCITY, AXIS_X);  // in global frame
+     478      163128 :   uav_state.velocity.linear.y = est_lat_->getState(VELOCITY, AXIS_Y);  // in global frame
+     479      163146 :   uav_state.velocity.linear.z = est_alt_->getState(VELOCITY);          // in global frame
+     480             : 
+     481      163131 :   uav_state.acceleration.linear.x = est_lat_->getState(ACCELERATION, AXIS_X);  // in global frame
+     482      163157 :   uav_state.acceleration.linear.y = est_lat_->getState(ACCELERATION, AXIS_Y);  // in global frame
+     483      163149 :   uav_state.acceleration.linear.z = est_alt_->getState(ACCELERATION);          // in global frame
+     484             : 
+     485      163117 :   scope_timer.checkpoint("fill uav state");
+     486             : 
+     487      326244 :   const nav_msgs::Odometry odom = Support::uavStateToOdom(uav_state);
+     488      163175 :   scope_timer.checkpoint("uav state to odom");
+     489             : 
+     490      326246 :   nav_msgs::Odometry innovation = innovation_init_;
+     491      163156 :   innovation.header.stamp       = time_now;
+     492             : 
+     493      163156 :   innovation.pose.pose.position.x = est_lat_->getInnovation(POSITION, AXIS_X);
+     494      163061 :   innovation.pose.pose.position.y = est_lat_->getInnovation(POSITION, AXIS_Y);
+     495      163080 :   innovation.pose.pose.position.z = est_alt_->getInnovation(POSITION);
+     496             : 
+     497      163082 :   is_mitigating_jump_ = est_alt_->isMitigatingJump() || est_lat_->isMitigatingJump() || est_hdg_->isMitigatingJump();
+     498             : 
+     499      163158 :   scope_timer.checkpoint("innovation");
+     500             : 
+     501      326167 :   mrs_msgs::Float64ArrayStamped pose_covariance, twist_covariance;
+     502      162988 :   pose_covariance.header.stamp  = time_now;
+     503      162988 :   twist_covariance.header.stamp = time_now;
+     504             : 
+     505      162988 :   const int n_states = 6;  // TODO this should be defined somewhere else
+     506      162988 :   pose_covariance.values.resize(n_states * n_states);
+     507      163079 :   pose_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(POSITION, AXIS_X);
+     508      163051 :   pose_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(POSITION, AXIS_Y);
+     509      163083 :   pose_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(POSITION);
+     510             : 
+     511      162924 :   twist_covariance.values.resize(n_states * n_states);
+     512      163085 :   twist_covariance.values.at(n_states * AXIS_X + AXIS_X) = est_lat_->getCovariance(VELOCITY, AXIS_X);
+     513      163109 :   twist_covariance.values.at(n_states * AXIS_Y + AXIS_Y) = est_lat_->getCovariance(VELOCITY, AXIS_Y);
+     514      163111 :   twist_covariance.values.at(n_states * AXIS_Z + AXIS_Z) = est_alt_->getCovariance(VELOCITY);
+     515             : 
+     516      163110 :   scope_timer.checkpoint("covariance");
+     517             : 
+     518      163058 :   mrs_lib::set_mutexed(mtx_uav_state_, uav_state, uav_state_);
+     519      163068 :   mrs_lib::set_mutexed(mtx_odom_, odom, odom_);
+     520      163000 :   mrs_lib::set_mutexed(mtx_innovation_, innovation, innovation_);
+     521      163126 :   mrs_lib::set_mutexed(mtx_covariance_, pose_covariance, pose_covariance_);
+     522      163050 :   mrs_lib::set_mutexed(mtx_covariance_, twist_covariance, twist_covariance_);
+     523             : }
+     524             : /*//}*/
+     525             : 
+     526             : /*//{ getHeading() */
+     527      257420 : std::optional<double> StateGeneric::getHeading() const {
+     528      257420 :   if (!est_hdg_->isRunning()) {
+     529         138 :     return {};
+     530             :   }
+     531      257264 :   return est_hdg_->getState(POSITION);
+     532             : }
+     533             : /*//}*/
+     534             : 
+     535             : /*//{ setUavState() */
+     536           0 : bool StateGeneric::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
+     537             : 
+     538           0 :   if (!isInState(STOPPED_STATE)) {
+     539           0 :     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());
+     540           0 :     return false;
+     541             :   }
+     542             : 
+     543           0 :   ROS_WARN("[%s]: Setting the state of this estimator is not implemented.", getPrintName().c_str());
+     544           0 :   return false;
+     545             : }
+     546             : /*//}*/
+     547             : 
+     548             : }  // namespace mrs_uav_state_estimators
+     549             : 
+
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::joy_tracker::JoyTracker::resetStatic()0
mrs_uav_trackers::joy_tracker::JoyTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()18
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_trackers::joy_tracker::JoyTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-02-24 08:13:25Functions: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()81
mrs_uav_trackers::joy_tracker::JoyTracker::deactivate()18
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>)81
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&)258
mrs_uav_trackers::joy_tracker::JoyTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_trackers::joy_tracker::JoyTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::joy_tracker::JoyTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
mrs_uav_trackers::joy_tracker::JoyTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
mrs_uav_trackers::joy_tracker::JoyTracker::getStatus()0
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Generated by: LCOV version 1.14
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/joy_tracker - joy_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:6614246.5 %
Date:2024-02-24 08:13:25Functions:71838.9 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <nav_msgs/Odometry.h>
+       9             : #include <sensor_msgs/Joy.h>
+      10             : 
+      11             : #include <mrs_lib/profiler.h>
+      12             : #include <mrs_lib/mutex.h>
+      13             : #include <mrs_lib/attitude_converter.h>
+      14             : #include <mrs_lib/subscribe_handler.h>
+      15             : #include <mrs_lib/geometry/cyclic.h>
+      16             : 
+      17             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      18             : 
+      19             : //}
+      20             : 
+      21             : /* defines //{ */
+      22             : 
+      23             : #define STOP_THR 1e-3
+      24             : 
+      25             : //}
+      26             : 
+      27             : /* using //{ */
+      28             : 
+      29             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      30             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      31             : 
+      32             : using radians  = mrs_lib::geometry::radians;
+      33             : using sradians = mrs_lib::geometry::sradians;
+      34             : 
+      35             : //}
+      36             : 
+      37             : namespace mrs_uav_trackers
+      38             : {
+      39             : 
+      40             : namespace joy_tracker
+      41             : {
+      42             : 
+      43             : /* //{ class JoyTracker */
+      44             : 
+      45             : class JoyTracker : public mrs_uav_managers::Tracker {
+      46             : public:
+      47             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      48             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      49             : 
+      50             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      51             :   void                          deactivate(void);
+      52             :   bool                          resetStatic(void);
+      53             : 
+      54             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      55             :   const mrs_msgs::TrackerStatus             getStatus();
+      56             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      57             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      58             : 
+      59             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      60             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      61             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      62             : 
+      63             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      64             : 
+      65             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      66             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      67             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      68             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      69             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      70             : 
+      71             : private:
+      72             :   ros::NodeHandle nh_;
+      73             : 
+      74             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      75             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      76             : 
+      77             :   bool callbacks_enabled_ = true;
+      78             : 
+      79             :   std::string _uav_name_;
+      80             : 
+      81             :   bool is_initialized_ = false;
+      82             :   bool is_active_      = false;
+      83             : 
+      84             :   ros::Time last_update;
+      85             : 
+      86             :   // | ------------------------ uav state ----------------------- |
+      87             : 
+      88             :   mrs_msgs::UavState uav_state_;
+      89             :   bool               got_uav_state_ = false;
+      90             :   std::mutex         mutex_uav_state_;
+      91             : 
+      92             :   // | ------------------ dynamics constraints ------------------ |
+      93             : 
+      94             :   double     _heading_rate_;
+      95             :   std::mutex mutex_constraints_;
+      96             : 
+      97             :   // | ------------------ tracker's inner state ----------------- |
+      98             : 
+      99             :   double     state_z_;
+     100             :   double     state_heading_;
+     101             :   std::mutex mutex_state_;
+     102             : 
+     103             :   // | ------------------- joystick subscriber ------------------ |
+     104             : 
+     105             :   mrs_lib::SubscribeHandler<sensor_msgs::Joy> sh_joystick_;
+     106             : 
+     107             :   double _max_tilt_;
+     108             :   double _vertical_speed_;
+     109             : 
+     110             :   // channel numbers and channel multipliers
+     111             :   int    _channel_pitch_;
+     112             :   int    _channel_roll_;
+     113             :   int    _channel_heading_;
+     114             :   int    _channel_throttle_;
+     115             :   double _channel_mult_pitch_;
+     116             :   double _channel_mult_roll_;
+     117             :   double _channel_mult_heading_;
+     118             :   double _channel_mult_throttle_;
+     119             : 
+     120             :   // | ------------------------ profiler ------------------------ |
+     121             : 
+     122             :   mrs_lib::Profiler profiler_;
+     123             :   bool              _profiler_enabled_ = false;
+     124             : };
+     125             : 
+     126             : //}
+     127             : 
+     128             : // | -------------- tracker's interface routines -------------- |
+     129             : 
+     130             : /* //{ initialize() */
+     131             : 
+     132          81 : 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          81 :   this->common_handlers_  = common_handlers;
+     136          81 :   this->private_handlers_ = private_handlers;
+     137             : 
+     138          81 :   _uav_name_ = common_handlers->uav_name;
+     139             : 
+     140          81 :   nh_ = nh;
+     141             : 
+     142          81 :   ros::Time::waitForValid();
+     143             : 
+     144             :   // --------------------------------------------------------------
+     145             :   // |                     loading parameters                     |
+     146             :   // --------------------------------------------------------------
+     147             : 
+     148             :   // | ---------- loading params using the parent's nh ---------- |
+     149             : 
+     150         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     151             : 
+     152          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     153             : 
+     154          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/joy_tracker.yaml");
+     162          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/joy_tracker.yaml");
+     163             : 
+     164         162 :   const std::string yaml_prefix = "mrs_uav_trackers/joy_tracker/";
+     165             : 
+     166          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     167             : 
+     168          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_tilt", _max_tilt_);
+     169             : 
+     170          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     171             : 
+     172             :   // load channels
+     173          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/pitch", _channel_pitch_);
+     174          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/roll", _channel_roll_);
+     175          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/heading", _channel_heading_);
+     176          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channels/throttle", _channel_throttle_);
+     177             : 
+     178             :   // load channel multipliers
+     179          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/pitch", _channel_mult_pitch_);
+     180          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/roll", _channel_mult_roll_);
+     181          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/heading", _channel_mult_heading_);
+     182          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "channel_multipliers/throttle", _channel_mult_throttle_);
+     183             : 
+     184          81 :   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          81 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "JoyTracker", _profiler_enabled_);
+     192             : 
+     193             :   // | ----------------------- subscribers ---------------------- |
+     194             : 
+     195          81 :   mrs_lib::SubscribeHandlerOptions shopts;
+     196          81 :   shopts.nh              = nh_;
+     197          81 :   shopts.node_name       = "JoyTracker";
+     198          81 :   shopts.queue_size      = 1;
+     199          81 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     200             : 
+     201          81 :   sh_joystick_ = mrs_lib::SubscribeHandler<sensor_msgs::Joy>(shopts, "joystick");
+     202             : 
+     203             :   // | --------------------- finish the init -------------------- |
+     204             : 
+     205          81 :   last_update = ros::Time(0);
+     206             : 
+     207          81 :   is_initialized_ = true;
+     208             : 
+     209          81 :   ROS_INFO("[JoyTracker]: initialized");
+     210             : 
+     211          81 :   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          18 : void JoyTracker::deactivate(void) {
+     277             : 
+     278          18 :   is_active_ = false;
+     279             : 
+     280          18 :   ROS_INFO("[JoyTracker]: deactivated");
+     281          18 : }
+     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      112063 : 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      336189 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     300      336189 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("JoyTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     301             : 
+     302             :   {
+     303      112063 :     std::scoped_lock lock(mutex_uav_state_);
+     304             : 
+     305      112063 :     uav_state_ = uav_state;
+     306             : 
+     307      112063 :     got_uav_state_ = true;
+     308             :   }
+     309             : 
+     310      112063 :   double dt = (ros::Time::now() - last_update).toSec();
+     311             : 
+     312      112063 :   last_update = ros::Time::now();
+     313             : 
+     314             :   // up to this part the update() method is evaluated even when the tracker is not active
+     315      112063 :   if (!is_active_) {
+     316      112063 :     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         279 : const std_srvs::SetBoolResponse::ConstPtr JoyTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     388             : 
+     389         558 :   std_srvs::SetBoolResponse res;
+     390         558 :   std::stringstream         ss;
+     391             : 
+     392         279 :   if (cmd->data != callbacks_enabled_) {
+     393             : 
+     394          15 :     callbacks_enabled_ = cmd->data;
+     395             : 
+     396          15 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     397          15 :     ROS_INFO_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     398             : 
+     399             :   } else {
+     400             : 
+     401         264 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     402         264 :     ROS_WARN_STREAM_THROTTLE(1.0, "[JoyTracker]: " << ss.str());
+     403             :   }
+     404             : 
+     405         279 :   res.message = ss.str();
+     406         279 :   res.success = true;
+     407             : 
+     408         558 :   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         258 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr JoyTracker::setConstraints([
+     465             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     466             : 
+     467         258 :   return mrs_msgs::DynamicsConstraintsSrvResponse::Ptr();
+     468             : }
+     469             : 
+     470             : //}
+     471             : 
+     472             : /* //{ setReference() */
+     473             : 
+     474           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr JoyTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     475             : 
+     476           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     477             : }
+     478             : 
+     479             : //}
+     480             : 
+     481             : /* //{ setVelocityReference() */
+     482             : 
+     483           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr JoyTracker::setVelocityReference([
+     484             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     485           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     486             : }
+     487             : 
+     488             : //}
+     489             : 
+     490             : /* //{ setTrajectoryReference() */
+     491             : 
+     492           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr JoyTracker::setTrajectoryReference([
+     493             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     494           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     495             : }
+     496             : 
+     497             : //}
+     498             : 
+     499             : }  // namespace joy_tracker
+     500             : 
+     501             : }  // namespace mrs_uav_trackers
+     502             : 
+     503             : #include <pluginlib/class_list_macros.h>
+     504          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::joy_tracker::JoyTracker, mrs_uav_managers::Tracker)
+
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::landoff_tracker::LandoffTracker::resetStatic()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVertical()0
mrs_uav_trackers::landoff_tracker::LandoffTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackLand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackELand(std_srvs::TriggerRequest_<std::allocator<void> >&, std_srvs::TriggerResponse_<std::allocator<void> >&)7
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)19
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)37
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()53
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)128
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateHorizontal(mrs_uav_trackers::landoff_tracker::States_t)158
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)196
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()645
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontalMotion()645
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()1972
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4256
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()14059
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()18315
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)20877
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
+
+
+ + + +
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..9668c7724b --- /dev/null +++ b/mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp.func.html @@ -0,0 +1,204 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/landoff_tracker/landoff_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/landoff_tracker - landoff_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:43359273.1 %
Date:2024-02-24 08:13:25Functions:213167.7 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()81
mrs_uav_trackers::landoff_tracker::LandoffTracker::deactivate()53
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>)81
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeState(mrs_uav_trackers::landoff_tracker::States_t)128
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> >&)7
mrs_uav_trackers::landoff_tracker::LandoffTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopHorizontal()18315
mrs_uav_trackers::landoff_tracker::LandoffTracker::callbackTakeoff(mrs_msgs::Vec1Request_<std::allocator<void> >&, mrs_msgs::Vec1Response_<std::allocator<void> >&)19
mrs_uav_trackers::landoff_tracker::LandoffTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_trackers::landoff_tracker::LandoffTracker::accelerateVertical()14059
mrs_uav_trackers::landoff_tracker::LandoffTracker::decelerateVertical()4256
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopVerticalMotion()645
mrs_uav_trackers::landoff_tracker::LandoffTracker::changeStateVertical(mrs_uav_trackers::landoff_tracker::States_t)196
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()645
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)158
mrs_uav_trackers::landoff_tracker::LandoffTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::landoff_tracker::LandoffTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::landoff_tracker::LandoffTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
mrs_uav_trackers::landoff_tracker::LandoffTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)37
mrs_uav_trackers::landoff_tracker::LandoffTracker::getStatus()1972
mrs_uav_trackers::landoff_tracker::LandoffTracker::timerMain(ros::TimerEvent const&)20877
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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..002221dd20 --- /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:43359273.1 %
Date:2024-02-24 08:13:25Functions: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          81 : 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          81 :   this->common_handlers_  = common_handlers;
+     215          81 :   this->private_handlers_ = private_handlers;
+     216             : 
+     217          81 :   _uav_name_ = common_handlers->uav_name;
+     218             : 
+     219          81 :   nh_ = nh;
+     220             : 
+     221          81 :   ros::Time::waitForValid();
+     222             : 
+     223             :   // --------------------------------------------------------------
+     224             :   // |                     loading parameters                     |
+     225             :   // --------------------------------------------------------------
+     226             : 
+     227             :   // | ---------- loading params using the parent's nh ---------- |
+     228             : 
+     229         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     230             : 
+     231          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     232             : 
+     233          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/landoff_tracker.yaml");
+     241          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/landoff_tracker.yaml");
+     242             : 
+     243         162 :   const std::string yaml_prefix = "mrs_uav_trackers/landoff_tracker/";
+     244             : 
+     245          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_speed", _horizontal_speed_);
+     246          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "horizontal_tracker/horizontal_acceleration", _horizontal_acceleration_);
+     247             : 
+     248          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_speed", _vertical_speed_);
+     249          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/vertical_acceleration", _vertical_acceleration_);
+     250             : 
+     251          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_speed", _takeoff_speed_);
+     252          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/takeoff_acceleration", _takeoff_acceleration_);
+     253             : 
+     254          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_speed", _landing_speed_);
+     255          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/landing_acceleration", _landing_acceleration_);
+     256             : 
+     257          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_speed", _elanding_speed_);
+     258          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "vertical_tracker/elanding_acceleration", _elanding_acceleration_);
+     259             : 
+     260          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_rate", _heading_rate_);
+     261          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "heading_tracker/heading_gain", _heading_gain_);
+     262             : 
+     263          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "main_timer_rate", _main_timer_rate_);
+     264             : 
+     265          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "landing_reference", _landing_reference_);
+     266             : 
+     267          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "max_position_difference", _max_position_difference_);
+     268             : 
+     269          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains", _takeoff_disable_lateral_gains_);
+     270          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "takeoff_disable_lateral_gains_z", _takeoff_disable_lateral_gains_z_);
+     271             : 
+     272          81 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     273           0 :     ROS_ERROR("[LandoffTracker]: Could not load all parameters!");
+     274           0 :     return false;
+     275             :   }
+     276             : 
+     277          81 :   _tracker_dt_ = 1.0 / double(_main_timer_rate_);
+     278             : 
+     279          81 :   ROS_INFO("[LandoffTracker]: tracker_dt: %f", _tracker_dt_);
+     280             : 
+     281          81 :   state_x_       = 0;
+     282          81 :   state_y_       = 0;
+     283          81 :   state_z_       = 0;
+     284          81 :   state_heading_ = 0;
+     285             : 
+     286          81 :   speed_x_       = 0;
+     287          81 :   speed_y_       = 0;
+     288          81 :   speed_heading_ = 0;
+     289             : 
+     290          81 :   current_horizontal_speed_ = 0;
+     291          81 :   current_vertical_speed_   = 0;
+     292             : 
+     293          81 :   current_horizontal_acceleration_ = 0;
+     294          81 :   current_vertical_acceleration_   = 0;
+     295             : 
+     296          81 :   current_vertical_direction_ = 0;
+     297             : 
+     298          81 :   current_state_vertical_  = LANDED_STATE;
+     299          81 :   previous_state_vertical_ = LANDED_STATE;
+     300             : 
+     301          81 :   current_state_horizontal_  = LANDED_STATE;
+     302          81 :   previous_state_horizontal_ = LANDED_STATE;
+     303             : 
+     304             :   // | ------------------------ profiler ------------------------ |
+     305             : 
+     306          81 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "LandoffTracker", _profiler_enabled_);
+     307             : 
+     308             :   // | ------------------------ services ------------------------ |
+     309             : 
+     310          81 :   service_takeoff_ = nh_.advertiseService("takeoff", &LandoffTracker::callbackTakeoff, this);
+     311          81 :   service_land_    = nh_.advertiseService("land", &LandoffTracker::callbackLand, this);
+     312          81 :   service_eland_   = nh_.advertiseService("eland", &LandoffTracker::callbackELand, this);
+     313             : 
+     314             :   // | ------------------------- timers ------------------------- |
+     315             : 
+     316          81 :   timer_main_ = nh_.createTimer(ros::Rate(_main_timer_rate_), &LandoffTracker::timerMain, this, false, false);
+     317             : 
+     318             :   // | ----------------------- finish init ---------------------- |
+     319             : 
+     320          81 :   is_initialized_ = true;
+     321             : 
+     322          81 :   ROS_INFO("[LandoffTracker]: initialized");
+     323             : 
+     324          81 :   return true;
+     325             : }
+     326             : 
+     327             : //}
+     328             : 
+     329             : /* //{ activate() */
+     330             : 
+     331          37 : std::tuple<bool, std::string> LandoffTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     332             : 
+     333          74 :   std::stringstream ss;
+     334             : 
+     335          37 :   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          74 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     344             : 
+     345             :   double uav_heading;
+     346             : 
+     347             :   try {
+     348          37 :     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          74 :     std::scoped_lock lock(mutex_goal_);
+     363             : 
+     364             :     // the last command is usable
+     365          37 :     state_x_       = uav_state.pose.position.x;
+     366          37 :     state_y_       = uav_state.pose.position.y;
+     367          37 :     state_z_       = uav_state.pose.position.z;
+     368          37 :     state_heading_ = uav_heading;
+     369             : 
+     370          37 :     speed_x_         = uav_state.velocity.linear.x;
+     371          37 :     speed_y_         = uav_state.velocity.linear.y;
+     372          37 :     current_heading_ = atan2(speed_y_, speed_x_);
+     373             : 
+     374          37 :     current_horizontal_speed_ = sqrt(pow(speed_x_, 2) + pow(speed_y_, 2));
+     375             : 
+     376          37 :     current_vertical_speed_     = fabs(uav_state.velocity.linear.z);
+     377          37 :     current_vertical_direction_ = uav_state.velocity.linear.z > 0 ? +1 : -1;
+     378             : 
+     379          37 :     current_horizontal_acceleration_ = 0;
+     380          37 :     current_vertical_acceleration_   = 0;
+     381             : 
+     382          37 :     goal_heading_ = uav_heading;
+     383             : 
+     384          37 :     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          37 :     std::scoped_lock lock(mutex_state_);
+     395             : 
+     396          37 :     horizontal_t_stop    = current_horizontal_speed_ / _horizontal_acceleration_;
+     397          37 :     horizontal_stop_dist = (horizontal_t_stop * current_horizontal_speed_) / 2.0;
+     398          37 :     stop_dist_x          = cos(current_heading_) * horizontal_stop_dist;
+     399          37 :     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          37 :     std::scoped_lock lock(mutex_state_);
+     410             : 
+     411          37 :     vertical_t_stop    = current_vertical_speed_ / _vertical_acceleration_;
+     412          37 :     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          37 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+     421             : 
+     422          37 :     goal_x_ = state_x_ + stop_dist_x;
+     423          37 :     goal_y_ = state_y_ + stop_dist_y;
+     424          37 :     goal_z_ = state_z_ + vertical_stop_dist;
+     425             :   }
+     426             : 
+     427          37 :   landing_        = false;
+     428          37 :   taking_off_     = false;
+     429          37 :   is_active_      = true;
+     430          37 :   have_goal_      = false;
+     431          37 :   cause_failsafe_ = false;
+     432             : 
+     433          37 :   timer_main_.start();
+     434             : 
+     435             :   {
+     436          74 :     std::scoped_lock lock(mutex_goal_);
+     437             : 
+     438          37 :     ROS_INFO("[LandoffTracker]: stopping goal: x: %.2f, y: %.2f, z: %.2f, heading: %.2f", goal_x_, goal_y_, goal_z_, goal_heading_);
+     439             :   }
+     440             : 
+     441          37 :   changeState(STOP_MOTION_STATE);
+     442             : 
+     443          37 :   ss << "activated";
+     444          37 :   ROS_INFO_STREAM("[LandoffTracker]: " << ss.str());
+     445             : 
+     446          37 :   return std::tuple(true, ss.str());
+     447             : }
+     448             : 
+     449             : //}
+     450             : 
+     451             : /* //{ deactivate() */
+     452             : 
+     453          53 : void LandoffTracker::deactivate(void) {
+     454             : 
+     455          53 :   is_active_                = false;
+     456          53 :   landing_                  = false;
+     457          53 :   taking_off_               = false;
+     458          53 :   current_state_vertical_   = IDLE_STATE;
+     459          53 :   current_state_horizontal_ = IDLE_STATE;
+     460             : 
+     461          53 :   timer_main_.stop();
+     462             : 
+     463          53 :   ROS_INFO("[LandoffTracker]: deactivated");
+     464          53 : }
+     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      112063 : 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      336189 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     483      336189 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     484             : 
+     485             :   {
+     486      112063 :     std::scoped_lock lock(mutex_uav_state_);
+     487             : 
+     488      112063 :     uav_state_ = uav_state;
+     489             : 
+     490      112063 :     got_uav_state_ = true;
+     491             :   }
+     492             : 
+     493             :   // up to this part the update() method is evaluated even when the tracker is not active
+     494      112063 :   if (!is_active_ || cause_failsafe_) {
+     495       96393 :     return {};
+     496             :   }
+     497             : 
+     498       15670 :   position_output_.header.stamp    = ros::Time::now();
+     499       15670 :   position_output_.header.frame_id = uav_state_.header.frame_id;
+     500             : 
+     501             :   {
+     502       15670 :     std::scoped_lock lock(mutex_state_);
+     503             : 
+     504       15670 :     position_output_.position.x = state_x_;
+     505       15670 :     position_output_.position.y = state_y_;
+     506       15670 :     position_output_.position.z = state_z_;
+     507       15670 :     position_output_.heading    = state_heading_;
+     508             : 
+     509       15670 :     position_output_.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     510       15670 :     position_output_.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     511       15670 :     position_output_.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     512       15670 :     position_output_.heading_rate = speed_heading_;
+     513             : 
+     514       15670 :     position_output_.use_position_vertical   = 1;
+     515       15670 :     position_output_.use_position_horizontal = 1;
+     516       15670 :     position_output_.use_heading             = 1;
+     517       15670 :     position_output_.use_heading_rate        = 1;
+     518       15670 :     position_output_.use_velocity_vertical   = 1;
+     519       15670 :     position_output_.use_velocity_horizontal = 1;
+     520             :   }
+     521             : 
+     522             :   {
+     523       31340 :     std::scoped_lock lock(mutex_last_control_output_);
+     524             : 
+     525       15670 :     last_control_output_ = last_control_output;
+     526             :   }
+     527             : 
+     528       15670 :   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       15670 :     position_output_.disable_position_gains = false;
+     532             :   }
+     533             : 
+     534       15670 :   if (taking_off_) {
+     535        8432 :     position_output_.disable_antiwindups = true;
+     536             :   } else {
+     537        7238 :     position_output_.disable_antiwindups = false;
+     538             :   }
+     539             : 
+     540       15670 :   return {position_output_};
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* //{ getStatus() */
+     546             : 
+     547        1972 : const mrs_msgs::TrackerStatus LandoffTracker::getStatus() {
+     548             : 
+     549        1972 :   mrs_msgs::TrackerStatus tracker_status;
+     550             : 
+     551        1972 :   tracker_status.active            = is_active_;
+     552        1972 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     553             : 
+     554        1972 :   bool hovering = current_state_vertical_ == HOVER_STATE && current_state_horizontal_ == HOVER_STATE;
+     555        1972 :   bool idling   = current_state_vertical_ == IDLE_STATE && current_state_horizontal_ == IDLE_STATE;
+     556             : 
+     557        1972 :   tracker_status.have_goal = landing_ || taking_off_ || !(hovering || idling);
+     558             : 
+     559        1972 :   tracker_status.tracking_trajectory = false;
+     560             : 
+     561        1972 :   return tracker_status;
+     562             : }
+     563             : 
+     564             : //}
+     565             : 
+     566             : /* //{ enableCallbacks() */
+     567             : 
+     568         279 : const std_srvs::SetBoolResponse::ConstPtr LandoffTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+     569             : 
+     570         558 :   std_srvs::SetBoolResponse res;
+     571         558 :   std::stringstream         ss;
+     572             : 
+     573         279 :   if (cmd->data != callbacks_enabled_) {
+     574             : 
+     575          15 :     callbacks_enabled_ = cmd->data;
+     576             : 
+     577          15 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     578          15 :     ROS_INFO_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     579             : 
+     580             :   } else {
+     581             : 
+     582         264 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     583         264 :     ROS_WARN_STREAM_THROTTLE(1.0, "[LandoffTrakcer]: " << ss.str());
+     584             :   }
+     585             : 
+     586         279 :   res.message = ss.str();
+     587         279 :   res.success = true;
+     588             : 
+     589         558 :   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         258 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr LandoffTracker::setConstraints([
+     755             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd) {
+     756             : 
+     757             : 
+     758         258 :   mrs_lib::set_mutexed(mutex_constraints_, cmd->constraints, constraints_);
+     759             : 
+     760         258 :   ROS_INFO("[LandoffTracker]: updating constraints");
+     761             : 
+     762         516 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     763         258 :   res.success = true;
+     764         258 :   res.message = "constraints updated";
+     765             : 
+     766         516 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     767             : }
+     768             : 
+     769             : //}
+     770             : 
+     771             : /* //{ setReference() */
+     772             : 
+     773           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr LandoffTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+     774             : 
+     775           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     776             : }
+     777             : 
+     778             : //}
+     779             : 
+     780             : /* //{ setVelocityReference() */
+     781             : 
+     782           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr LandoffTracker::setVelocityReference([
+     783             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+     784           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     785             : }
+     786             : 
+     787             : //}
+     788             : 
+     789             : /* //{ setTrajectoryReference() */
+     790             : 
+     791           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr LandoffTracker::setTrajectoryReference([
+     792             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+     793           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     794             : }
+     795             : 
+     796             : //}
+     797             : 
+     798             : // | ----------------- state machine routines ----------------- |
+     799             : 
+     800             : /* //{ changeStateHorizontal() */
+     801             : 
+     802         158 : void LandoffTracker::changeStateHorizontal(States_t new_state) {
+     803             : 
+     804         158 :   previous_state_horizontal_ = current_state_horizontal_;
+     805         158 :   current_state_horizontal_  = new_state;
+     806             : 
+     807         158 :   switch (current_state_horizontal_) {
+     808             : 
+     809          51 :     case STOPPING_STATE: {
+     810             : 
+     811         102 :       std::scoped_lock lock(mutex_state_);
+     812          51 :       current_horizontal_speed_ = 0;
+     813             : 
+     814          51 :       break;
+     815             :     };
+     816             : 
+     817         107 :     default: {
+     818             : 
+     819         107 :       break;
+     820             :     }
+     821             :   }
+     822             : 
+     823         158 :   ROS_INFO("[LandoffTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     824         158 : }
+     825             : 
+     826             : //}
+     827             : 
+     828             : /* //{ changeStateVertical() */
+     829             : 
+     830         196 : void LandoffTracker::changeStateVertical(States_t new_state) {
+     831             : 
+     832         196 :   previous_state_vertical_ = current_state_vertical_;
+     833         196 :   current_state_vertical_  = new_state;
+     834             : 
+     835         196 :   switch (current_state_vertical_) {
+     836             : 
+     837          40 :     case HOVER_STATE: {
+     838          40 :       taking_off_ = false;
+     839          40 :       break;
+     840             :     }
+     841             : 
+     842         156 :     default: {
+     843         156 :       break;
+     844             :     }
+     845             :   }
+     846             : 
+     847         196 :   ROS_INFO("[LandoffTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     848         196 : }
+     849             : 
+     850             : //}
+     851             : 
+     852             : /* //{ changeState() */
+     853             : 
+     854         128 : void LandoffTracker::changeState(States_t new_state) {
+     855             : 
+     856         128 :   changeStateVertical(new_state);
+     857         128 :   changeStateHorizontal(new_state);
+     858         128 : }
+     859             : 
+     860             : //}
+     861             : 
+     862             : // | --------------------- motion routines -------------------- |
+     863             : 
+     864             : /* //{ stopHorizontalMotion() */
+     865             : 
+     866         645 : void LandoffTracker::stopHorizontalMotion(void) {
+     867             : 
+     868             :   {
+     869        1290 :     std::scoped_lock lock(mutex_state_);
+     870             : 
+     871         645 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     872             : 
+     873         645 :     if (current_horizontal_speed_ < 0) {
+     874         345 :       current_horizontal_speed_        = 0;
+     875         345 :       current_horizontal_acceleration_ = 0;
+     876             :     } else {
+     877         300 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     878             :     }
+     879             :   }
+     880         645 : }
+     881             : 
+     882             : //}
+     883             : 
+     884             : /* //{ stopVerticalMotion() */
+     885             : 
+     886         645 : void LandoffTracker::stopVerticalMotion(void) {
+     887             : 
+     888             :   {
+     889        1290 :     std::scoped_lock lock(mutex_state_);
+     890             : 
+     891         645 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     892             : 
+     893         645 :     if (current_vertical_speed_ < 0) {
+     894          50 :       current_vertical_speed_        = 0;
+     895          50 :       current_vertical_acceleration_ = 0;
+     896             :     } else {
+     897         595 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     898             :     }
+     899             :   }
+     900         645 : }
+     901             : 
+     902             : //}
+     903             : 
+     904             : /* //{ accelerateVertical() */
+     905             : 
+     906       14059 : void LandoffTracker::accelerateVertical(void) {
+     907             : 
+     908             :   // copy member variables
+     909       14059 :   auto [current_vertical_speed, state_z] = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_, state_z_);
+     910       14059 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     911       14059 :   auto constraints                       = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     912             : 
+     913             :   double used_acceleration;
+     914             :   double used_speed;
+     915             : 
+     916       14059 :   if (taking_off_) {
+     917             : 
+     918        4256 :     used_speed        = _takeoff_speed_;
+     919        4256 :     used_acceleration = _takeoff_acceleration_;
+     920             : 
+     921        4256 :     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        4256 :     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        9803 :   } else if (landing_) {
+     932             : 
+     933        9803 :     if (elanding_) {
+     934             : 
+     935        6423 :       used_speed        = _elanding_speed_;
+     936        6423 :       used_acceleration = _elanding_acceleration_;
+     937             : 
+     938             :     } else {
+     939             : 
+     940        3380 :       used_speed        = _landing_speed_;
+     941        3380 :       used_acceleration = _landing_acceleration_;
+     942             : 
+     943        3380 :       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        3380 :       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       14059 :   double tar_z = goal_z - state_z;
+     963             : 
+     964             :   // set the right vertical direction
+     965             :   {
+     966       14059 :     std::scoped_lock lock(mutex_state_);
+     967             : 
+     968       14059 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+     969             :   }
+     970             : 
+     971       14059 :   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       14059 :   double vertical_t_stop    = current_vertical_speed / used_acceleration;
+     975       14059 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+     976       14059 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+     977             : 
+     978             :   {
+     979       28118 :     std::scoped_lock lock(mutex_state_);
+     980             : 
+     981       14059 :     current_vertical_speed_ += used_acceleration * _tracker_dt_;
+     982             : 
+     983       14059 :     if (current_vertical_speed_ >= used_speed) {
+     984        3478 :       current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     985        3478 :       current_vertical_acceleration_ = 0;
+     986             :     } else {
+     987       10581 :       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       14059 :   if (!elanding_ && !landing_) {
+     997        4256 :     if (fabs(state_z + stop_dist_z - goal_z) < (2 * (used_speed * _tracker_dt_))) {
+     998             : 
+     999             :       {
+    1000          19 :         std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002          19 :         current_vertical_acceleration_ = 0;
+    1003             :       }
+    1004             : 
+    1005          19 :       changeStateVertical(DECELERATING_STATE);
+    1006             :     }
+    1007             :   }
+    1008       14059 : }
+    1009             : 
+    1010             : //}
+    1011             : 
+    1012             : /* //{ decelerateVertical() */
+    1013             : 
+    1014        4256 : void LandoffTracker::decelerateVertical(void) {
+    1015             : 
+    1016             :   double used_acceleration;
+    1017             : 
+    1018        4256 :   if (taking_off_) {
+    1019             : 
+    1020        4256 :     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        8512 :     std::scoped_lock lock(mutex_state_);
+    1039             : 
+    1040        4256 :     current_vertical_speed_ -= used_acceleration * _tracker_dt_;
+    1041             : 
+    1042        4256 :     if (current_vertical_speed_ < 0) {
+    1043          19 :       current_vertical_speed_ = 0;
+    1044             :     } else {
+    1045        4237 :       current_vertical_acceleration_ = -used_acceleration;
+    1046             :     }
+    1047             :   }
+    1048             : 
+    1049        4256 :   auto current_vertical_speed = mrs_lib::get_mutexed(mutex_state_, current_vertical_speed_);
+    1050             : 
+    1051        4256 :   if (current_vertical_speed == 0) {
+    1052             : 
+    1053             :     {
+    1054          19 :       std::scoped_lock lock(mutex_state_);
+    1055             : 
+    1056          19 :       current_vertical_acceleration_ = 0;
+    1057             :     }
+    1058             : 
+    1059          19 :     changeStateVertical(STOPPING_STATE);
+    1060             :   }
+    1061        4256 : }
+    1062             : 
+    1063             : //}
+    1064             : 
+    1065             : /* //{ stopHorizontal() */
+    1066             : 
+    1067       18315 : void LandoffTracker::stopHorizontal(void) {
+    1068             : 
+    1069             :   {
+    1070       18315 :     std::scoped_lock lock(mutex_state_, mutex_goal_);
+    1071             : 
+    1072       18315 :     double new_state_x = 0.95 * state_x_ + 0.05 * goal_x_;
+    1073       18315 :     double new_state_y = 0.95 * state_y_ + 0.05 * goal_y_;
+    1074             : 
+    1075       18315 :     double dist_x = new_state_x - state_x_;
+    1076       18315 :     double dist_y = new_state_y - state_y_;
+    1077             : 
+    1078       18315 :     double dt = 1.0 / _main_timer_rate_;
+    1079             : 
+    1080       18315 :     if (std::abs(dist_x / dt) > 1.0) {
+    1081           0 :       dist_x = mrs_lib::signum(dist_x) * (1.0 * dt);
+    1082             :     }
+    1083             : 
+    1084       18315 :     if (std::abs(dist_y / dt) > 1.0) {
+    1085           0 :       dist_y = mrs_lib::signum(dist_y) * (1.0 * dt);
+    1086             :     }
+    1087             : 
+    1088       18315 :     state_x_ += dist_x;
+    1089       18315 :     state_y_ += dist_y;
+    1090             : 
+    1091       18315 :     current_horizontal_acceleration_ = 0;
+    1092             :   }
+    1093       18315 : }
+    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       20877 : void LandoffTracker::timerMain(const ros::TimerEvent& event) {
+    1127             : 
+    1128       20877 :   std::scoped_lock lock(mutex_main_timer_);
+    1129             : 
+    1130       20877 :   if (!is_active_) {
+    1131           0 :     return;
+    1132             :   }
+    1133             : 
+    1134             :   // copy member variables
+    1135       41754 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1136       20877 :   auto [state_x, state_y, state_z, current_horizontal_speed, current_vertical_speed, current_heading, current_vertical_direction] = mrs_lib::get_mutexed(
+    1137       20877 :       mutex_state_, state_x_, state_y_, state_z_, current_horizontal_speed_, current_vertical_speed_, current_heading_, current_vertical_direction_);
+    1138       20877 :   auto [goal_x, goal_y, goal_z] = mrs_lib::get_mutexed(mutex_goal_, goal_x_, goal_y_, goal_z_);
+    1139       41754 :   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       20877 :   uav_x = uav_state.pose.position.x;
+    1143       20877 :   uav_y = uav_state.pose.position.y;
+    1144       20877 :   uav_z = uav_state.pose.position.z;
+    1145             : 
+    1146       62631 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("main", _main_timer_rate_, 0.002, event);
+    1147       62631 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LandoffTracker::main", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1148             : 
+    1149       20877 :   bool takeoff_saturated = false;
+    1150             : 
+    1151       20877 :   if (taking_off_) {
+    1152             : 
+    1153             :     // calculate the vector
+    1154        9001 :     double err_x      = uav_x - state_x;
+    1155        9001 :     double err_y      = uav_y - state_y;
+    1156        9001 :     double err_z      = uav_z - state_z;
+    1157        9001 :     double error_size = sqrt(pow(err_x, 2) + pow(err_y, 2) + pow(err_z, 2));
+    1158             : 
+    1159        9001 :     if (error_size > _max_position_difference_) {
+    1160             : 
+    1161             :       // calculate the potential next step
+    1162          60 :       double future_state_x = state_x + cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1163          60 :       double future_state_y = state_y + sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1164          60 :       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          60 :       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          60 :         takeoff_saturated = true;
+    1172             : 
+    1173          60 :         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        9001 :     if (last_control_output.diagnostics.ramping_up) {
+    1181             : 
+    1182         429 :       ROS_INFO_THROTTLE(1.0, "[LandoffTracker]: waiting for the controller to rampup");
+    1183         429 :       takeoff_saturated = true;
+    1184             :     }
+    1185             :   }
+    1186             : 
+    1187       20877 :   if (!takeoff_saturated) {
+    1188             : 
+    1189       20388 :     switch (current_state_horizontal_) {
+    1190             : 
+    1191         645 :       case STOP_MOTION_STATE: {
+    1192             : 
+    1193         645 :         stopHorizontalMotion();
+    1194         645 :         break;
+    1195             :       }
+    1196             : 
+    1197       18315 :       case STOPPING_STATE: {
+    1198             : 
+    1199       18315 :         stopHorizontal();
+    1200       18315 :         break;
+    1201             :       }
+    1202             : 
+    1203        1428 :       default: {
+    1204             : 
+    1205        1428 :         break;
+    1206             :       }
+    1207             :     }
+    1208             : 
+    1209       20388 :     switch (current_state_vertical_) {
+    1210             : 
+    1211         645 :       case STOP_MOTION_STATE: {
+    1212             : 
+    1213         645 :         stopVerticalMotion();
+    1214         645 :         break;
+    1215             :       }
+    1216             : 
+    1217       14059 :       case ACCELERATING_STATE: {
+    1218             : 
+    1219       14059 :         accelerateVertical();
+    1220       14059 :         break;
+    1221             :       }
+    1222             : 
+    1223        4256 :       case DECELERATING_STATE: {
+    1224             : 
+    1225        4256 :         decelerateVertical();
+    1226        4256 :         break;
+    1227             :       }
+    1228             : 
+    1229           0 :       case STOPPING_STATE: {
+    1230             : 
+    1231           0 :         stopVertical();
+    1232           0 :         break;
+    1233             :       }
+    1234             : 
+    1235        1428 :       default: {
+    1236             : 
+    1237        1428 :         break;
+    1238             :       }
+    1239             :     }
+    1240             :   }
+    1241             : 
+    1242       20877 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1243         664 :     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          51 :       if (have_goal_) {
+    1250             : 
+    1251          30 :         changeStateVertical(ACCELERATING_STATE);
+    1252          30 :         changeStateHorizontal(STOPPING_STATE);
+    1253             : 
+    1254             :       } else {
+    1255             : 
+    1256          21 :         changeState(STOPPING_STATE);
+    1257             : 
+    1258             :         {
+    1259          21 :           std::scoped_lock lock(mutex_state_);
+    1260             : 
+    1261          21 :           current_horizontal_speed_ = 0;
+    1262          21 :           current_vertical_speed_   = 0;
+    1263             :         }
+    1264             :       }
+    1265             :     }
+    1266             :   }
+    1267             : 
+    1268       20877 :   if (current_state_vertical_ == STOPPING_STATE && current_state_horizontal_ == STOPPING_STATE) {
+    1269             : 
+    1270          40 :     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          40 :     } 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          40 :         std::scoped_lock lock(mutex_state_);
+    1283             : 
+    1284          40 :         if (!taking_off_) {
+    1285          21 :           state_x_ = goal_x;
+    1286          21 :           state_y_ = goal_y;
+    1287          21 :           state_z_ = goal_z;
+    1288             :         }
+    1289             : 
+    1290          40 :         current_horizontal_speed_ = 0;
+    1291          40 :         current_vertical_speed_   = 0;
+    1292             :       }
+    1293             : 
+    1294          40 :       changeState(HOVER_STATE);
+    1295             : 
+    1296          40 :       have_goal_ = false;
+    1297             :     }
+    1298             :   }
+    1299             : 
+    1300       20877 :   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       20877 :   if (!takeoff_saturated) {
+    1318             :     {
+    1319       20388 :       std::scoped_lock lock(mutex_state_);
+    1320             : 
+    1321       20388 :       state_x_ += cos(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1322       20388 :       state_y_ += sin(current_heading) * current_horizontal_speed * _tracker_dt_;
+    1323       20388 :       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       41754 :     std::scoped_lock lock(mutex_state_);
+    1334             : 
+    1335             :     double current_heading_rate;
+    1336             : 
+    1337       20877 :     if (fabs(goal_heading_ - state_heading_) > M_PI)
+    1338           0 :       current_heading_rate = -_heading_gain_ * (goal_heading_ - state_heading_);
+    1339             :     else
+    1340       20877 :       current_heading_rate = _heading_gain_ * (goal_heading_ - state_heading_);
+    1341             : 
+    1342       20877 :     if (current_heading_rate > _heading_rate_) {
+    1343           0 :       current_heading_rate = _heading_rate_;
+    1344       20877 :     } 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       20877 :     state_heading_ += current_heading_rate * _tracker_dt_;
+    1350             : 
+    1351       20877 :     if (state_heading_ > M_PI) {
+    1352           0 :       state_heading_ -= 2 * M_PI;
+    1353       20877 :     } else if (state_heading_ < -M_PI) {
+    1354           0 :       state_heading_ += 2 * M_PI;
+    1355             :     }
+    1356             : 
+    1357       20877 :     if (fabs(state_heading_ - goal_heading_) < (2 * (_heading_rate_ * _tracker_dt_))) {
+    1358       20877 :       state_heading_ = goal_heading_;
+    1359             :     }
+    1360             :   }
+    1361             : 
+    1362             :   // --------------------------------------------------------------
+    1363             :   // |                      landing setpoint                      |
+    1364             :   // --------------------------------------------------------------
+    1365             : 
+    1366       20877 :   if (landing_) {
+    1367             :     {
+    1368       10394 :       std::scoped_lock lock(mutex_goal_);
+    1369             : 
+    1370       10394 :       goal_z_ = uav_z + _landing_reference_;
+    1371             :     }
+    1372             :   }
+    1373             : }
+    1374             : 
+    1375             : //}
+    1376             : 
+    1377             : // | ------------------------ callbacks ----------------------- |
+    1378             : 
+    1379             : /* //{ callbackTakeoff() */
+    1380             : 
+    1381          19 : bool LandoffTracker::callbackTakeoff(mrs_msgs::Vec1::Request& req, mrs_msgs::Vec1::Response& res) {
+    1382             : 
+    1383          38 :   std::stringstream ss;
+    1384             : 
+    1385             :   // copy member variables
+    1386          38 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1387             : 
+    1388          19 :   double uav_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1389             : 
+    1390             :   double uav_x, uav_y, uav_z;
+    1391          19 :   uav_x = uav_state.pose.position.x;
+    1392          19 :   uav_y = uav_state.pose.position.y;
+    1393          19 :   uav_z = uav_state.pose.position.z;
+    1394             : 
+    1395          19 :   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          19 :   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          19 :   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          38 :     std::scoped_lock lock(mutex_goal_, mutex_state_);
+    1422             : 
+    1423          19 :     state_x_ = uav_x;
+    1424          19 :     goal_x_  = uav_x;
+    1425             : 
+    1426          19 :     state_y_ = uav_y;
+    1427          19 :     goal_y_  = uav_y;
+    1428             : 
+    1429          19 :     state_z_ = uav_z;
+    1430          19 :     goal_z_  = uav_z + req.goal;
+    1431             : 
+    1432          19 :     state_heading_ = uav_heading;
+    1433          19 :     goal_heading_  = uav_heading;
+    1434             : 
+    1435          19 :     speed_x_                = 0;
+    1436          19 :     speed_y_                = 0;
+    1437          19 :     current_vertical_speed_ = 0;
+    1438             : 
+    1439          19 :     have_goal_ = true;
+    1440             :   }
+    1441             : 
+    1442          19 :   ROS_INFO("[LandoffTracker]: taking off");
+    1443             : 
+    1444          19 :   taking_off_ = true;
+    1445          19 :   landing_    = false;
+    1446          19 :   elanding_   = false;
+    1447             : 
+    1448          19 :   res.success = true;
+    1449          19 :   res.message = "taking off";
+    1450             : 
+    1451          19 :   changeState(STOP_MOTION_STATE);
+    1452             : 
+    1453          19 :   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           7 : bool LandoffTracker::callbackELand([[maybe_unused]] std_srvs::Trigger::Request& req, std_srvs::Trigger::Response& res) {
+    1503             : 
+    1504          14 :   std::scoped_lock lock(mutex_main_timer_);
+    1505             : 
+    1506          14 :   std::stringstream ss;
+    1507             : 
+    1508             :   // copy member variables
+    1509          14 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1510             : 
+    1511           7 :   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           7 :     std::scoped_lock lock(mutex_goal_);
+    1526             : 
+    1527           7 :     goal_z_ = uav_state.pose.position.z + _landing_reference_;
+    1528             :   }
+    1529             : 
+    1530           7 :   ROS_WARN("[LandoffTracker]: emergency landing");
+    1531             : 
+    1532           7 :   landing_    = true;
+    1533           7 :   elanding_   = true;
+    1534           7 :   taking_off_ = false;
+    1535           7 :   have_goal_  = true;
+    1536             : 
+    1537           7 :   res.success = true;
+    1538           7 :   res.message = "elanding";
+    1539             : 
+    1540           7 :   changeState(STOP_MOTION_STATE);
+    1541             : 
+    1542           7 :   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          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::landoff_tracker::LandoffTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
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:2024-02-24 08:13:25Functions:193063.3 %
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-02-24 08:13:25Functions:193063.3 %
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Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-02-24 08:13:25Functions:193063.3 %
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67.9%67.9%
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-02-24 08:13:25Functions:193063.3 %
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Current view:top level - mrs_uav_trackers/src/line_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-02-24 08:13:25Functions:193063.3 %
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line_tracker.cpp +
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_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-02-24 08:13:25Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)1
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::getStatus()180
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()199
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()851
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1665
mrs_uav_trackers::line_tracker::LineTracker::mainTimer(ros::TimerEvent const&)2308
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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:2024-02-24 08:13:25Functions:193063.3 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
(anonymous namespace)::ProxyExec0::ProxyExec0()1
mrs_uav_trackers::line_tracker::LineTracker::deactivate()0
mrs_uav_trackers::line_tracker::LineTracker::initialize(ros::NodeHandle const&, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t>)1
mrs_uav_trackers::line_tracker::LineTracker::changeState(mrs_uav_trackers::line_tracker::States_t)6
mrs_uav_trackers::line_tracker::LineTracker::resetStatic()0
mrs_uav_trackers::line_tracker::LineTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::line_tracker::LineTracker::stopVertical()851
mrs_uav_trackers::line_tracker::LineTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)3
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontal()46
mrs_uav_trackers::line_tracker::LineTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateVertical()199
mrs_uav_trackers::line_tracker::LineTracker::decelerateVertical()100
mrs_uav_trackers::line_tracker::LineTracker::stopVerticalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::changeStateVertical(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::accelerateHorizontal()1004
mrs_uav_trackers::line_tracker::LineTracker::decelerateHorizontal()100
mrs_uav_trackers::line_tracker::LineTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopHorizontalMotion()2
mrs_uav_trackers::line_tracker::LineTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::line_tracker::LineTracker::changeStateHorizontal(mrs_uav_trackers::line_tracker::States_t)8
mrs_uav_trackers::line_tracker::LineTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::line_tracker::LineTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)1665
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&)2308
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LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/line_tracker - line_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:32247467.9 %
Date:2024-02-24 08:13:25Functions: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        1665 : 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        4995 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     519        4995 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("LineTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     520             : 
+     521             :   {
+     522        1665 :     std::scoped_lock lock(mutex_uav_state_);
+     523             : 
+     524        1665 :     uav_state_ = uav_state;
+     525        1665 :     uav_x_     = uav_state_.pose.position.x;
+     526        1665 :     uav_y_     = uav_state_.pose.position.y;
+     527        1665 :     uav_z_     = uav_state_.pose.position.z;
+     528             : 
+     529        1665 :     got_uav_state_ = true;
+     530             :   }
+     531             : 
+     532             :   // up to this part the update() method is evaluated even when the tracker is not active
+     533        1665 :   if (!is_active_) {
+     534          96 :     return {};
+     535             :   }
+     536             : 
+     537        3138 :   mrs_msgs::TrackerCommand tracker_cmd;
+     538             : 
+     539        1569 :   tracker_cmd.header.stamp    = ros::Time::now();
+     540        1569 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     541             : 
+     542             :   {
+     543        1569 :     std::scoped_lock lock(mutex_state_);
+     544             : 
+     545        1569 :     tracker_cmd.position.x = state_x_;
+     546        1569 :     tracker_cmd.position.y = state_y_;
+     547        1569 :     tracker_cmd.position.z = state_z_;
+     548        1569 :     tracker_cmd.heading    = radians::wrap(state_heading_);
+     549             : 
+     550        1569 :     tracker_cmd.velocity.x   = cos(current_heading_) * current_horizontal_speed_;
+     551        1569 :     tracker_cmd.velocity.y   = sin(current_heading_) * current_horizontal_speed_;
+     552        1569 :     tracker_cmd.velocity.z   = current_vertical_direction_ * current_vertical_speed_;
+     553        1569 :     tracker_cmd.heading_rate = speed_heading_;
+     554             : 
+     555        1569 :     tracker_cmd.acceleration.x = 0;
+     556        1569 :     tracker_cmd.acceleration.y = 0;
+     557        1569 :     tracker_cmd.acceleration.z = current_vertical_direction_ * current_vertical_acceleration_;
+     558             : 
+     559        1569 :     tracker_cmd.use_position_vertical   = 1;
+     560        1569 :     tracker_cmd.use_position_horizontal = 1;
+     561        1569 :     tracker_cmd.use_heading             = 1;
+     562        1569 :     tracker_cmd.use_heading_rate        = 1;
+     563        1569 :     tracker_cmd.use_velocity_vertical   = 1;
+     564        1569 :     tracker_cmd.use_velocity_horizontal = 1;
+     565        1569 :     tracker_cmd.use_acceleration        = 1;
+     566             :   }
+     567             : 
+     568        1569 :   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           8 : void LineTracker::changeStateHorizontal(States_t new_state) {
+     863             : 
+     864           8 :   previous_state_horizontal_ = current_state_horizontal_;
+     865           8 :   current_state_horizontal_  = new_state;
+     866             : 
+     867             :   // just for ROS_INFO
+     868           8 :   ROS_DEBUG("[LineTracker]: Switching horizontal state %s -> %s", state_names[previous_state_horizontal_], state_names[current_state_horizontal_]);
+     869           8 : }
+     870             : 
+     871             : //}
+     872             : 
+     873             : /* //{ changeStateVertical() */
+     874             : 
+     875           8 : void LineTracker::changeStateVertical(States_t new_state) {
+     876             : 
+     877           8 :   previous_state_vertical_ = current_state_vertical_;
+     878           8 :   current_state_vertical_  = new_state;
+     879             : 
+     880             :   // just for ROS_INFO
+     881           8 :   ROS_DEBUG("[LineTracker]: Switching vertical state %s -> %s", state_names[previous_state_vertical_], state_names[current_state_vertical_]);
+     882           8 : }
+     883             : 
+     884             : //}
+     885             : 
+     886             : /* //{ changeState() */
+     887             : 
+     888           6 : void LineTracker::changeState(States_t new_state) {
+     889             : 
+     890           6 :   changeStateVertical(new_state);
+     891           6 :   changeStateHorizontal(new_state);
+     892           6 : }
+     893             : 
+     894             : //}
+     895             : 
+     896             : // | --------------------- motion routines -------------------- |
+     897             : 
+     898             : /* //{ stopHorizontalMotion() */
+     899             : 
+     900           2 : void LineTracker::stopHorizontalMotion(void) {
+     901             : 
+     902             :   {
+     903           4 :     std::scoped_lock lock(mutex_state_);
+     904             : 
+     905           2 :     current_horizontal_speed_ -= _horizontal_acceleration_ * _tracker_dt_;
+     906             : 
+     907           2 :     if (current_horizontal_speed_ < 0) {
+     908           2 :       current_horizontal_speed_        = 0;
+     909           2 :       current_horizontal_acceleration_ = 0;
+     910             :     } else {
+     911           0 :       current_horizontal_acceleration_ = -_horizontal_acceleration_;
+     912             :     }
+     913             :   }
+     914           2 : }
+     915             : 
+     916             : //}
+     917             : 
+     918             : /* //{ stopVerticalMotion() */
+     919             : 
+     920           2 : void LineTracker::stopVerticalMotion(void) {
+     921             : 
+     922             :   {
+     923           4 :     std::scoped_lock lock(mutex_state_);
+     924             : 
+     925           2 :     current_vertical_speed_ -= _vertical_acceleration_ * _tracker_dt_;
+     926             : 
+     927           2 :     if (current_vertical_speed_ < 0) {
+     928           2 :       current_vertical_speed_        = 0;
+     929           2 :       current_vertical_acceleration_ = 0;
+     930             :     } else {
+     931           0 :       current_vertical_acceleration_ = -_vertical_acceleration_;
+     932             :     }
+     933             :   }
+     934           2 : }
+     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         199 : void LineTracker::accelerateVertical(void) {
+     991             : 
+     992         199 :   auto goal_z                            = mrs_lib::get_mutexed(mutex_goal_, goal_z_);
+     993         199 :   auto [state_z, current_vertical_speed] = mrs_lib::get_mutexed(mutex_state_, state_z_, current_vertical_speed_);
+     994             : 
+     995             :   // set the right heading
+     996         199 :   double tar_z = goal_z - state_z;
+     997             : 
+     998             :   // set the right vertical direction
+     999             :   {
+    1000         199 :     std::scoped_lock lock(mutex_state_);
+    1001             : 
+    1002         199 :     current_vertical_direction_ = mrs_lib::signum(tar_z);
+    1003             :   }
+    1004             : 
+    1005         199 :   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         199 :   double vertical_t_stop    = current_vertical_speed / _vertical_acceleration_;
+    1009         199 :   double vertical_stop_dist = (vertical_t_stop * current_vertical_speed) / 2.0;
+    1010         199 :   double stop_dist_z        = current_vertical_direction * vertical_stop_dist;
+    1011             : 
+    1012             :   {
+    1013         398 :     std::scoped_lock lock(mutex_state_);
+    1014             : 
+    1015         199 :     current_vertical_speed_ += _vertical_acceleration_ * _tracker_dt_;
+    1016             : 
+    1017         199 :     if (current_vertical_speed_ >= _vertical_speed_) {
+    1018         100 :       current_vertical_speed_        = _vertical_speed_;
+    1019         100 :       current_vertical_acceleration_ = 0;
+    1020             :     } else {
+    1021          99 :       current_vertical_acceleration_ = _vertical_acceleration_;
+    1022             :     }
+    1023             :   }
+    1024             : 
+    1025         199 :   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         199 : }
+    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         851 : void LineTracker::stopVertical(void) {
+    1115             : 
+    1116             :   {
+    1117         851 :     std::scoped_lock lock(mutex_state_);
+    1118             : 
+    1119         851 :     state_z_                       = 0.95 * state_z_ + 0.05 * goal_z_;
+    1120         851 :     current_vertical_acceleration_ = 0;
+    1121             :   }
+    1122         851 : }
+    1123             : 
+    1124             : //}
+    1125             : 
+    1126             : // | ------------------------- timers ------------------------- |
+    1127             : 
+    1128             : /* //{ mainTimer() */
+    1129             : 
+    1130        2308 : void LineTracker::mainTimer(const ros::TimerEvent &event) {
+    1131             : 
+    1132        2308 :   if (!is_active_) {
+    1133         510 :     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         646 :     case IDLE_STATE:
+    1145             : 
+    1146         646 :       break;
+    1147             : 
+    1148           2 :     case STOP_MOTION_STATE:
+    1149             : 
+    1150           2 :       stopHorizontalMotion();
+    1151             : 
+    1152           2 :       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         646 :     case IDLE_STATE:
+    1176             : 
+    1177         646 :       break;
+    1178             : 
+    1179           2 :     case STOP_MOTION_STATE:
+    1180             : 
+    1181           2 :       stopVerticalMotion();
+    1182             : 
+    1183           2 :       break;
+    1184             : 
+    1185         199 :     case ACCELERATING_STATE:
+    1186             : 
+    1187         199 :       accelerateVertical();
+    1188             : 
+    1189         199 :       break;
+    1190             : 
+    1191         100 :     case DECELERATING_STATE:
+    1192             : 
+    1193         100 :       decelerateVertical();
+    1194             : 
+    1195         100 :       break;
+    1196             : 
+    1197         851 :     case STOPPING_STATE:
+    1198             : 
+    1199         851 :       stopVertical();
+    1200             : 
+    1201         851 :       break;
+    1202             :   }
+    1203             : 
+    1204        1798 :   if (current_state_horizontal_ == STOP_MOTION_STATE && current_state_vertical_ == STOP_MOTION_STATE) {
+    1205           2 :     if (current_vertical_speed_ == 0 && current_horizontal_speed_ == 0) {
+    1206           2 :       if (have_goal_) {
+    1207           1 :         changeState(ACCELERATING_STATE);
+    1208             :       } else {
+    1209           1 :         changeState(STOPPING_STATE);
+    1210             :       }
+    1211             :     }
+    1212             :   }
+    1213             : 
+    1214        1798 :   if (current_state_horizontal_ == STOPPING_STATE && current_state_vertical_ == STOPPING_STATE) {
+    1215          48 :     if (fabs(state_x - goal_x) < 1e-3 && fabs(state_y - goal_y) < 1e-3 && fabs(state_z - goal_z) < 1e-3) {
+    1216             : 
+    1217             :       {
+    1218           2 :         std::scoped_lock lock(mutex_state_);
+    1219             : 
+    1220           2 :         state_x_ = goal_x;
+    1221           2 :         state_y_ = goal_y;
+    1222           2 :         state_z_ = goal_z;
+    1223             :       }
+    1224             : 
+    1225           2 :       changeState(IDLE_STATE);
+    1226             : 
+    1227           2 :       have_goal_ = false;
+    1228             :     }
+    1229             :   }
+    1230             : 
+    1231             :   {
+    1232        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..b7a7e459ce10c0e0990050079801959c58954678 GIT binary patch literal 3774 zcmV;v4ngsWP)QIT0000OP)t-s|NsB0 zs;a7|?_FK${{R500003000620&P%hU00009a7bBm000ie000ie0hKEb8vph4P2>B& zTdVS>cMzRYBt0+*&1P-O*py;~8Up6kQ6O7EQ45SwRTV~)J=uH8KK8!)@mpYX^T|@Gg*&A(r#>5x8vQRudPC+tgks|$T|+}z42@_4JM_fS?;Ig4wQ-!tFgsA7 zmaeBW`rp9_KEXeTmMm#dJCN1^6bV)PMJS;FtQejc3CA0$=y=v~L>Tbblp+K=3iM?X zXlsxqOi0mE0MdxS0}T2n3Y-wIwvL2iiP69^f}c@g#_+8QIB0=8QUM%I9rZ$M(Vjs@ zn`$UVim6^2IOa)xgH|~<86ZIGHyUmZfw-}N(g%Q6tWnguPx7(X%4g&LHZ{R_-wnQd zSh%C3n(8X+s0!jb0M+Gezcbv7_QIrfgC3Y-?S1+X#CtKp)SnlbuFa=_Ax} z6Dfw3rNB`OoYcUv)@_7&A%S3!S))4M@5>#P#r zLz&Tlc9gVsVKiLbGn9^3rW}fV)fNhTJYJw|`~UAB&-Z`l2M<$D;1hfzl-nbPu)ypt zoLm%qdj0aLz1ZNSWB@bz`t&&F=SoSf7MMX%Du{Xp@Q-x^)=M_U_xOQ_5IO)9)^V{v zZS9IFzF#a$d{pWMJlZD(RF>=15h#`lxXv+P5$lLl0Z?kEQr5EAWfWIqUuo7+UFdmP^cl@&s;-?P&I#Y_6<2B4x5w#b zll|kg$2jAseZgzbhm=CwA+xjBg}lJ+mSL{IUe`$DXQ-L+d}m@PvIk+Fb=j1IHD?NJ z9kswU;h#?6-jAmvK?6LeW_qAXfAq>Dwj+`6!_D&pQgbzSQU`+59Kc@3ml>Jni{7)`Bw@Xaq6; zjxL1%EJa~;(N`l%@eU>>IiZ5iqv(qw*Nu4FuwJ|ah7Ebd7p3JAG}+*n6>F5rgs?NLj-2Bwo*iZnG}s6$4q5A z{vEG3)0sErpz!E)$}cNhczo#BuO~M-?zw)APY02gB@^X}SzK*C+~;v-9I4=UH|W9_ zF!95_e{sNLP=hq!Ysgvw)K2X)x-e7C>=HLv<{oj+byc&mf($5Mpk_qN(3=(MBMqG0 z+w}}SKCcuvdo#ef?+fmr88a!W%SZD)*4|B5@I6oi zvW)9#4VD%-0n}5}FWPC>;!MwM;rtsHeS_z$#Rcu*c1w6Id3|(Ktk#iuVV>lLw|678 zvW`NgNm#1v0DPr#S0%!nWs77!vVab(0Un~nfVy%Eb5|R2L7>6Jj ziXqR8#+_?wJ%#?(_+^ z(4MISm_P{f6q|>lnq=fiTkj%+!kl|+P}BPqZ-y|PQY5B5a_ZVad__;$Q;g4a);9~JfW9vG&VrTYM1c7H;PvCzj9Px$-! zB2$7~iY6j`$!BQ)BGLrK(<3!}43sV+-MY+%)eZi^Ljx6iK72D4NiCkU0Xn>Gbf&ol zV*^L=crSK*m(lfOXDXPUVRf>kXEw5Z2ERi+{0d<|JEfL-pV$g;x! z>r6#QH6vPv-fUdTE_{3F+&3tNeK*oa)^t>g`h9!MF@Jp*p7x$P@Lmk$6|HYt@hPhJ zqgxOMOM^{_uiqCIx>6q>>Jyb*J95o)!FFtr@%?MZHVygLj%{Xr|9v|)+89gk*hB00 z^*akZsbGyh?`BSu!yMcuNcL*Ey1lNAHht~y!$xI*cWI07TF9E`Y`-B}w8VbTx=zM6 zBi+qRft~h|rf&Ll`nbX?TqI$Xb%gs;xc0LzF19bF)mD4Kr35#bmAe$in;2jQMY~lx z+=mZz_-D2P*KUBG4UPE4O5K2W!JB|>cQq&D*OSl!{?EFC2^>R60Q+usmpXdR-({EU z_9CLUaC^A(FXr}IxjsJrJc^J^-Q+*nzY?eRFM4?QVxeotDJj?Dss=x|NyrV3TKpmn z?)RJeMI@I@u6g2DvuT{88Ei7ZVk&G#G8t+LqRDVJBLa(U2AhmCg+H75+HofH(KqWo zh$cub#XTeEPH!urKy@9z!LIFnn>NN>(Y2R-GI0y$4cpSom($m+cLGW`9MhXB&|`#! z8;?8y(#jZ$I;q>=nhu|w zw)kK6K^pE?hMH+BIV<%nM=A7Os1-)rj_e{kw?3nFq?d~TzBFn!H#MLS!vSZ(13Pc8 zhbd$}z|@`piAil1auzr4ioz7J9%BRFw~PwpG7SXm8GMAifs}a-KKavqqs=i6=0>o= z9u~oOXh6O=#K5b2zJl};dZI-% zDxg4N@tSE~T{KjXyHG2PwjJ3}fn)t^Lxpcm7JP}@`)pF0yMN69TTOiKo}x~e9^Q=R zAA>3%KXU?2+-b3lrc&x}@{gaLO0jkPwf^x-r&8bIA3wSPA-TtP(cT>Zzr;U^?y=ZE zitaI(7mD|=vYvtm{!&lT?8r%&52=&-=lqr!Z8B^Q`h$lt1F?T#S?Ck`s5 z{w6i!l_$rW{Vwgn$A-~@T-~mwhF2V8eS{AjFWuH?QzXfrxu?zx7+}8>5RoTe?C;5w zFAgqYI{cn_5Yer%-?^*m&G+FNyRbrBb5x?%_slLrN&?js=OndUiZF%Th9YyTd;^L) zpq66F&F546lluFmZbflUi(Eia1MK;bgP7O*b9-sl8cX;dsoOh%KdCDz>VR5`{oG#a z7;7Fy4X}gTlQxGfXp;f6HjDuK2dlmN!9E)+Ju2Kuk$|dnAwy9Hs#@} + + + + + + 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:2024-02-24 08:13:25Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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midair_activation_tracker.cpp +
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+ 		72.8 %67 / 9250.0 %9 / 18
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-02-24 08:13:25Functions:91850.0 %
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<unnamed>72.8 %67 / 9250.0 %9 / 18
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-02-24 08:13:25Functions:91850.0 %
Legend: Rating: + low: < 75 % + medium: >= 75 % + high: >= 90 % +
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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:2024-02-24 08:13:25Functions: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-sort-l.html b/mrs_uav_trackers/src/midair_activation_tracker/index-sort-l.html new file mode 100644 index 0000000000..6ad77c0611 --- /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:2024-02-24 08:13:25Functions: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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+
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Generated by: LCOV version 1.14
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Current view:top level - mrs_uav_trackers/src/midair_activation_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-02-24 08:13:25Functions: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..52f4f3d22f --- /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:2024-02-24 08:13:25Functions:91850.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resetStatic()0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()32
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)109
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()127
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
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+
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Generated by: LCOV version 1.14
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+ + + diff --git a/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html new file mode 100644 index 0000000000..f0357c4ac7 --- /dev/null +++ b/mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp.func.html @@ -0,0 +1,152 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/midair_activation_tracker/midair_activation_tracker.cpp - functions + + + + + + + + + + + + + + +
LCOV - code coverage report
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Current view:top level - mrs_uav_trackers/src/midair_activation_tracker - midair_activation_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:679272.8 %
Date:2024-02-24 08:13:25Functions: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()81
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::deactivate()127
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>)81
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&)258
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)109
mrs_uav_trackers::midair_activation_tracker::MidairActivationTracker::getStatus()32
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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:2024-02-24 08:13:25Functions:91850.0 %
Legend: Lines: + hit + not hit +
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+ + + + + + + + +

+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : 
+       8             : #include <mrs_lib/profiler.h>
+       9             : #include <mrs_lib/mutex.h>
+      10             : #include <mrs_lib/attitude_converter.h>
+      11             : #include <mrs_lib/geometry/cyclic.h>
+      12             : #include <mrs_lib/geometry/misc.h>
+      13             : 
+      14             : //}
+      15             : 
+      16             : namespace mrs_uav_trackers
+      17             : {
+      18             : 
+      19             : namespace midair_activation_tracker
+      20             : {
+      21             : 
+      22             : /* //{ class MidairActivationTracker */
+      23             : 
+      24             : class MidairActivationTracker : public mrs_uav_managers::Tracker {
+      25             : public:
+      26             :   bool initialize(const ros::NodeHandle &nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      27             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      28             : 
+      29             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd);
+      30             :   void                          deactivate(void);
+      31             :   bool                          resetStatic(void);
+      32             : 
+      33             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState &uav_state, const mrs_uav_managers::Controller::ControlOutput &last_control_output);
+      34             :   const mrs_msgs::TrackerStatus             getStatus();
+      35             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd);
+      36             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState &new_uav_state);
+      37             : 
+      38             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd);
+      39             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd);
+      40             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd);
+      41             : 
+      42             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd);
+      43             : 
+      44             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      45             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      46             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      47             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      48             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr &cmd);
+      49             : 
+      50             : private:
+      51             :   ros::NodeHandle nh_;
+      52             : 
+      53             :   bool callbacks_enabled_ = true;
+      54             : 
+      55             :   std::string _uav_name_;
+      56             : 
+      57             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+      58             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+      59             : 
+      60             :   // | ---------------- the tracker's inner state --------------- |
+      61             : 
+      62             :   bool is_initialized_ = false;
+      63             :   bool is_active_      = false;
+      64             : 
+      65             :   // | ------------------------ profiler ------------------------ |
+      66             : 
+      67             :   mrs_lib::Profiler profiler_;
+      68             :   bool              _profiler_enabled_ = false;
+      69             : };
+      70             : 
+      71             : //}
+      72             : 
+      73             : // | -------------- tracker's interface routines -------------- |
+      74             : 
+      75             : /* //{ initialize() */
+      76             : 
+      77          81 : 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          81 :   this->common_handlers_  = common_handlers;
+      81          81 :   this->private_handlers_ = private_handlers;
+      82             : 
+      83          81 :   _uav_name_ = common_handlers->uav_name;
+      84             : 
+      85          81 :   nh_ = nh;
+      86             : 
+      87          81 :   ros::Time::waitForValid();
+      88             : 
+      89             :   // --------------------------------------------------------------
+      90             :   // |                     loading parameters                     |
+      91             :   // --------------------------------------------------------------
+      92             : 
+      93             :   // | ---------- loading params using the parent's nh ---------- |
+      94             : 
+      95         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+      96             : 
+      97          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+      98             : 
+      99          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/midair_activation_tracker.yaml");
+     107          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/midair_activation_tracker.yaml");
+     108             : 
+     109         162 :   const std::string yaml_prefix = "mrs_uav_trackers/midair_activation_tracker/";
+     110             : 
+     111          81 :   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          81 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "MidairActivationTracker", _profiler_enabled_);
+     119             : 
+     120             :   // | --------------------- finish the init -------------------- |
+     121             : 
+     122          81 :   is_initialized_ = true;
+     123             : 
+     124          81 :   ROS_INFO("[MidairActivationTracker]: initialized");
+     125             : 
+     126          81 :   return true;
+     127             : }
+     128             : 
+     129             : //}
+     130             : 
+     131             : /* //{ activate() */
+     132             : 
+     133         109 : std::tuple<bool, std::string> MidairActivationTracker::activate([[maybe_unused]] const std::optional<mrs_msgs::TrackerCommand> &last_tracker_cmd) {
+     134             : 
+     135         109 :   std::stringstream ss;
+     136             : 
+     137         109 :   is_active_ = true;
+     138             : 
+     139         109 :   ss << "activated";
+     140         109 :   ROS_INFO_STREAM("[MidairActivationTracker]: " << ss.str());
+     141             : 
+     142         218 :   return std::tuple(true, ss.str());
+     143             : }
+     144             : 
+     145             : //}
+     146             : 
+     147             : /* //{ deactivate() */
+     148             : 
+     149         127 : void MidairActivationTracker::deactivate(void) {
+     150             : 
+     151         127 :   is_active_ = false;
+     152             : 
+     153         127 :   ROS_INFO("[MidairActivationTracker]: deactivated");
+     154         127 : }
+     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      112063 : 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      112063 :   if (!is_active_) {
+     174      111836 :     return {};
+     175             :   }
+     176             : 
+     177         681 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     178             :   mrs_lib::ScopeTimer timer =
+     179         681 :       mrs_lib::ScopeTimer("MidairActivationTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     180             : 
+     181         454 :   mrs_msgs::TrackerCommand tracker_cmd;
+     182             : 
+     183         227 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     184         227 :   tracker_cmd.header.stamp    = ros::Time::now();
+     185             : 
+     186         227 :   tracker_cmd.position.x = uav_state.pose.position.x;
+     187         227 :   tracker_cmd.position.y = uav_state.pose.position.y;
+     188         227 :   tracker_cmd.position.z = uav_state.pose.position.z;
+     189             : 
+     190         227 :   tracker_cmd.velocity.x = uav_state.velocity.linear.x;
+     191         227 :   tracker_cmd.velocity.y = uav_state.velocity.linear.y;
+     192         227 :   tracker_cmd.velocity.z = uav_state.velocity.linear.z;
+     193             : 
+     194             :   try {
+     195         227 :     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         227 :   tracker_cmd.use_position_vertical   = true;
+     203         227 :   tracker_cmd.use_position_horizontal = true;
+     204             : 
+     205         227 :   tracker_cmd.use_velocity_vertical   = true;
+     206         227 :   tracker_cmd.use_velocity_horizontal = true;
+     207             : 
+     208         227 :   tracker_cmd.use_heading = true;
+     209             : 
+     210         227 :   ROS_WARN_THROTTLE(0.1, "[MidairActivationTracker]: outputting cmd");
+     211             : 
+     212         227 :   return {tracker_cmd};
+     213             : }
+     214             : 
+     215             : //}
+     216             : 
+     217             : /* //{ getStatus() */
+     218             : 
+     219          32 : const mrs_msgs::TrackerStatus MidairActivationTracker::getStatus() {
+     220             : 
+     221          32 :   mrs_msgs::TrackerStatus tracker_status;
+     222             : 
+     223          32 :   tracker_status.active            = is_active_;
+     224          32 :   tracker_status.callbacks_enabled = callbacks_enabled_;
+     225             : 
+     226          32 :   return tracker_status;
+     227             : }
+     228             : 
+     229             : //}
+     230             : 
+     231             : /* //{ enableCallbacks() */
+     232             : 
+     233         279 : const std_srvs::SetBoolResponse::ConstPtr MidairActivationTracker::enableCallbacks([[maybe_unused]] const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     234             : 
+     235         558 :   std_srvs::SetBoolResponse res;
+     236             : 
+     237         279 :   res.message = "callbacks are always disabled";
+     238         279 :   res.success = true;
+     239             : 
+     240         558 :   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         258 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MidairActivationTracker::setConstraints([
+     298             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     299             : 
+     300         516 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     301             : 
+     302         258 :   res.success = true;
+     303         258 :   res.message = "constraints updated";
+     304             : 
+     305         516 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     306             : }
+     307             : 
+     308             : //}
+     309             : 
+     310             : /* //{ setReference() */
+     311             : 
+     312           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MidairActivationTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     313             : 
+     314           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     315             : }
+     316             : 
+     317             : //}
+     318             : 
+     319             : /* //{ setVelocityReference() */
+     320             : 
+     321           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MidairActivationTracker::setVelocityReference([
+     322             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     323           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     324             : }
+     325             : 
+     326             : //}
+     327             : 
+     328             : /* //{ setTrajectoryReference() */
+     329             : 
+     330           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MidairActivationTracker::setTrajectoryReference([
+     331             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     332           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     333             : }
+     334             : 
+     335             : //}
+     336             : 
+     337             : }  // namespace midair_activation_tracker
+     338             : 
+     339             : }  // namespace mrs_uav_trackers
+     340             : 
+     341             : #include <pluginlib/class_list_macros.h>
+     342          81 : 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..46e0da5d6c --- /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:1326165080.4 %
Date:2024-02-24 08:13:25Functions:405080.0 %
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mpc_tracker.cpp +
80.4%80.4%
+ 		80.4 %1326 / 165080.0 %40 / 50
<unnamed>80.4 %1326 / 165080.0 %40 / 50
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Test:MRS UAV System - Test coverage reportLines:1326165080.4 %
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1326165080.4 %
Date:2024-02-24 08:13:25Functions:405080.0 %
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Current view:top level - mrs_uav_trackers/src/mpc_trackerHitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1326165080.4 %
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Test:MRS UAV System - Test coverage reportLines:1326165080.4 %
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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:1326165080.4 %
Date:2024-02-24 08:13:25Functions:405080.0 %
Legend: Lines: + hit + not hit +
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Function Name Sort by function nameHit count Sort by hit count
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackWiggle(std_srvs::SetBoolRequest_<std::allocator<void> >&, std_srvs::SetBoolResponse_<std::allocator<void> >&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintState(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTrackingImpl[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::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()36
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)74
(anonymous namespace)::ProxyExec0::ProxyExec0()81
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>)81
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)81
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)81
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)155
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)242
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)243
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)294
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)398
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)471
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)499
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)501
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)903
mrs_uav_trackers::mpc_tracker::MpcTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)1615
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavDiagnostics(boost::shared_ptr<mrs_msgs::MpcTrackerDiagnostics_<std::allocator<void> > const>)1919
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)3566
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()6833
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()6833
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)12429
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)17990
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()18927
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)58732
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)64453
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()65459
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)65459
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)65459
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()65459
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)65459
mrs_uav_trackers::mpc_tracker::MpcTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollision(double, double, double, double, double, double)150160
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)150160
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Generated by: LCOV version 1.14
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LCOV - code coverage report
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Current view:top level - mrs_uav_trackers/src/mpc_tracker - mpc_tracker.cpp (source / functions)HitTotalCoverage
Test:MRS UAV System - Test coverage reportLines:1326165080.4 %
Date:2024-02-24 08:13:25Functions:405080.0 %
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()81
mrs_uav_trackers::mpc_tracker::MpcTracker::deactivate()36
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>)81
mrs_uav_trackers::mpc_tracker::MpcTracker::timerHover(ros::TimerEvent const&)81
mrs_uav_trackers::mpc_tracker::MpcTracker::resetStatic()0
mrs_uav_trackers::mpc_tracker::MpcTracker::toggleHover(bool)903
mrs_uav_trackers::mpc_tracker::MpcTracker::calculateMPC()65459
mrs_uav_trackers::mpc_tracker::MpcTracker::iterateModel(double const&)58732
mrs_uav_trackers::mpc_tracker::MpcTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)242
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)150160
mrs_uav_trackers::mpc_tracker::MpcTracker::loadTrajectory[abi:cxx11](mrs_msgs::TrajectoryReference_<std::allocator<void> >)501
mrs_uav_trackers::mpc_tracker::MpcTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
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&)1615
mrs_uav_trackers::mpc_tracker::MpcTracker::setRelativeGoal(double, double, double, double, bool)155
mrs_uav_trackers::mpc_tracker::MpcTracker::filterReferenceZ(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, double, double)65459
mrs_uav_trackers::mpc_tracker::MpcTracker::timerDiagnostics(ros::TimerEvent const&)17990
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)65459
mrs_uav_trackers::mpc_tracker::MpcTracker::manageConstraints()65459
mrs_uav_trackers::mpc_tracker::MpcTracker::publishDiagnostics()18927
mrs_uav_trackers::mpc_tracker::MpcTracker::debugPrintMPCResult(double)0
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)471
mrs_uav_trackers::mpc_tracker::MpcTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::timerVelocityTracking(ros::TimerEvent const&)499
mrs_uav_trackers::mpc_tracker::MpcTracker::checkCollisionInflated(double, double, double, double, double, double)150160
mrs_uav_trackers::mpc_tracker::MpcTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
mrs_uav_trackers::mpc_tracker::MpcTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::getCurrentTrajectoryIdx()6833
mrs_uav_trackers::mpc_tracker::MpcTracker::gotoTrajectoryStartImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::setSinglePointReference(double, double, double, double)398
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)1
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
mrs_uav_trackers::mpc_tracker::MpcTracker::timerAvoidanceTrajectory(ros::TimerEvent const&)3566
mrs_uav_trackers::mpc_tracker::MpcTracker::callbackOtherMavTrajectory(boost::shared_ptr<mrs_msgs::FutureTrajectory_<std::allocator<void> > const>)294
mrs_uav_trackers::mpc_tracker::MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig&, unsigned int)81
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>)1919
mrs_uav_trackers::mpc_tracker::MpcTracker::startTrajectoryTrackingImpl[abi:cxx11]()1
mrs_uav_trackers::mpc_tracker::MpcTracker::checkTrajectoryForCollisions(int&)64453
mrs_uav_trackers::mpc_tracker::MpcTracker::resumeTrajectoryTrackingImpl[abi:cxx11]()0
mrs_uav_trackers::mpc_tracker::MpcTracker::increaseCurrentTrajectoryTime(double)12429
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&)112063
mrs_uav_trackers::mpc_tracker::MpcTracker::setGoal(double, double, double, double, bool)243
mrs_uav_trackers::mpc_tracker::MpcTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)74
mrs_uav_trackers::mpc_tracker::MpcTracker::timerMPC(ros::TimerEvent const&)65459
mrs_uav_trackers::mpc_tracker::MpcTracker::getStatus()6833
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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:1326165080.4 %
Date:2024-02-24 08:13:25Functions:405080.0 %
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+
          Line data    Source code
+
+       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : 
+       6             : #include <mrs_uav_managers/tracker.h>
+       7             : #include <mrs_uav_managers/controller.h>
+       8             : 
+       9             : #include <geometry_msgs/Pose.h>
+      10             : #include <geometry_msgs/PoseArray.h>
+      11             : 
+      12             : #include <mrs_msgs/FuturePoint.h>
+      13             : #include <mrs_msgs/FutureTrajectory.h>
+      14             : #include <mrs_msgs/MpcTrackerDiagnostics.h>
+      15             : #include <mrs_msgs/MpcPredictionFullState.h>
+      16             : #include <mrs_msgs/EstimationDiagnostics.h>
+      17             : #include <mrs_msgs/VelocityReference.h>
+      18             : #include <mrs_msgs/VelocityReferenceSrv.h>
+      19             : 
+      20             : #include <std_msgs/String.h>
+      21             : 
+      22             : #include <mrs_lib/profiler.h>
+      23             : #include <mrs_lib/utils.h>
+      24             : #include <mrs_lib/mutex.h>
+      25             : #include <mrs_lib/attitude_converter.h>
+      26             : #include <mrs_lib/subscribe_handler.h>
+      27             : #include <mrs_lib/publisher_handler.h>
+      28             : #include <mrs_lib/geometry/cyclic.h>
+      29             : #include <mrs_lib/geometry/misc.h>
+      30             : #include <mrs_lib/scope_timer.h>
+      31             : 
+      32             : #include <mpc_tracker.h>
+      33             : 
+      34             : #include <dynamic_reconfigure/server.h>
+      35             : #include <mrs_uav_trackers/mpc_trackerConfig.h>
+      36             : 
+      37             : #include <visualization_msgs/Marker.h>
+      38             : #include <visualization_msgs/MarkerArray.h>
+      39             : 
+      40             : //}
+      41             : 
+      42             : /* defines //{ */
+      43             : 
+      44             : #define MPC_N_STATES 12
+      45             : #define MPC_N_INPUTS 3
+      46             : 
+      47             : #define MPC_HEADING_N_STATES 4
+      48             : #define MPC_HEADING_N_INPUTS 1
+      49             : 
+      50             : #define MPC_HORIZON_LENGTH 40
+      51             : 
+      52             : //}
+      53             : 
+      54             : /* using //{ */
+      55             : 
+      56             : using namespace Eigen;
+      57             : 
+      58             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      59             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      60             : 
+      61             : using radians  = mrs_lib::geometry::radians;
+      62             : using sradians = mrs_lib::geometry::sradians;
+      63             : 
+      64             : using quat_t = Eigen::Quaterniond;
+      65             : 
+      66             : //}
+      67             : 
+      68             : namespace mrs_uav_trackers
+      69             : {
+      70             : 
+      71             : namespace mpc_tracker
+      72             : {
+      73             : 
+      74             : /* //{ class MpcTracker */
+      75             : 
+      76             : class MpcTracker : public mrs_uav_managers::Tracker {
+      77             : public:
+      78             :   bool initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+      79             :                   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
+      80             : 
+      81             :   std::tuple<bool, std::string> activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd);
+      82             :   void                          deactivate(void);
+      83             :   bool                          resetStatic(void);
+      84             : 
+      85             :   std::optional<mrs_msgs::TrackerCommand>   update(const mrs_msgs::UavState& uav_state, const mrs_uav_managers::Controller::ControlOutput& last_control_output);
+      86             :   const std_srvs::SetBoolResponse::ConstPtr enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd);
+      87             :   const mrs_msgs::TrackerStatus             getStatus();
+      88             :   const std_srvs::TriggerResponse::ConstPtr switchOdometrySource(const mrs_msgs::UavState& new_uav_state);
+      89             : 
+      90             :   const mrs_msgs::ReferenceSrvResponse::ConstPtr           setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd);
+      91             :   const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr   setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd);
+      92             :   const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr setTrajectoryReference(const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd);
+      93             : 
+      94             :   const std_srvs::TriggerResponse::ConstPtr hover(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      95             :   const std_srvs::TriggerResponse::ConstPtr startTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      96             :   const std_srvs::TriggerResponse::ConstPtr stopTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      97             :   const std_srvs::TriggerResponse::ConstPtr resumeTrajectoryTracking(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      98             :   const std_srvs::TriggerResponse::ConstPtr gotoTrajectoryStart(const std_srvs::TriggerRequest::ConstPtr& cmd);
+      99             : 
+     100             :   const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& cmd);
+     101             : 
+     102             : private:
+     103             :   ros::NodeHandle nh_;
+     104             : 
+     105             :   std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t>  common_handlers_;
+     106             :   std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers_;
+     107             : 
+     108             :   std::atomic<bool> callbacks_enabled_ = true;
+     109             : 
+     110             :   std::string _uav_name_;
+     111             : 
+     112             :   // debugging publishers
+     113             :   mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics> pub_diagnostics_;
+     114             :   mrs_lib::PublisherHandler<std_msgs::String>                pub_status_string_;
+     115             : 
+     116             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>        pub_debug_processed_trajectory_poses_;
+     117             :   mrs_lib::PublisherHandler<visualization_msgs::MarkerArray> pub_debug_processed_trajectory_markers_;
+     118             : 
+     119             :   mrs_msgs::UavState uav_state_;
+     120             :   std::mutex         mutex_uav_state_;
+     121             : 
+     122             :   bool is_active_      = false;
+     123             :   bool is_initialized_ = false;
+     124             : 
+     125             :   // | ----------------------- constraints ---------------------- |
+     126             : 
+     127             :   mrs_msgs::DynamicsConstraints constraints_;
+     128             :   std::mutex                    mutex_constraints_;
+     129             : 
+     130             :   mrs_msgs::DynamicsConstraints constraints_filtered_;
+     131             :   std::mutex                    mutex_constraints_filtered_;
+     132             : 
+     133             :   std::atomic<bool> got_constraints_     = false;
+     134             :   std::atomic<bool> all_constraints_set_ = false;
+     135             : 
+     136             :   double _diag_pos_tracking_thr_;
+     137             :   double _diag_heading_tracking_thr_;
+     138             : 
+     139             :   double _mpc_synchronous_rate_limit_;
+     140             :   double _mpc_asynchronous_rate_;
+     141             : 
+     142             :   double update_rate_ = 100.0;
+     143             : 
+     144             :   double     dt1_;
+     145             :   std::mutex mutex_dt1_;
+     146             : 
+     147             :   double _dt2_;
+     148             : 
+     149             :   MatrixXd          _mat_A_;  // system matrix for virtual UAV
+     150             :   MatrixXd          _mat_B_;  // input matrix for virtual UAV
+     151             :   MatrixXd          A_;       // system matrix for virtual UAV
+     152             :   MatrixXd          B_;       // input matrix for virtual UAV
+     153             :   std::atomic<bool> model_first_iteration_ = true;
+     154             :   ros::Time         model_iteration_last_time_;
+     155             : 
+     156             :   MatrixXd _mat_A_heading_;  // system matrix for heading
+     157             :   MatrixXd _mat_B_heading_;  // input matrix for heading
+     158             :   MatrixXd A_heading_;       // system matrix for heading
+     159             :   MatrixXd B_heading_;       // input matrix for heading
+     160             : 
+     161             :   // the reference over the prediction horizon per axis
+     162             :   MatrixXd   des_x_trajectory_;
+     163             :   MatrixXd   des_y_trajectory_;
+     164             :   MatrixXd   des_z_trajectory_;
+     165             :   MatrixXd   des_heading_trajectory_;
+     166             :   std::mutex mutex_des_trajectory_;
+     167             : 
+     168             :   // the reference filtered over the prediction horizon per axis
+     169             :   MatrixXd des_z_filtered_offset_;
+     170             : 
+     171             :   // the whole trajectory reference split per axis
+     172             :   std::shared_ptr<VectorXd> des_x_whole_trajectory_;
+     173             :   std::shared_ptr<VectorXd> des_y_whole_trajectory_;
+     174             :   std::shared_ptr<VectorXd> des_z_whole_trajectory_;
+     175             :   std::shared_ptr<VectorXd> des_heading_whole_trajectory_;
+     176             :   int                       des_whole_trajectory_id_ = 0;
+     177             :   std::mutex                mutex_des_whole_trajectory_;
+     178             : 
+     179             :   int  getCurrentTrajectoryIdx();
+     180             :   void increaseCurrentTrajectoryTime(const double dt);
+     181             : 
+     182             :   // trajectory tracking
+     183             :   std::atomic<bool> trajectory_tracking_in_progress_ = false;
+     184             :   double            trajectory_current_time_;
+     185             :   std::mutex        mutex_trajectory_tracking_states_;
+     186             : 
+     187             :   // params of the loaded trajectory
+     188             :   int    trajectory_size_          = 0;
+     189             :   double trajectory_dt_            = 0.2;
+     190             :   bool   trajectory_track_heading_ = false;
+     191             :   bool   trajectory_tracking_loop_ = false;
+     192             :   bool   trajectory_set_           = false;
+     193             :   int    trajectory_count_         = 0;  // counts how many trajectories we have received
+     194             : 
+     195             :   // mpc output
+     196             :   VectorXd   mpc_u_;
+     197             :   double     mpc_u_heading_;
+     198             :   std::mutex mutex_mpc_u_;
+     199             : 
+     200             :   // current state of the dynamical system
+     201             :   MatrixXd   mpc_x_;          // translation state
+     202             :   MatrixXd   mpc_x_heading_;  // heading state
+     203             :   std::mutex mutex_mpc_x_;
+     204             : 
+     205             :   // odometry reset
+     206             :   std::atomic<bool> odometry_reset_in_progress_ = false;
+     207             :   std::atomic<bool> mpc_result_invalid_         = false;
+     208             : 
+     209             :   // predicting the future
+     210             :   MatrixXd   predicted_trajectory_;
+     211             :   MatrixXd   predicted_heading_trajectory_;
+     212             :   std::mutex mutex_predicted_trajectory_;
+     213             : 
+     214             :   mrs_msgs::MpcPredictionFullState prediction_full_state_;
+     215             :   std::mutex                       mutex_prediction_full_state_;
+     216             : 
+     217             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_predicted_trajectory_debugging_;
+     218             :   mrs_lib::PublisherHandler<geometry_msgs::PoseArray>   ph_mpc_reference_debugging_;
+     219             :   mrs_lib::PublisherHandler<geometry_msgs::PoseStamped> ph_current_trajectory_point_;
+     220             : 
+     221             :   std::atomic<bool> mpc_computed_ = false;
+     222             : 
+     223             :   bool brake_ = false;
+     224             : 
+     225             :   // | ----------------------- MPC solver ----------------------- |
+     226             : 
+     227             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_y_;
+     228             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_x_;
+     229             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_z_;
+     230             :   std::shared_ptr<mrs_mpc_solvers::mpc_tracker::Solver> mpc_solver_heading_;
+     231             : 
+     232             :   std::mutex mutex_mpc_calculation_;
+     233             : 
+     234             :   int _max_iters_xy_;
+     235             :   int _max_iters_z_;
+     236             :   int _max_iters_heading_;
+     237             : 
+     238             :   // | ----------- measuring the "MPC realtime factor" ---------- |
+     239             : 
+     240             :   double mpc_rtf_ = 0.0;
+     241             : 
+     242             :   // | ------------------- collision avoidance ------------------ |
+     243             : 
+     244             :   // configurable params
+     245             :   bool collision_avoidance_enabled_           = false;
+     246             :   bool collision_avoidance_enabled_passively_ = true;
+     247             : 
+     248             :   // TODO what is this?
+     249             :   double    coef_scaler = 0;
+     250             :   ros::Time coef_time;
+     251             : 
+     252             :   double minimum_collison_free_altitude_ = std::numeric_limits<double>::lowest();
+     253             : 
+     254             :   // params
+     255             :   double                   _avoidance_trajectory_rate_;
+     256             :   double                   _avoidance_radius_threshold_;
+     257             :   double                   _avoidance_z_correction_;
+     258             :   std::string              _avoidance_diagnostics_topic_name_;
+     259             :   std::vector<std::string> _avoidance_other_uav_names_;
+     260             :   double                   _avoidance_z_threshold_;
+     261             : 
+     262             :   // how old can the other UAV trajectory be (since receive time)
+     263             :   double _collision_trajectory_timeout_;
+     264             : 
+     265             :   // when collision detected, slow down during the manouver
+     266             :   double _avoidance_collision_horizontal_speed_coef_;
+     267             : 
+     268             :   // when collision detected, slow down fully this number of steps before it
+     269             :   int _avoidance_collision_slow_down_fully_;
+     270             : 
+     271             :   // when collision detected, start slowing down this number of steps before it
+     272             :   int _avoidance_collision_slow_down_;
+     273             : 
+     274             :   // when avoiding, start climbing this number of steps before it
+     275             :   int _avoidance_collision_start_climbing_;
+     276             : 
+     277             :   int avoidance_this_uav_number_;
+     278             :   int avoidance_this_uav_priority_;
+     279             : 
+     280             :   double            collision_free_altitude_;
+     281             :   std::atomic<bool> avoiding_collision_               = false;
+     282             :   bool              collision_avoidance_affecting_me_ = false;
+     283             : 
+     284             :   // avoidance trajectory will not be published unless we computed it at least once
+     285             :   std::atomic<bool> future_was_predicted_ = false;
+     286             : 
+     287             :   // subscribing to the other UAV future trajectories
+     288             :   void callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg);
+     289             : 
+     290             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>> other_uav_trajectory_subscribers_;
+     291             :   std::map<std::string, mrs_msgs::FutureTrajectory>                  other_uav_avoidance_trajectories_;
+     292             :   std::mutex                                                         mutex_other_uav_avoidance_trajectories_;
+     293             : 
+     294             :   // subscribing to the other UAV diagnostics'
+     295             :   void callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg);
+     296             : 
+     297             :   std::vector<mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>> other_uav_diag_subscribers_;
+     298             :   std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>                  other_uav_diagnostics_;
+     299             :   std::mutex                                                              mutex_other_uav_diagnostics_;
+     300             : 
+     301             :   bool checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     302             :   bool checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz);
+     303             : 
+     304             :   mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory> ph_avoidance_trajectory_;
+     305             : 
+     306             :   ros::ServiceServer service_server_toggle_avoidance_;
+     307             :   bool               callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     308             : 
+     309             :   mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics> sh_estimation_diag_;
+     310             : 
+     311             :   // | --------------------- MPC calculation -------------------- |
+     312             : 
+     313             :   ros::Timer        timer_mpc_iteration_;
+     314             :   std::atomic<bool> mpc_synchronous_ = false;
+     315             :   ros::TimerEvent   synchronous_timer_event_;
+     316             : 
+     317             :   std::atomic<bool> mpc_timer_running_ = false;
+     318             :   void              timerMPC(const ros::TimerEvent& event);
+     319             : 
+     320             :   // | -------------------- velocity tracking ------------------- |
+     321             : 
+     322             :   ros::Timer                  timer_velocity_tracking_;
+     323             :   void                        timerVelocityTracking(const ros::TimerEvent& event);
+     324             :   ros::Time                   velocity_reference_time_;
+     325             :   mrs_msgs::VelocityReference velocity_reference_;
+     326             :   std::mutex                  mutex_velocity_reference_;
+     327             :   std::atomic<bool>           velocity_tracking_active_ = false;
+     328             : 
+     329             :   // | ------------------ avoidance trajectory ------------------ |
+     330             : 
+     331             :   ros::Timer timer_avoidance_trajectory_;
+     332             :   void       timerAvoidanceTrajectory(const ros::TimerEvent& event);
+     333             : 
+     334             :   // | ----------------------- diagnostics ---------------------- |
+     335             : 
+     336             :   ros::Timer timer_diagnostics_;
+     337             :   double     _diagnostics_rate_;
+     338             :   void       timerDiagnostics(const ros::TimerEvent& event);
+     339             : 
+     340             :   // | ------------------------ hovering ------------------------ |
+     341             : 
+     342             :   ros::Timer        timer_hover_;
+     343             :   void              timerHover(const ros::TimerEvent& event);
+     344             :   std::atomic<bool> hovering_in_progress_ = false;
+     345             :   void              toggleHover(bool in);
+     346             : 
+     347             :   // | ------------------- trajectory tracking ------------------ |
+     348             : 
+     349             :   std::tuple<bool, std::string> resumeTrajectoryTrackingImpl(void);
+     350             :   std::tuple<bool, std::string> startTrajectoryTrackingImpl(void);
+     351             :   std::tuple<bool, std::string> stopTrajectoryTrackingImpl(void);
+     352             :   std::tuple<bool, std::string> gotoTrajectoryStartImpl(void);
+     353             : 
+     354             :   // | --------------------- other routines --------------------- |
+     355             : 
+     356             :   void publishDiagnostics();
+     357             : 
+     358             :   void debugPrintState(const double throttle);
+     359             :   void debugPrintMPCResult(const double throttle);
+     360             : 
+     361             :   void setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     362             :   void setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading);
+     363             :   void setSinglePointReference(const double x, const double y, const double z, const double heading);
+     364             : 
+     365             :   std::tuple<bool, std::string, bool> loadTrajectory(const mrs_msgs::TrajectoryReference msg);
+     366             : 
+     367             :   MatrixXd                       filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed);
+     368             :   std::tuple<MatrixXd, MatrixXd> filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x, double max_speed_y);
+     369             : 
+     370             :   double checkTrajectoryForCollisions(int& first_collision_index);
+     371             : 
+     372             :   void manageConstraints(void);
+     373             :   void calculateMPC(void);
+     374             :   void iterateModel(const double& dt);
+     375             : 
+     376             :   // | ------------------------ profiler ------------------------ |
+     377             : 
+     378             :   mrs_lib::Profiler profiler;
+     379             :   bool              _profiler_enabled_ = false;
+     380             : 
+     381             :   // | ------------------------- wiggle ------------------------- |
+     382             : 
+     383             :   ros::ServiceServer service_server_wiggle_;
+     384             :   bool               callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
+     385             : 
+     386             :   double wiggle_phase_ = 0;
+     387             : 
+     388             :   // | --------------- dynamic reconfigure server --------------- |
+     389             : 
+     390             :   void dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, uint32_t level);
+     391             : 
+     392             :   boost::recursive_mutex                      config_mutex_;
+     393             :   typedef mrs_uav_trackers::mpc_trackerConfig Config;
+     394             :   typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
+     395             :   boost::shared_ptr<ReconfigureServer>        reconfigure_server_;
+     396             :   mrs_uav_trackers::mpc_trackerConfig         drs_params_;
+     397             :   std::mutex                                  mutex_drs_params_;
+     398             : };
+     399             : 
+     400             : //}
+     401             : 
+     402             : // | -------------- tracker's interface routines -------------- |
+     403             : 
+     404             : /* //{ initialize() */
+     405             : 
+     406          81 : bool MpcTracker::initialize(const ros::NodeHandle& nh, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers,
+     407             :                             std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers) {
+     408             : 
+     409          81 :   nh_ = nh;
+     410             : 
+     411          81 :   common_handlers_  = common_handlers;
+     412          81 :   private_handlers_ = private_handlers;
+     413             : 
+     414          81 :   _uav_name_ = common_handlers->uav_name;
+     415             : 
+     416          81 :   ros::Time::waitForValid();
+     417             : 
+     418             :   // --------------------------------------------------------------
+     419             :   // |                     loading parameters                     |
+     420             :   // --------------------------------------------------------------
+     421             : 
+     422             :   // | ---------- loading params using the parent's nh ---------- |
+     423             : 
+     424         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     425             : 
+     426          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     427             : 
+     428          81 :   if (!param_loader_parent.loadedSuccessfully()) {
+     429           0 :     ROS_ERROR("[MpcTracker]: Could not load all parameters!");
+     430           0 :     return false;
+     431             :   }
+     432             : 
+     433             :   // | --------------- loading plugin's parameters -------------- |
+     434             : 
+     435          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/mpc_tracker.yaml");
+     436          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/mpc_tracker.yaml");
+     437             : 
+     438         162 :   const std::string yaml_prefix = "mrs_uav_trackers/mpc_tracker/";
+     439             : 
+     440          81 :   private_handlers->param_loader->loadParam("network/robot_names", _avoidance_other_uav_names_);
+     441             : 
+     442          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/synchronous_rate_limit", _mpc_synchronous_rate_limit_);
+     443          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_loop/asynchronous_loop_rate", _mpc_asynchronous_rate_);
+     444             : 
+     445          81 :   if (_mpc_asynchronous_rate_ < 15) {
+     446           0 :     ROS_ERROR("[MpcTracker]: the asynchronous_loop_rate must be > 15 Hz");
+     447           0 :     return false;
+     448             :   }
+     449             : 
+     450          81 :   dt1_ = 1.0 / _mpc_asynchronous_rate_;
+     451             : 
+     452          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/enabled", drs_params_.braking_enabled);
+     453          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_braking", drs_params_.q_vel_braking);
+     454          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "braking/q_vel_no_braking", drs_params_.q_vel_no_braking);
+     455             : 
+     456          81 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/A", _mat_A_, MPC_N_STATES, MPC_N_STATES);
+     457          81 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/translation/B", _mat_B_, MPC_N_STATES, MPC_N_INPUTS);
+     458             : 
+     459          81 :   A_ = _mat_A_;
+     460          81 :   B_ = _mat_B_;
+     461             : 
+     462          81 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/A", _mat_A_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_STATES);
+     463          81 :   private_handlers->param_loader->loadMatrixKnown(yaml_prefix + "model/heading/B", _mat_B_heading_, MPC_HEADING_N_STATES, MPC_HEADING_N_INPUTS);
+     464             : 
+     465          81 :   A_heading_ = _mat_A_heading_;
+     466          81 :   B_heading_ = _mat_B_heading_;
+     467             : 
+     468             :   // load the MPC parameters
+     469          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/dt2", _dt2_);
+     470             : 
+     471          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/rate", _diagnostics_rate_);
+     472          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/position_tracking_threshold", _diag_pos_tracking_thr_);
+     473          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "diagnostics/orientation_tracking_threshold", _diag_heading_tracking_thr_);
+     474             : 
+     475          81 :   bool verbose_xy      = false;
+     476          81 :   bool verbose_z       = false;
+     477          81 :   bool verbose_heading = false;
+     478             : 
+     479         162 :   std::vector<double> xy_Q;
+     480         162 :   std::vector<double> z_Q;
+     481         162 :   std::vector<double> heading_Q;
+     482             : 
+     483          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/verbose", verbose_xy);
+     484          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/max_n_iterations", _max_iters_xy_);
+     485          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/xy/Q", xy_Q);
+     486             : 
+     487          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/verbose", verbose_z);
+     488          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/max_n_iterations", _max_iters_z_);
+     489          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/z/Q", z_Q);
+     490             : 
+     491          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/verbose", verbose_heading);
+     492          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/max_n_iterations", _max_iters_heading_);
+     493          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "mpc_solver/heading/Q", heading_Q);
+     494             : 
+     495          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/enabled", drs_params_.wiggle_enabled);
+     496          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/amplitude", drs_params_.wiggle_amplitude);
+     497          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "wiggle/frequency", drs_params_.wiggle_frequency);
+     498             : 
+     499          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled", collision_avoidance_enabled_);
+     500          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/enabled_passively", collision_avoidance_enabled_passively_);
+     501          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/predicted_trajectory_publish_rate", _avoidance_trajectory_rate_);
+     502          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/correction", _avoidance_z_correction_);
+     503          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/radius", _avoidance_radius_threshold_);
+     504          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/altitude_threshold", _avoidance_z_threshold_);
+     505          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_horizontal_speed_coef", _avoidance_collision_horizontal_speed_coef_);
+     506          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_fully", _avoidance_collision_slow_down_fully_);
+     507          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_slow_down_start", _avoidance_collision_slow_down_);
+     508          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/collision_start_climbing", _avoidance_collision_start_climbing_);
+     509          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "collision_avoidance/trajectory_timeout", _collision_trajectory_timeout_);
+     510             : 
+     511          81 :   if (!private_handlers->param_loader->loadedSuccessfully()) {
+     512           0 :     ROS_ERROR("[MpcTracker]: could not load all parameters!");
+     513           0 :     return false;
+     514             :   }
+     515             : 
+     516          81 :   ROS_INFO_STREAM("[MpcTracker]: initializing solvers with dt1 = " << dt1_);
+     517             : 
+     518          81 :   mpc_solver_y_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_y", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 1);
+     519          81 :   mpc_solver_x_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_x", verbose_xy, _max_iters_xy_, xy_Q, dt1_, _dt2_, 0);
+     520          81 :   mpc_solver_z_ = std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_z", verbose_z, _max_iters_z_, z_Q, dt1_, _dt2_, 2);
+     521             :   mpc_solver_heading_ =
+     522          81 :       std::make_shared<mrs_mpc_solvers::mpc_tracker::Solver>("MpcTracker_hdg", verbose_heading, _max_iters_heading_, heading_Q, dt1_, _dt2_, 0);
+     523             : 
+     524          81 :   mpc_x_         = MatrixXd::Zero(MPC_N_STATES, 1);
+     525          81 :   mpc_x_heading_ = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     526             : 
+     527          81 :   mpc_u_ = VectorXd::Zero(MPC_N_INPUTS);
+     528             : 
+     529          81 :   coef_time = ros::Time(0);
+     530             : 
+     531          81 :   des_x_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     532          81 :   des_y_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     533          81 :   des_z_trajectory_       = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     534          81 :   des_z_filtered_offset_  = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     535          81 :   des_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+     536             : 
+     537          81 :   service_server_wiggle_ = nh_.advertiseService("wiggle", &MpcTracker::callbackWiggle, this);
+     538             : 
+     539          81 :   pub_diagnostics_   = mrs_lib::PublisherHandler<mrs_msgs::MpcTrackerDiagnostics>(nh_, "diagnostics", 1);
+     540          81 :   pub_status_string_ = mrs_lib::PublisherHandler<std_msgs::String>(nh_, "string", 1);
+     541             : 
+     542             :   // extract the numerical name
+     543          81 :   sscanf(_uav_name_.c_str(), "uav%d", &avoidance_this_uav_number_);
+     544          81 :   ROS_INFO("[MpcTracker]: Numerical ID of this UAV is %d", avoidance_this_uav_number_);
+     545          81 :   avoidance_this_uav_priority_ = avoidance_this_uav_number_;
+     546             : 
+     547             :   // exclude this drone from the list
+     548          81 :   std::vector<std::string>::iterator it = _avoidance_other_uav_names_.begin();
+     549         172 :   while (it != _avoidance_other_uav_names_.end()) {
+     550             : 
+     551          91 :     std::string temp_str = *it;
+     552             : 
+     553             :     int other_uav_priority;
+     554          91 :     sscanf(temp_str.c_str(), "uav%d", &other_uav_priority);
+     555             : 
+     556          91 :     if (other_uav_priority == avoidance_this_uav_number_) {
+     557             : 
+     558          81 :       _avoidance_other_uav_names_.erase(it);
+     559          81 :       continue;
+     560             :     }
+     561             : 
+     562          10 :     it++;
+     563             :   }
+     564             : 
+     565             :   // initialize velocity tracker
+     566             : 
+     567          81 :   velocity_reference_time_ = ros::Time(0);
+     568             : 
+     569             :   // create publishers for predicted trajectory
+     570             : 
+     571          81 :   ph_avoidance_trajectory_           = mrs_lib::PublisherHandler<mrs_msgs::FutureTrajectory>(nh_, "predicted_trajectory", 1);
+     572          81 :   ph_predicted_trajectory_debugging_ = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "predicted_trajectory_debugging", 1);
+     573          81 :   ph_mpc_reference_debugging_        = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "mpc_reference_debugging", 1, true);
+     574          81 :   ph_current_trajectory_point_       = mrs_lib::PublisherHandler<geometry_msgs::PoseStamped>(nh_, "current_trajectory_point", 1, true);
+     575             : 
+     576          81 :   pub_debug_processed_trajectory_poses_   = mrs_lib::PublisherHandler<geometry_msgs::PoseArray>(nh_, "trajectory_processed/poses", 1, true);
+     577          81 :   pub_debug_processed_trajectory_markers_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "trajectory_processed/markers", 1, true);
+     578             : 
+     579             :   // preallocate predicted trajectory
+     580          81 :   predicted_trajectory_         = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     581          81 :   predicted_heading_trajectory_ = MatrixXd::Zero(MPC_HORIZON_LENGTH * MPC_N_STATES, 1);
+     582             : 
+     583          81 :   collision_free_altitude_ = std::numeric_limits<float>::lowest();
+     584             : 
+     585             :   // collision avoidance toggle service
+     586          81 :   service_server_toggle_avoidance_ = nh_.advertiseService("collision_avoidance", &MpcTracker::callbackToggleCollisionAvoidance, this);
+     587             : 
+     588         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     589          81 :   shopts.nh                 = nh_;
+     590          81 :   shopts.node_name          = "MpcTracker";
+     591          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     592          81 :   shopts.threadsafe         = true;
+     593          81 :   shopts.autostart          = true;
+     594          81 :   shopts.queue_size         = 10;
+     595          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     596             : 
+     597             :   // create subscribers on other drones diagnostics
+     598          81 :   if (collision_avoidance_enabled_ || collision_avoidance_enabled_passively_) {
+     599             : 
+     600          91 :     for (int i = 0; i < int(_avoidance_other_uav_names_.size()); i++) {
+     601             : 
+     602          30 :       std::string prediction_topic_name = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/predicted_trajectory";
+     603          20 :       std::string diag_topic_name       = std::string("/") + _avoidance_other_uav_names_[i] + "/control_manager/mpc_tracker/diagnostics";
+     604             : 
+     605          10 :       ROS_INFO("[MpcTracker]: subscribing to %s", prediction_topic_name.c_str());
+     606             : 
+     607          10 :       other_uav_trajectory_subscribers_.push_back(
+     608          20 :           mrs_lib::SubscribeHandler<mrs_msgs::FutureTrajectory>(shopts, prediction_topic_name, &MpcTracker::callbackOtherMavTrajectory, this));
+     609             : 
+     610          10 :       ROS_INFO("[MpcTracker]: subscribing to %s", diag_topic_name.c_str());
+     611             : 
+     612          10 :       other_uav_diag_subscribers_.push_back(
+     613          20 :           mrs_lib::SubscribeHandler<mrs_msgs::MpcTrackerDiagnostics>(shopts, diag_topic_name, &MpcTracker::callbackOtherMavDiagnostics, this));
+     614             :     }
+     615             :   }
+     616             : 
+     617          81 :   sh_estimation_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::EstimationDiagnostics>(shopts, std::string("/") + _uav_name_ + "/estimation_manager/diagnostics");
+     618             : 
+     619             :   // | --------------- dynamic reconfigure server --------------- |
+     620             : 
+     621          81 :   reconfigure_server_.reset(new ReconfigureServer(config_mutex_, nh_));
+     622          81 :   reconfigure_server_->updateConfig(drs_params_);
+     623          81 :   ReconfigureServer::CallbackType f = boost::bind(&MpcTracker::dynamicReconfigureCallback, this, _1, _2);
+     624          81 :   reconfigure_server_->setCallback(f);
+     625             : 
+     626             :   // | ------------------------ profiler ------------------------ |
+     627             : 
+     628          81 :   profiler = mrs_lib::Profiler(common_handlers->parent_nh, "MpcTracker", _profiler_enabled_);
+     629             : 
+     630             :   // | ------------------------- timers ------------------------- |
+     631             : 
+     632         162 :   timer_avoidance_trajectory_ = nh_.createTimer(ros::Rate(_avoidance_trajectory_rate_), &MpcTracker::timerAvoidanceTrajectory, this, false,
+     633         162 :                                                 collision_avoidance_enabled_ || collision_avoidance_enabled_passively_);
+     634          81 :   timer_diagnostics_          = nh_.createTimer(ros::Rate(_diagnostics_rate_), &MpcTracker::timerDiagnostics, this);
+     635          81 :   timer_mpc_iteration_        = nh_.createTimer(ros::Rate(_mpc_asynchronous_rate_), &MpcTracker::timerMPC, this, false, false);
+     636          81 :   timer_velocity_tracking_    = nh_.createTimer(ros::Rate(30.0), &MpcTracker::timerVelocityTracking, this, false, false);
+     637          81 :   timer_hover_                = nh_.createTimer(ros::Rate(10.0), &MpcTracker::timerHover, this, false, false);
+     638             : 
+     639             :   // | ----------------------- finish init ---------------------- |
+     640             : 
+     641          81 :   is_initialized_ = true;
+     642             : 
+     643          81 :   ROS_INFO("[MpcTracker]: initialized");
+     644             : 
+     645          81 :   return true;
+     646             : }
+     647             : 
+     648             : //}
+     649             : 
+     650             : /* //{ activate() */
+     651             : 
+     652          74 : std::tuple<bool, std::string> MpcTracker::activate(const std::optional<mrs_msgs::TrackerCommand>& last_tracker_cmd) {
+     653             : 
+     654         148 :   std::stringstream ss;
+     655             : 
+     656          74 :   if (!got_constraints_) {
+     657             : 
+     658           0 :     ss << "can not activate, missing constraints";
+     659           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     660             : 
+     661           0 :     return std::tuple(false, ss.str());
+     662             :   }
+     663             : 
+     664         148 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     665             : 
+     666             :   double uav_state_heading;
+     667             : 
+     668             :   try {
+     669          74 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     670             :   }
+     671           0 :   catch (...) {
+     672           0 :     ss << "could not calculate the UAV heading";
+     673           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+     674           0 :     return std::tuple(false, ss.str());
+     675             :   }
+     676             : 
+     677         148 :   MatrixXd mpc_x         = MatrixXd::Zero(MPC_N_STATES, 1);
+     678          74 :   MatrixXd mpc_x_heading = MatrixXd::Zero(MPC_HEADING_N_STATES, 1);
+     679             : 
+     680          74 :   if (last_tracker_cmd) {
+     681             : 
+     682             :     // set the initial condition from the last tracker's cmd
+     683             : 
+     684          72 :     if (last_tracker_cmd->use_position_horizontal) {
+     685          72 :       mpc_x(0, 0) = last_tracker_cmd->position.x;
+     686          72 :       mpc_x(4, 0) = last_tracker_cmd->position.y;
+     687             :     } else {
+     688           0 :       mpc_x(0, 0) = uav_state.pose.position.x;
+     689           0 :       mpc_x(4, 0) = uav_state.pose.position.y;
+     690             :     }
+     691             : 
+     692          72 :     if (last_tracker_cmd->use_position_vertical) {
+     693          72 :       mpc_x(8, 0) = last_tracker_cmd->position.z;
+     694             :     } else {
+     695           0 :       mpc_x(8, 0) = uav_state.pose.position.z;
+     696             :     }
+     697             : 
+     698          72 :     if (last_tracker_cmd->use_velocity_horizontal) {
+     699          72 :       mpc_x(1, 0) = last_tracker_cmd->velocity.x;
+     700          72 :       mpc_x(5, 0) = last_tracker_cmd->velocity.y;
+     701             :     } else {
+     702           0 :       mpc_x(1, 0) = uav_state.velocity.linear.x;
+     703           0 :       mpc_x(5, 0) = uav_state.velocity.linear.y;
+     704             :     }
+     705             : 
+     706          72 :     if (last_tracker_cmd->use_velocity_vertical) {
+     707          72 :       mpc_x(9, 0) = last_tracker_cmd->velocity.z;
+     708             :     } else {
+     709           0 :       mpc_x(9, 0) = uav_state.velocity.linear.z;
+     710             :     }
+     711             : 
+     712          72 :     if (last_tracker_cmd->use_acceleration) {
+     713           0 :       mpc_x(2, 0)  = last_tracker_cmd->acceleration.x;
+     714           0 :       mpc_x(6, 0)  = last_tracker_cmd->acceleration.y;
+     715           0 :       mpc_x(10, 0) = last_tracker_cmd->acceleration.z;
+     716             :     } else {
+     717          72 :       mpc_x(2, 0)  = 0;
+     718          72 :       mpc_x(6, 0)  = 0;
+     719          72 :       mpc_x(10, 0) = 0;
+     720             :     }
+     721             : 
+     722             :     // the jerks
+     723          72 :     mpc_x(3, 0)  = 0;
+     724          72 :     mpc_x(7, 0)  = 0;
+     725          72 :     mpc_x(11, 0) = 0;
+     726             : 
+     727          72 :     if (last_tracker_cmd->use_heading) {
+     728          72 :       mpc_x_heading(0, 0) = last_tracker_cmd->heading;
+     729           0 :     } else if (last_tracker_cmd->use_orientation) {
+     730             :       try {
+     731           0 :         mpc_x_heading(0, 0) = mrs_lib::AttitudeConverter(last_tracker_cmd->orientation).getHeading();
+     732             :       }
+     733           0 :       catch (...) {
+     734           0 :         mpc_x_heading(0, 0) = uav_state_heading;
+     735             :       }
+     736             :     } else {
+     737           0 :       mpc_x_heading(0, 0) = uav_state_heading;
+     738             :     }
+     739             : 
+     740          72 :     if (last_tracker_cmd->use_heading_rate) {
+     741          19 :       mpc_x_heading(1, 0) = last_tracker_cmd->heading_rate;
+     742             :     } else {
+     743          53 :       mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     744             :     }
+     745             : 
+     746          72 :     mpc_x_heading(2, 0) = 0;
+     747          72 :     mpc_x_heading(3, 0) = 0;
+     748             : 
+     749          72 :     ROS_INFO("[MpcTracker]: activated with last tracker's command");
+     750             : 
+     751             :   } else {
+     752             : 
+     753             :     // set the initial condition completely from the uav_state
+     754             : 
+     755           2 :     mpc_x(0, 0) = uav_state.pose.position.x;
+     756           2 :     mpc_x(1, 0) = uav_state.velocity.linear.x;
+     757           2 :     mpc_x(2, 0) = 0;
+     758           2 :     mpc_x(3, 0) = 0;
+     759             : 
+     760           2 :     mpc_x(4, 0) = uav_state.pose.position.y;
+     761           2 :     mpc_x(5, 0) = uav_state.velocity.linear.y;
+     762           2 :     mpc_x(6, 0) = 0;
+     763           2 :     mpc_x(7, 0) = 0;
+     764             : 
+     765           2 :     mpc_x(8, 0)  = uav_state.pose.position.z;
+     766           2 :     mpc_x(9, 0)  = uav_state.velocity.linear.z;
+     767           2 :     mpc_x(10, 0) = 0;
+     768           2 :     mpc_x(11, 0) = 0;
+     769             : 
+     770           2 :     mpc_x_heading(0, 0) = uav_state_heading;
+     771           2 :     mpc_x_heading(1, 0) = uav_state.velocity.angular.z;
+     772           2 :     mpc_x_heading(2, 0) = 0;
+     773           2 :     mpc_x_heading(3, 0) = 0;
+     774             : 
+     775           2 :     ROS_INFO("[MpcTracker]: activated with uav state");
+     776             :   }
+     777             : 
+     778             :   {
+     779         148 :     std::scoped_lock lock(mutex_mpc_x_);
+     780             : 
+     781          74 :     mpc_x_         = mpc_x;
+     782          74 :     mpc_x_heading_ = mpc_x_heading;
+     783             :   }
+     784             : 
+     785          74 :   trajectory_tracking_in_progress_ = false;
+     786             : 
+     787          74 :   ss << "activated";
+     788          74 :   ROS_INFO_STREAM("[MpcTracker]: " << ss.str());
+     789             : 
+     790             :   // this is here to initialize the desired_trajectory vector
+     791             :   // if deleted (and I tried) the UAV will briefly fly to the
+     792             :   // origin after activation
+     793          74 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     794             : 
+     795          74 :   toggleHover(true);
+     796             : 
+     797          74 :   model_first_iteration_ = true;
+     798             : 
+     799          74 :   A_ = _mat_A_;
+     800          74 :   B_ = _mat_B_;
+     801             : 
+     802          74 :   A_heading_ = _mat_A_heading_;
+     803          74 :   B_heading_ = _mat_B_heading_;
+     804             : 
+     805          74 :   is_active_ = true;
+     806             : 
+     807          74 :   if (!mpc_synchronous_) {
+     808          67 :     timer_mpc_iteration_.start();
+     809             :   }
+     810             : 
+     811          74 :   return std::tuple(true, ss.str());
+     812             : }
+     813             : 
+     814             : //}
+     815             : 
+     816             : /* //{ deactivate() */
+     817             : 
+     818          36 : void MpcTracker::deactivate(void) {
+     819             : 
+     820          36 :   toggleHover(false);
+     821             : 
+     822          36 :   is_active_                       = false;
+     823          36 :   trajectory_tracking_in_progress_ = false;
+     824          36 :   model_first_iteration_           = true;
+     825             : 
+     826             :   {
+     827          36 :     std::scoped_lock lock(mutex_trajectory_tracking_states_);
+     828             : 
+     829          36 :     trajectory_current_time_ = 0;
+     830             :   }
+     831             : 
+     832          36 :   ROS_INFO("[MpcTracker]: deactivated");
+     833             : 
+     834          36 :   timer_mpc_iteration_.stop();
+     835             : 
+     836          36 :   publishDiagnostics();
+     837          36 : }
+     838             : 
+     839             : //}
+     840             : 
+     841             : /* //{ resetStatic() */
+     842             : 
+     843           0 : bool MpcTracker::resetStatic(void) {
+     844             : 
+     845           0 :   if (!is_initialized_) {
+     846           0 :     ROS_ERROR("[MpcTracker]: can not reset, not initialized");
+     847           0 :     return false;
+     848             :   }
+     849             : 
+     850           0 :   if (!is_active_) {
+     851           0 :     ROS_ERROR("[MpcTracker]: can not reset, not active");
+     852           0 :     return false;
+     853             :   }
+     854             : 
+     855           0 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     856             : 
+     857             :   double uav_state_heading;
+     858             : 
+     859             :   try {
+     860           0 :     uav_state_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     861             :   }
+     862           0 :   catch (...) {
+     863           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: could not calculate the UAV heading");
+     864           0 :     return false;
+     865             :   }
+     866             : 
+     867             :   {
+     868           0 :     std::scoped_lock lock(mutex_mpc_x_);
+     869             : 
+     870             :     // set the initial condition from the odometry
+     871             : 
+     872           0 :     ROS_INFO("[MpcTracker]: reseting with uav state with no dynamics");
+     873             : 
+     874           0 :     mpc_x_(0, 0) = uav_state.pose.position.x;
+     875           0 :     mpc_x_(1, 0) = 0;
+     876           0 :     mpc_x_(2, 0) = 0;
+     877           0 :     mpc_x_(3, 0) = 0;
+     878             : 
+     879           0 :     mpc_x_(4, 0) = uav_state.pose.position.y;
+     880           0 :     mpc_x_(5, 0) = 0;
+     881           0 :     mpc_x_(6, 0) = 0;
+     882           0 :     mpc_x_(7, 0) = 0;
+     883             : 
+     884           0 :     mpc_x_(8, 0)  = uav_state.pose.position.z;
+     885           0 :     mpc_x_(9, 0)  = 0;
+     886           0 :     mpc_x_(10, 0) = 0;
+     887           0 :     mpc_x_(11, 0) = 0;
+     888             : 
+     889           0 :     mpc_x_heading_(0, 0) = uav_state_heading;
+     890           0 :     mpc_x_heading_(1, 0) = 0;
+     891           0 :     mpc_x_heading_(2, 0) = 0;
+     892           0 :     mpc_x_heading_(3, 0) = 0;
+     893             : 
+     894           0 :     trajectory_tracking_in_progress_ = false;
+     895             : 
+     896           0 :     ROS_INFO("[MpcTracker]: reseted");
+     897             :   }
+     898             : 
+     899             :   // this is here to initialize the desired_trajectory vector
+     900             :   // if deleted (and I tried) the UAV will briefly fly to the
+     901             :   // origin after activation
+     902           0 :   setRelativeGoal(0, 0, 0, 0, false);  // do not delete
+     903             : 
+     904           0 :   return true;
+     905             : }
+     906             : 
+     907             : //}
+     908             : 
+     909             : /* //{ update() */
+     910             : 
+     911      112063 : std::optional<mrs_msgs::TrackerCommand> MpcTracker::update(const mrs_msgs::UavState&                                           uav_state,
+     912             :                                                            [[maybe_unused]] const mrs_uav_managers::Controller::ControlOutput& last_control_output) {
+     913             : 
+     914      336189 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("update");
+     915      336189 :   mrs_lib::ScopeTimer timer            = mrs_lib::ScopeTimer("MpcTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     916             : 
+     917      224126 :   auto old_uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     918             : 
+     919             :   // the time from the last update call
+     920      112063 :   double dt = (uav_state.header.stamp - old_uav_state.header.stamp).toSec();
+     921             : 
+     922             :   // save the uav state
+     923      112063 :   mrs_lib::set_mutexed(mutex_uav_state_, uav_state, uav_state_);
+     924             : 
+     925      112063 :   if (dt > 0) {
+     926             : 
+     927      112063 :     double rate = 1.0 / dt;
+     928             : 
+     929      112063 :     update_rate_ = 0.9 * update_rate_ + 0.1 * rate;
+     930             : 
+     931      112063 :     if (mpc_synchronous_ && (update_rate_ > _mpc_synchronous_rate_limit_)) {
+     932           0 :       mpc_synchronous_ = false;
+     933           0 :       ROS_INFO("[MpcTracker]: detecting high update date (%.1f Hz > %.1f Hz), switching to asynchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     934           0 :       if (is_active_) {
+     935           0 :         timer_mpc_iteration_.start();
+     936             :       }
+     937      112063 :     } else if (!mpc_synchronous_ && (update_rate_ <= _mpc_synchronous_rate_limit_)) {
+     938          14 :       mpc_synchronous_ = true;
+     939          14 :       ROS_INFO("[MpcTracker]: detecting low update rate (%.1f Hz < %.1f Hz), switching to synchronous mode.", rate, _mpc_synchronous_rate_limit_);
+     940          14 :       timer_mpc_iteration_.stop();
+     941             :     }
+     942             :   }
+     943             : 
+     944             :   // up to this part the update() method is evaluated even when the tracker is not active
+     945      112063 :   if (!is_active_) {
+     946       53277 :     return {};
+     947             :   }
+     948             : 
+     949      117572 :   mrs_msgs::TrackerCommand tracker_cmd;
+     950             : 
+     951       58786 :   if (!mpc_synchronous_ && (!mpc_computed_ || mpc_result_invalid_)) {
+     952             : 
+     953          54 :     ROS_WARN_THROTTLE(0.1, "[MpcTracker]: MPC not ready, returning current odom as the command");
+     954             : 
+     955             :     // set the header
+     956          54 :     tracker_cmd.header.stamp    = uav_state.header.stamp;
+     957          54 :     tracker_cmd.header.frame_id = uav_state.header.frame_id;
+     958             : 
+     959             :     // set positions from odom
+     960          54 :     tracker_cmd.position.x              = uav_state.pose.position.x;
+     961          54 :     tracker_cmd.position.y              = uav_state.pose.position.y;
+     962          54 :     tracker_cmd.position.z              = uav_state.pose.position.z;
+     963          54 :     tracker_cmd.use_position_vertical   = 1;
+     964          54 :     tracker_cmd.use_position_horizontal = 1;
+     965             : 
+     966             :     // set velocities from odom
+     967          54 :     tracker_cmd.velocity.x              = uav_state.velocity.linear.x;
+     968          54 :     tracker_cmd.velocity.y              = uav_state.velocity.linear.y;
+     969          54 :     tracker_cmd.velocity.z              = uav_state.velocity.linear.z;
+     970          54 :     tracker_cmd.use_velocity_vertical   = 1;
+     971          54 :     tracker_cmd.use_velocity_horizontal = 1;
+     972             : 
+     973             :     // set zero accelerations
+     974          54 :     tracker_cmd.acceleration.x   = 0;
+     975          54 :     tracker_cmd.acceleration.y   = 0;
+     976          54 :     tracker_cmd.acceleration.z   = 0;
+     977          54 :     tracker_cmd.use_acceleration = 1;
+     978             : 
+     979             :     try {
+     980          54 :       tracker_cmd.heading     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     981          54 :       tracker_cmd.use_heading = 1;
+     982             :     }
+     983           0 :     catch (...) {
+     984           0 :       tracker_cmd.use_heading = 0;
+     985           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading");
+     986             :     }
+     987             : 
+     988             :     // set zero jerk
+     989          54 :     tracker_cmd.jerk.x = 0;
+     990          54 :     tracker_cmd.jerk.y = 0;
+     991          54 :     tracker_cmd.jerk.z = 0;
+     992             : 
+     993             :     try {
+     994          54 :       tracker_cmd.heading_rate     = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeadingRate(uav_state.velocity.angular);
+     995          54 :       tracker_cmd.use_heading_rate = 1;
+     996             :     }
+     997           0 :     catch (...) {
+     998           0 :       tracker_cmd.use_heading_rate = 0;
+     999           0 :       ROS_WARN_THROTTLE(1.0, "[MpcTracker]: could not calculate the current UAV heading rate");
+    1000             :     }
+    1001             : 
+    1002          54 :     return {tracker_cmd};
+    1003             :   }
+    1004             : 
+    1005       58732 :   if (mpc_synchronous_) {
+    1006             : 
+    1007        3674 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in SYNCHRONOUS mode");
+    1008             : 
+    1009        3674 :     if (synchronous_timer_event_.last_real.toSec() > 0) {
+    1010        3660 :       synchronous_timer_event_.last_real = synchronous_timer_event_.current_real;
+    1011             :     } else {
+    1012          14 :       synchronous_timer_event_.last_real = ros::Time::now();
+    1013             :     }
+    1014             : 
+    1015        3674 :     synchronous_timer_event_.current_real = ros::Time::now();
+    1016             : 
+    1017        3674 :     timerMPC(synchronous_timer_event_);
+    1018             : 
+    1019             :   } else {
+    1020       55058 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: running in ASYNCHRONOUS mode");
+    1021             :   }
+    1022             : 
+    1023       58732 :   if (dt > 0) {
+    1024       58732 :     iterateModel(dt);
+    1025             :   } else {
+    1026           0 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: dt !> 0, not iterating the model");
+    1027             :   }
+    1028             : 
+    1029      117464 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1030      117464 :   auto prediction_full_state  = mrs_lib::get_mutexed(mutex_prediction_full_state_, prediction_full_state_);
+    1031             : 
+    1032             :   // check whether all outputs are finite
+    1033       58732 :   bool arefinite = true;
+    1034      763516 :   for (int i = 0; i < 12; i++) {
+    1035      704784 :     if (!std::isfinite(mpc_x(i, 0))) {
+    1036           0 :       arefinite = false;
+    1037             :     }
+    1038             :   }
+    1039             : 
+    1040       58732 :   if (arefinite) {
+    1041             : 
+    1042             :     // set the desired states base on the result of the mpc
+    1043       58732 :     tracker_cmd.position.x     = mpc_x(0, 0);
+    1044       58732 :     tracker_cmd.velocity.x     = mpc_x(1, 0);
+    1045       58732 :     tracker_cmd.acceleration.x = mpc_x(2, 0);
+    1046       58732 :     tracker_cmd.jerk.x         = mpc_x(3, 0);
+    1047             : 
+    1048       58732 :     tracker_cmd.position.y     = mpc_x(4, 0);
+    1049       58732 :     tracker_cmd.velocity.y     = mpc_x(5, 0);
+    1050       58732 :     tracker_cmd.acceleration.y = mpc_x(6, 0);
+    1051       58732 :     tracker_cmd.jerk.y         = mpc_x(7, 0);
+    1052             : 
+    1053       58732 :     tracker_cmd.position.z     = mpc_x(8, 0);
+    1054       58732 :     tracker_cmd.velocity.z     = mpc_x(9, 0);
+    1055       58732 :     tracker_cmd.acceleration.z = mpc_x(10, 0);
+    1056       58732 :     tracker_cmd.jerk.z         = mpc_x(11, 0);
+    1057             : 
+    1058       58732 :     tracker_cmd.full_state_prediction = prediction_full_state;
+    1059             : 
+    1060       58732 :     tracker_cmd.use_position_vertical     = 1;
+    1061       58732 :     tracker_cmd.use_position_horizontal   = 1;
+    1062       58732 :     tracker_cmd.use_velocity_vertical     = 1;
+    1063       58732 :     tracker_cmd.use_velocity_horizontal   = 1;
+    1064       58732 :     tracker_cmd.use_acceleration          = 1;
+    1065       58732 :     tracker_cmd.use_jerk                  = 1;
+    1066       58732 :     tracker_cmd.use_full_state_prediction = 1;
+    1067             : 
+    1068             :   } else {
+    1069             : 
+    1070           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC translation outputs are not finite!");
+    1071             : 
+    1072           0 :     return {};
+    1073             :   }
+    1074             : 
+    1075       58732 :   bool heading_finite = true;
+    1076      293660 :   for (int i = 0; i < MPC_HEADING_N_STATES; i++) {
+    1077      234928 :     if (!std::isfinite(mpc_x_heading(i, 0))) {
+    1078           0 :       heading_finite = false;
+    1079             :     }
+    1080             :   }
+    1081             : 
+    1082       58732 :   if (heading_finite) {
+    1083             : 
+    1084       58732 :     tracker_cmd.heading              = mpc_x_heading(0, 0);
+    1085       58732 :     tracker_cmd.heading_rate         = mpc_x_heading(1, 0);
+    1086       58732 :     tracker_cmd.heading_acceleration = mpc_x_heading(2, 0);
+    1087       58732 :     tracker_cmd.heading_jerk         = mpc_x_heading(3, 0);
+    1088             : 
+    1089       58732 :     tracker_cmd.use_heading              = 1;
+    1090       58732 :     tracker_cmd.use_heading_rate         = 1;
+    1091       58732 :     tracker_cmd.use_heading_acceleration = 1;
+    1092       58732 :     tracker_cmd.use_heading_jerk         = 1;
+    1093             : 
+    1094             :   } else {
+    1095             : 
+    1096           0 :     ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: MPC heading output is not finite!");
+    1097             : 
+    1098           0 :     return {};
+    1099             :   }
+    1100             : 
+    1101             :   // set the header
+    1102       58732 :   tracker_cmd.header.stamp    = uav_state.header.stamp;
+    1103       58732 :   tracker_cmd.header.frame_id = uav_state.header.frame_id;
+    1104             : 
+    1105             :   // u have to return a position command
+    1106             :   // can set the jerk to 0
+    1107       58732 :   return {tracker_cmd};
+    1108             : }  // namespace mpc_tracker
+    1109             : 
+    1110             : //}
+    1111             : 
+    1112             : /* //{ getStatus() */
+    1113             : 
+    1114        6833 : const mrs_msgs::TrackerStatus MpcTracker::getStatus() {
+    1115             : 
+    1116       13666 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1117        6833 :   auto trajectory_size        = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_);
+    1118             : 
+    1119             :   double des_x, des_y, des_z, des_heading;
+    1120             :   {
+    1121        6833 :     std::scoped_lock lock(mutex_des_trajectory_);
+    1122             : 
+    1123        6833 :     des_x       = des_x_trajectory_(0);
+    1124        6833 :     des_y       = des_y_trajectory_(0);
+    1125        6833 :     des_z       = des_z_trajectory_(0);
+    1126        6833 :     des_heading = des_heading_trajectory_(0);
+    1127             :   }
+    1128             : 
+    1129        6833 :   mrs_msgs::TrackerStatus tracker_status;
+    1130             : 
+    1131        6833 :   tracker_status.active            = is_active_;
+    1132        6833 :   tracker_status.callbacks_enabled = is_active_ && callbacks_enabled_ && !hovering_in_progress_;
+    1133             : 
+    1134        6833 :   tracker_status.tracking_trajectory = trajectory_tracking_in_progress_;
+    1135             : 
+    1136        6833 :   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_;
+    1137        6833 :   bool have_heading_error    = fabs(radians::diff(mpc_x_heading(0), des_heading)) > _diag_heading_tracking_thr_;
+    1138        6833 :   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;
+    1139             : 
+    1140        6833 :   tracker_status.have_goal = trajectory_tracking_in_progress_ || hovering_in_progress_ || have_position_error || have_heading_error || have_nonzero_velocity;
+    1141             : 
+    1142        6833 :   int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    1143             : 
+    1144        6833 :   tracker_status.trajectory_length = trajectory_size;
+    1145        6833 :   tracker_status.trajectory_idx    = trajectory_tracking_idx;
+    1146             : 
+    1147        6833 :   if (trajectory_tracking_in_progress_) {
+    1148             : 
+    1149        2658 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1150             : 
+    1151        2658 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    1152             : 
+    1153        1329 :     tracker_status.trajectory_reference.header.stamp    = ros::Time::now();
+    1154        1329 :     tracker_status.trajectory_reference.header.frame_id = uav_state.header.frame_id;
+    1155             : 
+    1156        1329 :     tracker_status.trajectory_reference.reference.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1157        1329 :     tracker_status.trajectory_reference.reference.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1158        1329 :     tracker_status.trajectory_reference.reference.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1159        1329 :     tracker_status.trajectory_reference.reference.heading    = (*des_heading_whole_trajectory_)(trajectory_tracking_idx);
+    1160             : 
+    1161             :     // | ---------- publish the current trajectory point ---------- |
+    1162             : 
+    1163        2658 :     geometry_msgs::PoseStamped debug_trajectory_point;
+    1164        1329 :     debug_trajectory_point.header.stamp    = ros::Time::now();
+    1165        1329 :     debug_trajectory_point.header.frame_id = uav_state_.header.frame_id;
+    1166             : 
+    1167        1329 :     debug_trajectory_point.pose.position.x = (*des_x_whole_trajectory_)(trajectory_tracking_idx);
+    1168        1329 :     debug_trajectory_point.pose.position.y = (*des_y_whole_trajectory_)(trajectory_tracking_idx);
+    1169        1329 :     debug_trajectory_point.pose.position.z = (*des_z_whole_trajectory_)(trajectory_tracking_idx);
+    1170             : 
+    1171        1329 :     debug_trajectory_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(trajectory_tracking_idx));
+    1172             : 
+    1173        1329 :     ph_current_trajectory_point_.publish(debug_trajectory_point);
+    1174             :   }
+    1175             : 
+    1176       13666 :   return tracker_status;
+    1177             : }
+    1178             : 
+    1179             : //}
+    1180             : 
+    1181             : /* //{ enableCallbacks() */
+    1182             : 
+    1183        1615 : const std_srvs::SetBoolResponse::ConstPtr MpcTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr& cmd) {
+    1184             : 
+    1185        3230 :   std::stringstream ss;
+    1186             : 
+    1187        1615 :   if (cmd->data != callbacks_enabled_) {
+    1188             : 
+    1189        1351 :     callbacks_enabled_ = cmd->data;
+    1190        1351 :     ss << "callbacks %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1191             : 
+    1192             :   } else {
+    1193             : 
+    1194         264 :     ss << "callbacks were already %s" << (callbacks_enabled_ ? "enabled" : "disabled");
+    1195             :   }
+    1196             : 
+    1197        3230 :   std_srvs::SetBoolResponse res;
+    1198        1615 :   res.message = ss.str();
+    1199        1615 :   res.success = true;
+    1200             : 
+    1201        3230 :   return std_srvs::SetBoolResponse::ConstPtr(new std_srvs::SetBoolResponse(res));
+    1202             : }
+    1203             : 
+    1204             : //}
+    1205             : 
+    1206             : /* switchOdometrySource() //{ */
+    1207             : 
+    1208           4 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::switchOdometrySource(const mrs_msgs::UavState& new_uav_state) {
+    1209             : 
+    1210           4 :   odometry_reset_in_progress_ = true;
+    1211           4 :   mpc_result_invalid_         = true;
+    1212             : 
+    1213           8 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1214           8 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1215             : 
+    1216           4 :   ROS_INFO(
+    1217             :       "[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: "
+    1218             :       "%.2f], "
+    1219             :       "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]",
+    1220             :       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,
+    1221             :       new_uav_state.pose.position.z, new_uav_state.velocity.linear.x, new_uav_state.velocity.linear.y, new_uav_state.velocity.linear.z,
+    1222             :       new_uav_state.acceleration.linear.x, new_uav_state.acceleration.linear.y, new_uav_state.acceleration.linear.z);
+    1223             : 
+    1224           4 :   timer_mpc_iteration_.stop();
+    1225           4 :   ROS_INFO("[MpcTracker]: mpc timer stopped");
+    1226             : 
+    1227           4 :   while (mpc_timer_running_) {
+    1228             : 
+    1229           1 :     ROS_DEBUG("[MpcTracker]: the mpc is in the middle of an iteration, waiting for it to finish");
+    1230           1 :     ros::Duration wait(0.001);
+    1231           1 :     wait.sleep();
+    1232             : 
+    1233           1 :     if (!mpc_timer_running_) {
+    1234           1 :       ROS_DEBUG("[ControlManager]: mpc timer finished");
+    1235           1 :       break;
+    1236             :     }
+    1237             :   }
+    1238             : 
+    1239             :   // | --------- recalculate the goal to new coordinates -------- |
+    1240             : 
+    1241           4 :   double old_heading  = 0;
+    1242           4 :   double new_heading  = 0;
+    1243           4 :   bool   got_headings = true;
+    1244             : 
+    1245             :   try {
+    1246           4 :     old_heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+    1247             :   }
+    1248           0 :   catch (...) {
+    1249           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the old UAV heading");
+    1250           0 :     got_headings = false;
+    1251             :   }
+    1252             : 
+    1253             :   try {
+    1254           4 :     new_heading = mrs_lib::AttitudeConverter(new_uav_state.pose.orientation).getHeading();
+    1255             :   }
+    1256           0 :   catch (...) {
+    1257           0 :     ROS_ERROR_THROTTLE(1.0, "[LineTracker]: could not calculate the new UAV heading");
+    1258           0 :     got_headings = false;
+    1259             :   }
+    1260             : 
+    1261           8 :   std_srvs::TriggerResponse res;
+    1262             : 
+    1263           4 :   if (!got_headings) {
+    1264           0 :     res.message = "could not calculate the heading difference";
+    1265           0 :     res.success = false;
+    1266             : 
+    1267           0 :     return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1268             :   }
+    1269             : 
+    1270             :   // calculate the difference of position
+    1271           4 :   double dx       = new_uav_state.pose.position.x - uav_state_.pose.position.x;
+    1272           4 :   double dy       = new_uav_state.pose.position.y - uav_state_.pose.position.y;
+    1273           4 :   double dz       = new_uav_state.pose.position.z - uav_state_.pose.position.z;
+    1274           4 :   double dheading = new_heading - old_heading;
+    1275             : 
+    1276           4 :   ROS_INFO("[MpcTracker]: dx %f dy %f dz %f dheading %f", dx, dy, dz, dheading);
+    1277             : 
+    1278             :   {
+    1279           4 :     std::scoped_lock lock(mutex_mpc_x_, mutex_des_trajectory_, mutex_des_whole_trajectory_, mutex_uav_state_);
+    1280             : 
+    1281           4 :     if (trajectory_set_) {
+    1282             : 
+    1283           0 :       for (int i = 0; i < trajectory_size_ + MPC_HORIZON_LENGTH; i++) {
+    1284             : 
+    1285           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);
+    1286           0 :         temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1287             : 
+    1288           0 :         (*des_x_whole_trajectory_)(i) = new_uav_state.pose.position.x + temp_vec[0];
+    1289           0 :         (*des_y_whole_trajectory_)(i) = new_uav_state.pose.position.y + temp_vec[1];
+    1290           0 :         (*des_z_whole_trajectory_)(i) += dz;
+    1291           0 :         (*des_heading_whole_trajectory_)(i) += dheading;
+    1292             :       }
+    1293             :     }
+    1294             : 
+    1295         164 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1296             : 
+    1297         160 :       Eigen::Vector2d temp_vec(des_x_trajectory_(i) - uav_state_.pose.position.x, des_y_trajectory_(i) - uav_state_.pose.position.y);
+    1298         160 :       temp_vec = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1299             : 
+    1300         160 :       des_x_trajectory_(i, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1301         160 :       des_y_trajectory_(i, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1302         160 :       des_z_trajectory_(i, 0) += dz;
+    1303         160 :       des_heading_trajectory_(i, 0) += dheading;
+    1304             :     }
+    1305             : 
+    1306             :     // update the position
+    1307             :     {
+    1308           4 :       Eigen::Vector2d temp_vec(mpc_x_(0, 0) - uav_state_.pose.position.x, mpc_x_(4, 0) - uav_state_.pose.position.y);
+    1309           4 :       temp_vec     = Eigen::Rotation2D<double>(dheading).toRotationMatrix() * temp_vec;
+    1310           4 :       mpc_x_(0, 0) = new_uav_state.pose.position.x + temp_vec[0];
+    1311           4 :       mpc_x_(4, 0) = new_uav_state.pose.position.y + temp_vec[1];
+    1312           4 :       mpc_x_(8, 0) += dz;
+    1313             :     }
+    1314             : 
+    1315             :     // update the velocity
+    1316             :     {
+    1317           4 :       mpc_x_(1, 0) = new_uav_state.velocity.linear.x;
+    1318           4 :       mpc_x_(5, 0) = new_uav_state.velocity.linear.y;
+    1319             :       // we leave the z velocity as it was in the original frame
+    1320             :     }
+    1321             : 
+    1322             :     // update the acceleration
+    1323             :     {
+    1324           4 :       mpc_x_(2, 0)  = 0;
+    1325           4 :       mpc_x_(6, 0)  = 0;
+    1326           4 :       mpc_x_(10, 0) = 0;
+    1327             :     }
+    1328             : 
+    1329             :     // update the heading and its derivative
+    1330           4 :     mpc_x_heading_(0, 0) += dheading;
+    1331           4 :     mpc_x_heading_(1, 0) = new_uav_state.velocity.angular.x;
+    1332             :   }
+    1333             : 
+    1334           4 :   ROS_INFO(
+    1335             :       "[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: "
+    1336             :       "%.2f]",
+    1337             :       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));
+    1338             : 
+    1339           4 :   ROS_INFO("[MpcTracker]: starting the MPC timer");
+    1340             : 
+    1341           4 :   if (!mpc_synchronous_) {
+    1342           4 :     timer_mpc_iteration_.start();
+    1343             :   }
+    1344             : 
+    1345           4 :   odometry_reset_in_progress_ = false;
+    1346             : 
+    1347           4 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1348             : }
+    1349             : 
+    1350             : //}
+    1351             : 
+    1352             : /* //{ hover() */
+    1353             : 
+    1354           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::hover([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1355             : 
+    1356           0 :   toggleHover(true);
+    1357             : 
+    1358           0 :   std::stringstream ss;
+    1359           0 :   ss << "initiating hover";
+    1360             : 
+    1361           0 :   std_srvs::TriggerResponse res;
+    1362           0 :   res.success = true;
+    1363           0 :   res.message = ss.str();
+    1364             : 
+    1365           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1366             : }
+    1367             : 
+    1368             : //}
+    1369             : 
+    1370             : /* //{ startTrajectoryTracking() */
+    1371             : 
+    1372           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::startTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1373           2 :   std::stringstream ss;
+    1374             : 
+    1375           2 :   auto [success, message] = startTrajectoryTrackingImpl();
+    1376             : 
+    1377           2 :   std_srvs::TriggerResponse res;
+    1378           1 :   res.success = success;
+    1379           1 :   res.message = message;
+    1380             : 
+    1381           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1382             : }
+    1383             : 
+    1384             : //}
+    1385             : 
+    1386             : /* //{ stopTrajectoryTracking() */
+    1387             : 
+    1388           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::stopTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1389             : 
+    1390           0 :   auto [success, message] = stopTrajectoryTrackingImpl();
+    1391             : 
+    1392           0 :   std_srvs::TriggerResponse res;
+    1393           0 :   res.success = success;
+    1394           0 :   res.message = message;
+    1395             : 
+    1396           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1397             : }
+    1398             : 
+    1399             : //}
+    1400             : 
+    1401             : /* //{ resumeTrajectoryTracking() */
+    1402             : 
+    1403           0 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::resumeTrajectoryTracking([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1404             : 
+    1405           0 :   auto [success, message] = resumeTrajectoryTrackingImpl();
+    1406             : 
+    1407           0 :   std_srvs::TriggerResponse res;
+    1408           0 :   res.success = success;
+    1409           0 :   res.message = message;
+    1410             : 
+    1411           0 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1412             : }
+    1413             : 
+    1414             : //}
+    1415             : 
+    1416             : /* //{ gotoTrajectoryStart() */
+    1417             : 
+    1418           1 : const std_srvs::TriggerResponse::ConstPtr MpcTracker::gotoTrajectoryStart([[maybe_unused]] const std_srvs::TriggerRequest::ConstPtr& cmd) {
+    1419             : 
+    1420           2 :   auto [success, message] = gotoTrajectoryStartImpl();
+    1421             : 
+    1422           2 :   std_srvs::TriggerResponse res;
+    1423           1 :   res.success = success;
+    1424           1 :   res.message = message;
+    1425             : 
+    1426           2 :   return std_srvs::TriggerResponse::ConstPtr(new std_srvs::TriggerResponse(res));
+    1427             : }
+    1428             : 
+    1429             : //}
+    1430             : 
+    1431             : /* //{ setConstraints() */
+    1432             : 
+    1433         258 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr MpcTracker::setConstraints(const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr& constraints) {
+    1434             : 
+    1435         258 :   if (!is_initialized_) {
+    1436           0 :     return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse());
+    1437             :   }
+    1438             : 
+    1439         258 :   mrs_lib::set_mutexed(mutex_constraints_, constraints->constraints, constraints_);
+    1440             : 
+    1441             :   // directly updated the speeds in the constraints
+    1442             :   // the reset needs to wait for manageConstraints()
+    1443             :   {
+    1444         516 :     std::scoped_lock lock(mutex_constraints_filtered_);
+    1445             : 
+    1446             :     // important! this needs to be done to initialize the full struct
+    1447         258 :     if (!got_constraints_) {
+    1448             : 
+    1449          81 :       constraints_filtered_ = constraints->constraints;
+    1450             : 
+    1451             :     } else {
+    1452             : 
+    1453         177 :       constraints_filtered_.horizontal_speed          = constraints->constraints.horizontal_speed;
+    1454         177 :       constraints_filtered_.vertical_ascending_speed  = constraints->constraints.vertical_ascending_speed;
+    1455         177 :       constraints_filtered_.vertical_descending_speed = constraints->constraints.vertical_descending_speed;
+    1456         177 :       constraints_filtered_.heading_speed             = constraints->constraints.heading_speed;
+    1457             :     }
+    1458             :   }
+    1459             : 
+    1460         258 :   got_constraints_ = true;
+    1461             : 
+    1462         258 :   all_constraints_set_ = false;
+    1463             : 
+    1464         258 :   ROS_INFO("[MpcTracker]: updating constraints");
+    1465             : 
+    1466         516 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+    1467         258 :   res.success = true;
+    1468         258 :   res.message = "constraints updated";
+    1469             : 
+    1470         258 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+    1471             : }
+    1472             : 
+    1473             : //}
+    1474             : 
+    1475             : /* //{ setReference() */
+    1476             : 
+    1477         242 : const mrs_msgs::ReferenceSrvResponse::ConstPtr MpcTracker::setReference(const mrs_msgs::ReferenceSrvRequest::ConstPtr& cmd) {
+    1478             : 
+    1479         242 :   toggleHover(false);
+    1480             : 
+    1481         242 :   setGoal(cmd->reference.position.x, cmd->reference.position.y, cmd->reference.position.z, cmd->reference.heading, true);
+    1482             : 
+    1483         484 :   mrs_msgs::ReferenceSrvResponse res;
+    1484         242 :   res.success = true;
+    1485         242 :   res.message = "reference set";
+    1486             : 
+    1487         484 :   return mrs_msgs::ReferenceSrvResponse::ConstPtr(new mrs_msgs::ReferenceSrvResponse(res));
+    1488             : }
+    1489             : 
+    1490             : //}
+    1491             : 
+    1492             : /* //{ setVelocityReference() */
+    1493             : 
+    1494         471 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr MpcTracker::setVelocityReference(const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr& cmd) {
+    1495             : 
+    1496         471 :   if (!is_initialized_) {
+    1497           0 :     return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+    1498             :   }
+    1499             : 
+    1500             :   {
+    1501         471 :     std::scoped_lock lock(mutex_velocity_reference_);
+    1502             : 
+    1503         471 :     velocity_reference_time_ = ros::Time::now();
+    1504             : 
+    1505         471 :     velocity_reference_ = cmd->reference;
+    1506             :   }
+    1507             : 
+    1508         471 :   if (!velocity_tracking_active_) {
+    1509             : 
+    1510           2 :     ROS_INFO("[MpcTracker]: starting velocity tracking timer");
+    1511             : 
+    1512           2 :     timer_velocity_tracking_.stop();
+    1513           2 :     timer_velocity_tracking_.start();
+    1514             : 
+    1515           2 :     velocity_tracking_active_ = true;
+    1516             :   }
+    1517             : 
+    1518         942 :   mrs_msgs::VelocityReferenceSrvResponse response;
+    1519         471 :   response.success = true;
+    1520         471 :   response.message = "reference set";
+    1521             : 
+    1522         471 :   return mrs_msgs::VelocityReferenceSrvResponse::ConstPtr(new mrs_msgs::VelocityReferenceSrvResponse(response));
+    1523             : }
+    1524             : 
+    1525             : //}
+    1526             : 
+    1527             : /* //{ setTrajectoryReference() */
+    1528             : 
+    1529           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr MpcTracker::setTrajectoryReference([
+    1530             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr& cmd) {
+    1531             : 
+    1532           8 :   std::stringstream ss;
+    1533             : 
+    1534          12 :   auto [success, message, modified] = loadTrajectory(cmd->trajectory);
+    1535             : 
+    1536           8 :   mrs_msgs::TrajectoryReferenceSrvResponse response;
+    1537           4 :   response.success  = success;
+    1538           4 :   response.message  = message;
+    1539           4 :   response.modified = modified;
+    1540             : 
+    1541           8 :   return mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr(new mrs_msgs::TrajectoryReferenceSrvResponse(response));
+    1542             : }
+    1543             : 
+    1544             : //}
+    1545             : 
+    1546             : // | ------------------------ callbacks ----------------------- |
+    1547             : 
+    1548             : /* //{ callbackOtherMavTrajectory() */
+    1549             : 
+    1550         294 : void MpcTracker::callbackOtherMavTrajectory(const mrs_msgs::FutureTrajectory::ConstPtr msg) {
+    1551             : 
+    1552         294 :   if (!is_initialized_) {
+    1553           1 :     return;
+    1554             :   }
+    1555             : 
+    1556         588 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavTrajectory");
+    1557             :   mrs_lib::ScopeTimer timer =
+    1558         588 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1559             : 
+    1560         294 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    1561             : 
+    1562         294 :   mrs_msgs::FutureTrajectory trajectory = *msg;
+    1563             : 
+    1564             :   // the times might not be synchronized, so just remember the time of receiving it
+    1565         294 :   trajectory.stamp = ros::Time::now();
+    1566             : 
+    1567             :   // transform it from the utm origin to the currently used frame
+    1568         588 :   auto res = common_handlers_->transformer->getTransform("utm_origin", uav_state.header.frame_id, ros::Time::now());
+    1569             : 
+    1570         294 :   if (!res) {
+    1571             : 
+    1572           1 :     std::string message = "[MpcTracker]: can not transform other drone trajectory to the current frame";
+    1573           1 :     ROS_WARN_STREAM_ONCE(message);
+    1574           1 :     ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1575             : 
+    1576           1 :     return;
+    1577             :   }
+    1578             : 
+    1579         293 :   geometry_msgs::TransformStamped tf = res.value();
+    1580             : 
+    1581       12013 :   for (int i = 0; i < int(trajectory.points.size()); i++) {
+    1582             : 
+    1583       11720 :     geometry_msgs::PoseStamped original_pose;
+    1584             : 
+    1585       11720 :     original_pose.pose.position.x = trajectory.points[i].x;
+    1586       11720 :     original_pose.pose.position.y = trajectory.points[i].y;
+    1587       11720 :     original_pose.pose.position.z = trajectory.points[i].z;
+    1588             : 
+    1589       11720 :     original_pose.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1590             : 
+    1591       11720 :     auto res = common_handlers_->transformer->transform(original_pose, tf);
+    1592             : 
+    1593       11720 :     if (res) {
+    1594       11720 :       trajectory.points[i].x = res.value().pose.position.x;
+    1595       11720 :       trajectory.points[i].y = res.value().pose.position.y;
+    1596       11720 :       trajectory.points[i].z = res.value().pose.position.z;
+    1597             :     } else {
+    1598             : 
+    1599           0 :       std::string message = "[MpcTracker]: could not transform point of other uav future trajectory!";
+    1600           0 :       ROS_WARN_STREAM_ONCE(message);
+    1601           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    1602             : 
+    1603           0 :       return;
+    1604             :     }
+    1605             :   }
+    1606             : 
+    1607             :   {
+    1608         586 :     std::scoped_lock lock(mutex_other_uav_avoidance_trajectories_);
+    1609             : 
+    1610             :     // update the diagnostics
+    1611         293 :     other_uav_avoidance_trajectories_[trajectory.uav_name] = trajectory;
+    1612             :   }
+    1613             : }
+    1614             : 
+    1615             : //}
+    1616             : 
+    1617             : /* //{ callbackOtherMavDiagnostics() */
+    1618             : 
+    1619        1919 : void MpcTracker::callbackOtherMavDiagnostics(const mrs_msgs::MpcTrackerDiagnostics::ConstPtr msg) {
+    1620             : 
+    1621        5757 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("callbackOtherMavDiagnostics");
+    1622             :   mrs_lib::ScopeTimer timer =
+    1623        5757 :       mrs_lib::ScopeTimer("MpcTracker::callbackOtherMavDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    1624             : 
+    1625        3838 :   std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    1626             : 
+    1627        3838 :   mrs_msgs::MpcTrackerDiagnostics diagnostics = *msg;
+    1628             : 
+    1629             :   // fill in the current time
+    1630             :   // the other uav's time might not be synchronized with ours
+    1631        1919 :   diagnostics.header.stamp = ros::Time::now();
+    1632             : 
+    1633             :   // update the diagnostics
+    1634        1919 :   other_uav_diagnostics_[diagnostics.uav_name] = diagnostics;
+    1635        1919 : }
+    1636             : 
+    1637             : //}
+    1638             : 
+    1639             : /* //{ callbackToggleCollisionAvoidance() */
+    1640             : 
+    1641           0 : bool MpcTracker::callbackToggleCollisionAvoidance(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1642             : 
+    1643           0 :   collision_avoidance_enabled_ = req.data;
+    1644             : 
+    1645           0 :   ROS_INFO("[MpcTracker]: Collision avoidance was switched %s", collision_avoidance_enabled_ ? "TRUE" : "FALSE");
+    1646             : 
+    1647           0 :   res.message = "Collision avoidance set.";
+    1648           0 :   res.success = true;
+    1649             : 
+    1650           0 :   return true;
+    1651             : }
+    1652             : 
+    1653             : //}
+    1654             : 
+    1655             : /* callbackWiggle() //{ */
+    1656             : 
+    1657           0 : bool MpcTracker::callbackWiggle(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res) {
+    1658             : 
+    1659           0 :   if (!is_initialized_) {
+    1660             : 
+    1661           0 :     res.success = false;
+    1662           0 :     res.message = "tracker not active";
+    1663           0 :     return true;
+    1664             :   }
+    1665             : 
+    1666             :   {
+    1667           0 :     std::scoped_lock lock(mutex_drs_params_);
+    1668             : 
+    1669           0 :     drs_params_.wiggle_enabled = req.data;
+    1670             : 
+    1671           0 :     reconfigure_server_->updateConfig(drs_params_);
+    1672             :   }
+    1673             : 
+    1674           0 :   res.success = true;
+    1675           0 :   res.message = "wiggle updated";
+    1676             : 
+    1677           0 :   return true;
+    1678             : }
+    1679             : 
+    1680             : //}
+    1681             : 
+    1682             : /* //{ dynamicReconfigureCallback() */
+    1683             : 
+    1684          81 : void MpcTracker::dynamicReconfigureCallback(mrs_uav_trackers::mpc_trackerConfig& config, [[maybe_unused]] uint32_t level) {
+    1685             : 
+    1686         162 :   std::scoped_lock lock(mutex_drs_params_);
+    1687             : 
+    1688          81 :   drs_params_ = config;
+    1689             : 
+    1690          81 :   ROS_INFO("[MpcTracker]: DRS updated");
+    1691          81 : }
+    1692             : 
+    1693             : //}
+    1694             : 
+    1695             : // --------------------------------------------------------------
+    1696             : // |                          routines                          |
+    1697             : // --------------------------------------------------------------
+    1698             : 
+    1699             : // | --------------- mutual collision avoidance --------------- |
+    1700             : 
+    1701             : /* //{ checkCollision() */
+    1702             : 
+    1703      150160 : bool MpcTracker::checkCollision(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1704             : 
+    1705      150160 :   if (mrs_lib::geometry::dist(vec2_t(ax, ay), vec2_t(bx, by)) < _avoidance_radius_threshold_ && fabs(az - bz) < _avoidance_z_threshold_) {
+    1706             : 
+    1707       24409 :     return true;
+    1708             : 
+    1709             :   } else {
+    1710             : 
+    1711      125751 :     return false;
+    1712             :   }
+    1713             : }
+    1714             : 
+    1715             : //}
+    1716             : 
+    1717             : /* //{ checkCollisionInflated() */
+    1718             : 
+    1719      150160 : bool MpcTracker::checkCollisionInflated(const double ax, const double ay, const double az, const double bx, const double by, const double bz) {
+    1720             : 
+    1721      150160 :   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) {
+    1722             : 
+    1723      150160 :     return true;
+    1724             : 
+    1725             :   } else {
+    1726             : 
+    1727           0 :     return false;
+    1728             :   }
+    1729             : }
+    1730             : 
+    1731             : //}
+    1732             : 
+    1733             : /* //{ checkTrajectoryForCollisions() */
+    1734             : 
+    1735             : // Check for potential collisions and return the needed altitude offset to avoid other drones
+    1736       64453 : double MpcTracker::checkTrajectoryForCollisions(int& first_collision_index) {
+    1737             : 
+    1738       64453 :   std::scoped_lock lock(mutex_predicted_trajectory_, mutex_des_trajectory_, mutex_other_uav_avoidance_trajectories_);
+    1739             : 
+    1740       64453 :   first_collision_index = INT_MAX;
+    1741       64453 :   avoiding_collision_   = false;
+    1742             : 
+    1743       64453 :   std::map<std::string, mrs_msgs::FutureTrajectory>::iterator u = other_uav_avoidance_trajectories_.begin();
+    1744             : 
+    1745       68207 :   while (u != other_uav_avoidance_trajectories_.end()) {
+    1746             : 
+    1747             :     // is the other's trajectory fresh enought?
+    1748        3754 :     if ((ros::Time::now() - u->second.stamp).toSec() < _collision_trajectory_timeout_) {
+    1749             : 
+    1750      153914 :       for (int v = 0; v < MPC_HORIZON_LENGTH; v++) {
+    1751             : 
+    1752             :         // check all points of the trajectory for possible collisions
+    1753      150160 :         if (checkCollision(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1754      150160 :                            predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1755             : 
+    1756             :           // collision is detected
+    1757       24409 :           int other_uav_priority = INT_MAX;
+    1758             :           // get the priority of the other uav
+    1759             :           /* sscanf(u->first.c_str(), "uav%d", &other_uav_priority); */
+    1760       24409 :           other_uav_priority = u->second.priority;
+    1761             : 
+    1762             :           // check if we should be avoiding (out priority is higher, or the other uav has collision avoidance turned off)
+    1763       24409 :           if ((u->second.collision_avoidance == false) || (other_uav_priority < avoidance_this_uav_priority_)) {
+    1764             : 
+    1765             :             // we should be avoiding
+    1766       14252 :             avoiding_collision_      = true;
+    1767       14252 :             double tmp_safe_altitude = u->second.points[v].z + _avoidance_z_correction_;
+    1768             : 
+    1769       14252 :             if (tmp_safe_altitude > collision_free_altitude_ && v <= _avoidance_collision_start_climbing_) {
+    1770         351 :               collision_free_altitude_ = tmp_safe_altitude;
+    1771             :             }
+    1772             : 
+    1773       14252 :             ROS_ERROR_STREAM_THROTTLE(1, "[MpcTracker]: avoiding collision with uav" << other_uav_priority);
+    1774             : 
+    1775             :           } else {
+    1776             :             // the other uav should avoid us
+    1777       10157 :             ROS_WARN_STREAM_THROTTLE(1, "[MpcTracker]: detected collision with uav" << other_uav_priority << ", not avoiding (my priority is higher)");
+    1778             :           }
+    1779             :         }
+    1780             : 
+    1781      150160 :         if (checkCollisionInflated(predicted_trajectory_(v * MPC_N_STATES, 0), predicted_trajectory_(v * MPC_N_STATES + 4, 0),
+    1782      150160 :                                    predicted_trajectory_(v * MPC_N_STATES + 8, 0), u->second.points[v].x, u->second.points[v].y, u->second.points[v].z)) {
+    1783             : 
+    1784             :           // collision is detected
+    1785      150160 :           if (first_collision_index > v) {
+    1786        3754 :             first_collision_index = v;
+    1787             :           }
+    1788             :         }
+    1789             :       }
+    1790             :     }
+    1791        3754 :     u++;
+    1792             :   }
+    1793       64453 :   if (!avoiding_collision_) {
+    1794             : 
+    1795       63616 :     auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1796             : 
+    1797             :     // we are not avoiding any collisions, so we slowly reduce the collision avoidance offset to return to normal flight
+    1798       63616 :     collision_free_altitude_ -= 2.0 / (1.0 / dt1);
+    1799             : 
+    1800       63616 :     double safety_area_min_z = common_handlers_->safety_area.getMinZ("");
+    1801             : 
+    1802       63616 :     if (collision_free_altitude_ < safety_area_min_z) {
+    1803             : 
+    1804       49754 :       collision_free_altitude_ = safety_area_min_z;
+    1805             :     }
+    1806             :   }
+    1807             : 
+    1808      128906 :   return collision_free_altitude_;
+    1809             : }
+    1810             : 
+    1811             : //}
+    1812             : 
+    1813             : // | ------------------ trajectory filtering ------------------ |
+    1814             : 
+    1815             : /* //{ filterReferenceXY() */
+    1816             : 
+    1817       65459 : std::tuple<MatrixXd, MatrixXd> MpcTracker::filterReferenceXY(const VectorXd& des_x_trajectory, const VectorXd& des_y_trajectory, double max_speed_x,
+    1818             :                                                              double max_speed_y) {
+    1819             : 
+    1820       65459 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1821             : 
+    1822      130918 :   auto mpc_x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1823       65459 :   auto trajectory_dt = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_dt_);
+    1824             : 
+    1825      130918 :   MatrixXd filtered_x_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1826      130918 :   MatrixXd filtered_y_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1827             : 
+    1828             :   double difference_x;
+    1829             :   double difference_y;
+    1830             :   double max_sample_x;
+    1831             :   double max_sample_y;
+    1832             : 
+    1833     2683819 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1834             : 
+    1835     2618360 :     if (i == 0) {
+    1836       65459 :       max_sample_x = max_speed_x * dt1;
+    1837       65459 :       max_sample_y = max_speed_y * dt1;
+    1838       65459 :       difference_x = des_x_trajectory(i, 0) - mpc_x(0, 0);
+    1839       65459 :       difference_y = des_y_trajectory(i, 0) - mpc_x(4, 0);
+    1840             :     } else {
+    1841     2552901 :       max_sample_x = max_speed_x * _dt2_;
+    1842     2552901 :       max_sample_y = max_speed_y * _dt2_;
+    1843     2552901 :       difference_x = des_x_trajectory(i, 0) - filtered_x_trajectory(i - 1, 0);
+    1844     2552901 :       difference_y = des_y_trajectory(i, 0) - filtered_y_trajectory(i - 1, 0);
+    1845             :     }
+    1846             : 
+    1847     2618360 :     if (!trajectory_tracking_in_progress_) {
+    1848             : 
+    1849     2121360 :       double direction_angle  = atan2(difference_y, difference_x);
+    1850     2121360 :       double max_dir_sample_x = abs(max_sample_x * cos(direction_angle));
+    1851     2121360 :       double max_dir_sample_y = abs(max_sample_y * sin(direction_angle));
+    1852             : 
+    1853     2121360 :       if (max_sample_x > max_dir_sample_x) {
+    1854      260350 :         max_sample_x = max_dir_sample_x;
+    1855             :       }
+    1856     2121360 :       if (max_sample_y > max_dir_sample_y) {
+    1857     2121341 :         max_sample_y = max_dir_sample_y;
+    1858             :       }
+    1859             : 
+    1860             :       // saturate the difference
+    1861     2121360 :       if (difference_x > max_sample_x)
+    1862      114755 :         difference_x = max_sample_x;
+    1863     2006605 :       else if (difference_x < -max_sample_x)
+    1864      163582 :         difference_x = -max_sample_x;
+    1865             : 
+    1866     2121360 :       if (difference_y > max_sample_y)
+    1867       94770 :         difference_y = max_sample_y;
+    1868     2026590 :       else if (difference_y < -max_sample_y)
+    1869      167069 :         difference_y = -max_sample_y;
+    1870             :     }
+    1871             : 
+    1872     2618360 :     if (i == 0) {
+    1873       65459 :       filtered_x_trajectory(i, 0) = mpc_x(0, 0) + difference_x;
+    1874       65459 :       filtered_y_trajectory(i, 0) = mpc_x(4, 0) + difference_y;
+    1875             :     } else {
+    1876     2552901 :       filtered_x_trajectory(i, 0) = filtered_x_trajectory(i - 1, 0) + difference_x;
+    1877     2552901 :       filtered_y_trajectory(i, 0) = filtered_y_trajectory(i - 1, 0) + difference_y;
+    1878             :     }
+    1879             :   }
+    1880             : 
+    1881             :   // | ----------------------- add wiggle ----------------------- |
+    1882             : 
+    1883       65459 :   auto [wiggle_enabled, wiggle_amplitude, wiggle_frequency_] =
+    1884       65459 :       mrs_lib::get_mutexed(mutex_drs_params_, drs_params_.wiggle_enabled, drs_params_.wiggle_amplitude, drs_params_.wiggle_frequency);
+    1885             : 
+    1886       65459 :   if (wiggle_enabled) {
+    1887             : 
+    1888           0 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1889           0 :       filtered_x_trajectory(i, 0) += wiggle_amplitude * cos(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1890           0 :       filtered_y_trajectory(i, 0) += wiggle_amplitude * sin(wiggle_frequency_ * 2 * M_PI * i * trajectory_dt + wiggle_phase_);
+    1891             :     }
+    1892             : 
+    1893           0 :     wiggle_phase_ += wiggle_frequency_ * dt1 * 2 * M_PI;
+    1894             : 
+    1895           0 :     if (wiggle_phase_ > M_PI) {
+    1896           0 :       wiggle_phase_ -= 2 * M_PI;
+    1897             :     }
+    1898             :   }
+    1899             : 
+    1900      130918 :   return std::make_tuple(filtered_x_trajectory, filtered_y_trajectory);
+    1901             : }
+    1902             : 
+    1903             : //}
+    1904             : 
+    1905             : /* //{ filterReferenceZ() */
+    1906             : 
+    1907       65459 : MatrixXd MpcTracker::filterReferenceZ(const VectorXd& des_z_trajectory, const double max_ascending_speed, const double max_descending_speed) {
+    1908             : 
+    1909      130918 :   auto mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    1910             : 
+    1911       65459 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    1912             : 
+    1913             :   double difference_z;
+    1914             :   double max_sample_z;
+    1915             : 
+    1916       65459 :   MatrixXd filtered_trajectory = MatrixXd::Zero(MPC_HORIZON_LENGTH, 1);
+    1917             : 
+    1918       65459 :   double current_z = mpc_x(8, 0);
+    1919             : 
+    1920     2683819 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    1921             : 
+    1922     2618360 :     if (i == 0) {
+    1923             : 
+    1924       65459 :       difference_z = des_z_trajectory(i, 0) - current_z;
+    1925             : 
+    1926       65459 :       if (difference_z > 0) {
+    1927       24300 :         max_sample_z = max_ascending_speed * dt1;
+    1928             :       } else {
+    1929       41159 :         max_sample_z = max_descending_speed * dt1;
+    1930             :       }
+    1931             : 
+    1932             :     } else {
+    1933             : 
+    1934     2552901 :       difference_z = des_z_trajectory(i, 0) - filtered_trajectory(i - 1, 0);
+    1935             : 
+    1936     2552901 :       if (difference_z > 0) {
+    1937      182766 :         max_sample_z = max_ascending_speed * _dt2_;
+    1938             :       } else {
+    1939     2370135 :         max_sample_z = max_descending_speed * _dt2_;
+    1940             :       }
+    1941             :     }
+    1942             : 
+    1943     2618360 :     if (!trajectory_tracking_in_progress_) {
+    1944             : 
+    1945             :       // saturate the difference
+    1946     2121360 :       if (difference_z > max_sample_z)
+    1947       79827 :         difference_z = max_sample_z;
+    1948     2041533 :       else if (difference_z < -max_sample_z)
+    1949       20678 :         difference_z = -max_sample_z;
+    1950             :     }
+    1951             : 
+    1952     2618360 :     if (i == 0) {
+    1953       65459 :       filtered_trajectory(i, 0) = current_z + difference_z;
+    1954             :     } else {
+    1955     2552901 :       filtered_trajectory(i, 0) = filtered_trajectory(i - 1, 0) + difference_z;
+    1956             :     }
+    1957             :   }
+    1958             : 
+    1959      130918 :   return filtered_trajectory;
+    1960             : }
+    1961             : 
+    1962             : //}
+    1963             : 
+    1964             : /* //{ manageConstraints() */
+    1965             : 
+    1966       65459 : void MpcTracker::manageConstraints() {
+    1967             : 
+    1968       65459 :   if (!got_constraints_) {
+    1969       65327 :     return;
+    1970             :   }
+    1971             : 
+    1972       65459 :   if (all_constraints_set_) {
+    1973       65327 :     return;
+    1974             :   }
+    1975             : 
+    1976         132 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    1977         264 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    1978             : 
+    1979         264 :   bool can_change = (fabs(mpc_x(1, 0)) < constraints.horizontal_speed) && (fabs(mpc_x(2, 0)) < constraints.horizontal_acceleration) &&
+    1980         132 :                     (fabs(mpc_x(3, 0)) < constraints.horizontal_jerk) && (fabs(mpc_x(5, 0)) < constraints.horizontal_speed) &&
+    1981         132 :                     (fabs(mpc_x(6, 0)) < constraints.horizontal_acceleration) && (fabs(mpc_x(7, 0)) < constraints.horizontal_jerk) &&
+    1982         132 :                     (mpc_x(9, 0) < constraints.vertical_ascending_speed) && (mpc_x(9, 0) > -constraints.vertical_descending_speed) &&
+    1983         132 :                     (mpc_x(10, 0) < constraints.vertical_ascending_acceleration) && (mpc_x(10, 0) > -constraints.vertical_descending_acceleration) &&
+    1984         132 :                     (mpc_x(11, 0) < constraints.vertical_ascending_jerk) && (mpc_x(11, 0) > -constraints.vertical_descending_jerk) &&
+    1985         396 :                     (fabs(mpc_x_heading(1, 0)) < constraints.heading_speed) && (fabs(mpc_x_heading(2, 0)) < constraints.heading_acceleration) &&
+    1986         132 :                     (fabs(mpc_x_heading(3, 0)) < constraints.heading_jerk);
+    1987             : 
+    1988         132 :   if (can_change) {
+    1989             : 
+    1990             :     {
+    1991         132 :       std::scoped_lock lock(mutex_constraints_filtered_);
+    1992             : 
+    1993         132 :       constraints_filtered_.horizontal_acceleration = constraints.horizontal_acceleration;
+    1994         132 :       constraints_filtered_.horizontal_jerk         = constraints.horizontal_jerk;
+    1995         132 :       constraints_filtered_.horizontal_snap         = constraints.horizontal_snap;
+    1996             : 
+    1997         132 :       constraints_filtered_.vertical_ascending_acceleration = constraints.vertical_ascending_acceleration;
+    1998         132 :       constraints_filtered_.vertical_ascending_jerk         = constraints.vertical_ascending_jerk;
+    1999         132 :       constraints_filtered_.vertical_ascending_snap         = constraints.vertical_ascending_snap;
+    2000             : 
+    2001         132 :       constraints_filtered_.vertical_descending_acceleration = constraints.vertical_descending_acceleration;
+    2002         132 :       constraints_filtered_.vertical_descending_jerk         = constraints.vertical_descending_jerk;
+    2003         132 :       constraints_filtered_.vertical_descending_snap         = constraints.vertical_descending_snap;
+    2004             : 
+    2005         132 :       constraints_filtered_.heading_acceleration = constraints.heading_acceleration;
+    2006         132 :       constraints_filtered_.heading_jerk         = constraints.heading_jerk;
+    2007         132 :       constraints_filtered_.heading_snap         = constraints.heading_snap;
+    2008             :     }
+    2009             : 
+    2010         132 :     ROS_INFO_THROTTLE(1.0, "[MpcTracker]: all constraints succesfully applied");
+    2011         132 :     all_constraints_set_ = true;
+    2012             : 
+    2013             :   } else {
+    2014           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: slowing down to apply new constraints");
+    2015             :   }
+    2016             : }
+    2017             : 
+    2018             : //}
+    2019             : 
+    2020             : /* //{ calculateMPC() */
+    2021             : 
+    2022       65459 : void MpcTracker::calculateMPC() {
+    2023             : 
+    2024       65459 :   std::scoped_lock lock(mutex_mpc_calculation_);
+    2025             : 
+    2026       65459 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2027             : 
+    2028       65459 :   ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: MPC calculation dt = " << dt1);
+    2029             : 
+    2030       65459 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_filtered_, constraints_filtered_);
+    2031       65459 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2032       65459 :   auto uav_state              = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2033       65459 :   auto drs_params             = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
+    2034             : 
+    2035       65459 :   MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    2036             :   {
+    2037      130918 :     std::scoped_lock lock(mutex_des_trajectory_);
+    2038             : 
+    2039       65459 :     des_x_trajectory       = des_x_trajectory_;
+    2040       65459 :     des_y_trajectory       = des_y_trajectory_;
+    2041       65459 :     des_z_trajectory       = des_z_trajectory_;
+    2042       65459 :     des_heading_trajectory = des_heading_trajectory_;
+    2043             :   }
+    2044             : 
+    2045       65459 :   int    first_collision_index = INT_MAX;
+    2046       65459 :   double lowest_z              = std::numeric_limits<double>::max();
+    2047             : 
+    2048       65459 :   if (collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    2049             : 
+    2050             :     // determine the lowest point in our trajectory
+    2051     2642573 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2052     2578120 :       if (des_z_trajectory_(i, 0) < lowest_z) {
+    2053       86332 :         lowest_z = des_z_trajectory_(i, 0);
+    2054             :       }
+    2055             :     }
+    2056             : 
+    2057             :     // check other drone trajectories for collisions
+    2058       64453 :     minimum_collison_free_altitude_ = checkTrajectoryForCollisions(first_collision_index);
+    2059             : 
+    2060             :   } else {
+    2061             : 
+    2062        1006 :     minimum_collison_free_altitude_ = common_handlers_->safety_area.getMinZ("");
+    2063             :   }
+    2064             : 
+    2065       65459 :   double max_speed_x = constraints.horizontal_speed;
+    2066       65459 :   double max_speed_y = constraints.horizontal_speed;
+    2067       65459 :   double max_speed_z = constraints.vertical_ascending_speed;
+    2068       65459 :   double min_speed_z = constraints.vertical_descending_speed;
+    2069             : 
+    2070       65459 :   double max_acc_x = constraints.horizontal_acceleration;
+    2071       65459 :   double max_acc_y = constraints.horizontal_acceleration;
+    2072       65459 :   double max_acc_z = constraints.vertical_ascending_acceleration;
+    2073       65459 :   double min_acc_z = constraints.vertical_descending_acceleration;
+    2074             : 
+    2075       65459 :   double max_snap_x = constraints.horizontal_snap;
+    2076       65459 :   double max_snap_y = constraints.horizontal_snap;
+    2077       65459 :   double max_snap_z = constraints.vertical_ascending_snap;
+    2078       65459 :   double min_snap_z = constraints.vertical_descending_snap;
+    2079             : 
+    2080       65459 :   double max_jerk_x = constraints.horizontal_jerk;
+    2081       65459 :   double max_jerk_y = constraints.horizontal_jerk;
+    2082       65459 :   double max_jerk_z = constraints.vertical_ascending_jerk;
+    2083       65459 :   double min_jerk_z = constraints.vertical_descending_jerk;
+    2084             : 
+    2085       65459 :   collision_avoidance_affecting_me_ = false;
+    2086             : 
+    2087       65459 :   if (first_collision_index < MPC_HORIZON_LENGTH) {
+    2088             : 
+    2089        3754 :     collision_avoidance_affecting_me_ = true;
+    2090             :     // the tmp variable is used to scale the speed of our drone in collision avoidance, depending on how far away the collision is
+    2091        3754 :     double tmp = 0;
+    2092             : 
+    2093        3754 :     if (first_collision_index <= _avoidance_collision_slow_down_fully_) {
+    2094        3754 :       tmp = 1;
+    2095           0 :     } else if (first_collision_index <= _avoidance_collision_slow_down_) {
+    2096           0 :       tmp = 1.0 - ((double)(first_collision_index - _avoidance_collision_slow_down_fully_)) /
+    2097           0 :                       (double)(_avoidance_collision_slow_down_ - _avoidance_collision_slow_down_fully_);
+    2098           0 :       tmp = tmp * tmp;
+    2099             :     }
+    2100             : 
+    2101        3754 :     if (!std::isfinite(tmp)) {
+    2102           0 :       tmp = 1.0;
+    2103           0 :       ROS_ERROR("[MpcTracker]: NaN detected in variable 'tmp', setting it to 1.0 and returning!!!");
+    2104           0 :       return;
+    2105        3754 :     } else if (tmp > 1.0) {
+    2106           0 :       tmp = 1.0;
+    2107        3754 :     } else if (tmp < 0.0) {
+    2108           0 :       tmp = 0.0;
+    2109             :     }
+    2110             : 
+    2111        3754 :     if (tmp > coef_scaler) {
+    2112           6 :       coef_scaler = tmp;
+    2113           6 :       coef_time   = ros::Time::now();
+    2114             :     }
+    2115        3754 :     if ((ros::Time::now() - coef_time).toSec() > 2.0) {
+    2116        3288 :       coef_scaler = tmp;
+    2117             :     }
+    2118             : 
+    2119             :     // we are close to a possible collision, better slow down a bit to give everyone more time
+    2120        3754 :     max_speed_x = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2121        3754 :     max_speed_y = constraints.horizontal_speed * ((_avoidance_collision_horizontal_speed_coef_ * coef_scaler) + (1.0 - coef_scaler));
+    2122             :   }
+    2123             : 
+    2124       65459 :   if (collision_free_altitude_ > lowest_z) {
+    2125             : 
+    2126        2007 :     collision_avoidance_affecting_me_ = true;
+    2127        2007 :     max_speed_x                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2128        2007 :     max_speed_y                       = constraints.horizontal_speed * (_avoidance_collision_horizontal_speed_coef_);
+    2129             :   }
+    2130             : 
+    2131             :   // first control input generated by MPC
+    2132      130918 :   VectorXd mpc_u         = VectorXd::Zero(MPC_N_INPUTS);
+    2133       65459 :   double   mpc_u_heading = 0;
+    2134             : 
+    2135       65459 :   double iters_z       = 0;
+    2136       65459 :   double iters_x       = 0;
+    2137       65459 :   double iters_y       = 0;
+    2138       65459 :   double iters_heading = 0;
+    2139             : 
+    2140       65459 :   ros::Time time_begin = ros::Time::now();
+    2141             : 
+    2142      130918 :   MatrixXd des_z_filtered = filterReferenceZ(des_z_trajectory, max_speed_z, min_speed_z);
+    2143             : 
+    2144     2683819 :   for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2145     2618360 :     if (des_z_filtered(i, 0) < minimum_collison_free_altitude_) {
+    2146       79712 :       des_z_filtered_offset_(i, 0) = minimum_collison_free_altitude_;
+    2147             :     } else {
+    2148     2538648 :       des_z_filtered_offset_(i, 0) = des_z_filtered(i, 0);
+    2149             :     }
+    2150             :   }
+    2151             : 
+    2152             :   // | ----------------- prepare the references ----------------- |
+    2153             : 
+    2154             :   // | -------------------- MPC solver z-axis ------------------- |
+    2155             : 
+    2156       65459 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2157       50325 :     mpc_solver_z_->setVelQ(drs_params.q_vel_braking);
+    2158             :   } else {
+    2159       15134 :     mpc_solver_z_->setVelQ(drs_params.q_vel_no_braking);
+    2160             :   }
+    2161             : 
+    2162      130918 :   MatrixXd initial_z = MatrixXd::Zero(4, 1);
+    2163             : 
+    2164       65459 :   initial_z(0, 0) = mpc_x(8, 0);
+    2165       65459 :   initial_z(1, 0) = mpc_x(9, 0);
+    2166       65459 :   initial_z(2, 0) = mpc_x(10, 0);
+    2167       65459 :   initial_z(3, 0) = mpc_x(11, 0);
+    2168             : 
+    2169       65459 :   mpc_solver_z_->setDt(dt1);
+    2170       65459 :   mpc_solver_z_->setInitialState(initial_z);
+    2171       65459 :   mpc_solver_z_->loadReference(des_z_filtered_offset_);
+    2172       65459 :   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);
+    2173       65459 :   iters_z += mpc_solver_z_->solveMPC();
+    2174             : 
+    2175             :   {
+    2176      130918 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2177             : 
+    2178       65459 :     mpc_solver_z_->getStates(predicted_trajectory_);
+    2179             :   }
+    2180             : 
+    2181       65459 :   mpc_u(2) = mpc_solver_z_->getFirstControlInput();
+    2182             : 
+    2183             :   // if we are climbing to avoid a collision, reduce or arrest our horizontal velocity
+    2184             :   double ascend;
+    2185             :   {
+    2186       65459 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2187             : 
+    2188       65459 :     ascend = (predicted_trajectory_(10, 0) / max_speed_z);
+    2189             :   }
+    2190             : 
+    2191       65459 :   if (ascend > 0 && collision_free_altitude_ > lowest_z) {
+    2192        1068 :     max_speed_y = max_speed_y * (1.0 - ascend);
+    2193        1068 :     max_speed_x = max_speed_x * (1.0 - ascend);
+    2194             :   }
+    2195             : 
+    2196      196377 :   auto [des_x_filtered, des_y_filtered] = filterReferenceXY(des_x_trajectory, des_y_trajectory, max_speed_x, max_speed_y);
+    2197             : 
+    2198             :   // unwrap the heading reference
+    2199             : 
+    2200       65459 :   des_heading_trajectory(0, 0) = sradians::unwrap(des_heading_trajectory(0, 0), mpc_x_heading(0));
+    2201             : 
+    2202     2618360 :   for (int i = 1; i < MPC_HORIZON_LENGTH; i++) {
+    2203     2552901 :     des_heading_trajectory(i, 0) = sradians::unwrap(des_heading_trajectory(i, 0), des_heading_trajectory(i - 1, 0));
+    2204             :   }
+    2205             : 
+    2206             :   // | -------------------- MPC solver x-axis ------------------- |
+    2207             : 
+    2208       65459 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2209       50325 :     mpc_solver_x_->setVelQ(drs_params.q_vel_braking);
+    2210             :   } else {
+    2211       15134 :     mpc_solver_x_->setVelQ(drs_params.q_vel_no_braking);
+    2212             :   }
+    2213             : 
+    2214      130918 :   MatrixXd initial_x = MatrixXd::Zero(4, 1);
+    2215             : 
+    2216       65459 :   initial_x(0, 0) = mpc_x(0, 0);
+    2217       65459 :   initial_x(1, 0) = mpc_x(1, 0);
+    2218       65459 :   initial_x(2, 0) = mpc_x(2, 0);
+    2219       65459 :   initial_x(3, 0) = mpc_x(3, 0);
+    2220             : 
+    2221       65459 :   mpc_solver_x_->setDt(dt1);
+    2222       65459 :   mpc_solver_x_->setInitialState(initial_x);
+    2223       65459 :   mpc_solver_x_->loadReference(des_x_filtered);
+    2224       65459 :   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);
+    2225       65459 :   iters_x += mpc_solver_x_->solveMPC();
+    2226             : 
+    2227             :   {
+    2228      130918 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2229             : 
+    2230       65459 :     mpc_solver_x_->getStates(predicted_trajectory_);
+    2231             :   }
+    2232             : 
+    2233       65459 :   mpc_u(0) = mpc_solver_x_->getFirstControlInput();
+    2234             : 
+    2235             :   // | -------------------- MPC solver y-axis ------------------- |
+    2236             : 
+    2237       65459 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2238       50324 :     mpc_solver_y_->setVelQ(drs_params.q_vel_braking);
+    2239             :   } else {
+    2240       15135 :     mpc_solver_y_->setVelQ(drs_params.q_vel_no_braking);
+    2241             :   }
+    2242             : 
+    2243      130918 :   MatrixXd initial_y = MatrixXd::Zero(4, 1);
+    2244             : 
+    2245       65459 :   initial_y(0, 0) = mpc_x(4, 0);
+    2246       65459 :   initial_y(1, 0) = mpc_x(5, 0);
+    2247       65459 :   initial_y(2, 0) = mpc_x(6, 0);
+    2248       65459 :   initial_y(3, 0) = mpc_x(7, 0);
+    2249             : 
+    2250       65459 :   mpc_solver_y_->setDt(dt1);
+    2251       65459 :   mpc_solver_y_->setInitialState(initial_y);
+    2252       65459 :   mpc_solver_y_->loadReference(des_y_filtered);
+    2253       65459 :   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);
+    2254       65459 :   iters_y += mpc_solver_y_->solveMPC();
+    2255             :   {
+    2256      130918 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2257             : 
+    2258       65459 :     mpc_solver_y_->getStates(predicted_trajectory_);
+    2259             :   }
+    2260       65459 :   mpc_u(1) = mpc_solver_y_->getFirstControlInput();
+    2261             : 
+    2262             :   // | ------------------- MPC solver heading ------------------- |
+    2263             : 
+    2264       65459 :   if (brake_ && !trajectory_tracking_in_progress_) {
+    2265       50323 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_braking);
+    2266             :   } else {
+    2267       15136 :     mpc_solver_heading_->setVelQ(drs_params.q_vel_no_braking);
+    2268             :   }
+    2269             : 
+    2270       65459 :   mpc_solver_heading_->setDt(dt1);
+    2271       65459 :   mpc_solver_heading_->setInitialState(mpc_x_heading);
+    2272       65459 :   mpc_solver_heading_->loadReference(des_heading_trajectory);
+    2273       65459 :   mpc_solver_heading_->setLimits(constraints.heading_speed, constraints.heading_speed, constraints.heading_acceleration, constraints.heading_acceleration,
+    2274             :                                  constraints.heading_jerk, constraints.heading_jerk, constraints.heading_snap, constraints.heading_snap);
+    2275       65459 :   iters_heading += mpc_solver_heading_->solveMPC();
+    2276             :   {
+    2277      130918 :     std::scoped_lock lock(mutex_predicted_trajectory_);
+    2278             : 
+    2279       65459 :     mpc_solver_heading_->getStates(predicted_heading_trajectory_);
+    2280             :   }
+    2281       65459 :   mpc_u_heading = mpc_solver_heading_->getFirstControlInput();
+    2282             : 
+    2283             :   {
+    2284       65459 :     bool saturating = false;
+    2285             : 
+    2286       65459 :     if (mpc_u(0) > max_snap_x * 1.01) {
+    2287           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2288           0 :       mpc_u(0)   = max_snap_x;
+    2289           0 :       saturating = true;
+    2290             :     }
+    2291       65459 :     if (mpc_u(0) < -max_snap_x * 1.01) {
+    2292           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap X: " << mpc_u(0));
+    2293           0 :       mpc_u(0)   = -max_snap_x;
+    2294           0 :       saturating = true;
+    2295             :     }
+    2296       65459 :     if (mpc_u(1) > max_snap_y * 1.01) {
+    2297           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2298           0 :       mpc_u(1)   = max_snap_y;
+    2299           0 :       saturating = true;
+    2300             :     }
+    2301       65459 :     if (mpc_u(1) < -max_snap_y * 1.01) {
+    2302           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Y: " << mpc_u(1));
+    2303           0 :       mpc_u(1)   = -max_snap_y;
+    2304           0 :       saturating = true;
+    2305             :     }
+    2306       65459 :     if (mpc_u(2) > max_snap_z * 1.01) {
+    2307           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2308           0 :       mpc_u(2)   = max_snap_z;
+    2309           0 :       saturating = true;
+    2310             :     }
+    2311       65459 :     if (mpc_u(2) < -min_snap_z * 1.01) {
+    2312           0 :       ROS_WARN_STREAM_THROTTLE(0.1, "[MpcTracker]: saturating snap Z: " << mpc_u(2));
+    2313           0 :       mpc_u(2)   = -min_snap_z;
+    2314           0 :       saturating = true;
+    2315             :     }
+    2316             : 
+    2317       65459 :     if (saturating) {
+    2318           0 :       debugPrintState(0.1);
+    2319           0 :       debugPrintMPCResult(0.1);
+    2320             :     }
+    2321             :   }
+    2322             : 
+    2323             :   {
+    2324       65459 :     std::scoped_lock lock(mutex_mpc_u_);
+    2325             : 
+    2326       65459 :     mpc_u_         = mpc_u;
+    2327       65459 :     mpc_u_heading_ = mpc_u_heading;
+    2328             :   }
+    2329             : 
+    2330       65459 :   double mpc_solver_time = (ros::Time::now() - time_begin).toSec();
+    2331       65459 :   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_) {
+    2332           0 :     ROS_DEBUG_STREAM_THROTTLE(1.0, "[MpcTracker]: Total MPC solver time: " << mpc_solver_time << " iters X: " << iters_x << "/" << _max_iters_xy_
+    2333             :                                                                            << " iters Y:  " << iters_y << "/" << _max_iters_xy_ << " iters Z: " << iters_z
+    2334             :                                                                            << "/" << _max_iters_z_ << " iters heading: " << iters_heading << "/"
+    2335             :                                                                            << _max_iters_heading_);
+    2336             :   }
+    2337             : 
+    2338       65459 :   future_was_predicted_ = true;
+    2339             : 
+    2340             :   // | ------------- breaking for the next iteration ------------ |
+    2341             : 
+    2342      124725 :   if (drs_params.braking_enabled && (std::abs(des_x_filtered(MPC_HORIZON_LENGTH - 6) - des_x_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2343      114057 :       (std::abs(des_y_filtered(MPC_HORIZON_LENGTH - 6) - des_y_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2344      185709 :       (std::abs(des_z_filtered(MPC_HORIZON_LENGTH - 6) - des_z_filtered(MPC_HORIZON_LENGTH - 1)) <= 0.1) &&
+    2345       53179 :       (std::abs(radians::diff(des_heading_trajectory(MPC_HORIZON_LENGTH - 6), des_heading_trajectory(MPC_HORIZON_LENGTH - 1))) <= 0.1)) {
+    2346             : 
+    2347       53045 :     brake_ = true;
+    2348       53045 :     ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: braking");
+    2349             : 
+    2350             :   } else {
+    2351       12414 :     brake_ = false;
+    2352             :   }
+    2353             : 
+    2354             :   /* publish mpc reference //{ */
+    2355             : 
+    2356             :   {
+    2357      130918 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2358       65459 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2359       65459 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    2360             : 
+    2361             :     {
+    2362      130918 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    2363             : 
+    2364     2683819 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2365             : 
+    2366     2618360 :         geometry_msgs::Pose new_pose;
+    2367             : 
+    2368     2618360 :         new_pose.position.x = des_x_filtered(i, 0);
+    2369     2618360 :         new_pose.position.y = des_y_filtered(i, 0);
+    2370     2618360 :         new_pose.position.z = des_z_filtered(i, 0);
+    2371             : 
+    2372     2618360 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(i));
+    2373             : 
+    2374     2618360 :         debug_trajectory_out.poses.push_back(new_pose);
+    2375             :       }
+    2376             :     }
+    2377             : 
+    2378       65459 :     ph_mpc_reference_debugging_.publish(debug_trajectory_out);
+    2379             :   }
+    2380             : 
+    2381             :   //}
+    2382             : }
+    2383             : 
+    2384             : //}
+    2385             : 
+    2386             : /* iterateModel() //{ */
+    2387             : 
+    2388       58732 : void MpcTracker::iterateModel(const double& dt) {
+    2389             : 
+    2390       58732 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2391             : 
+    2392       58732 :   if (model_first_iteration_) {
+    2393             : 
+    2394          74 :     model_iteration_last_time_ = ros::Time::now();
+    2395          74 :     model_first_iteration_     = false;
+    2396             : 
+    2397             :   } else {
+    2398             : 
+    2399       58658 :     dt1 = 0.9 * dt1 + 0.1 * dt;
+    2400             : 
+    2401       58658 :     mrs_lib::set_mutexed(mutex_dt1_, dt1, dt1_);
+    2402       58658 :     timer_mpc_iteration_.setPeriod(ros::Duration(dt1), false);
+    2403             : 
+    2404             :     // clang-format off
+    2405       58658 :     A_ << 1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,           0, 0,   0,           0,
+    2406       58658 :           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,           0, 0,   0,           0,
+    2407       58658 :           0, 0,   1,           dt1,         0, 0,   0,           0,           0, 0,   0,           0,
+    2408       58658 :           0, 0,   0,           1,           0, 0,   0,           0,           0, 0,   0,           0,
+    2409       58658 :           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,           0, 0,   0,           0,
+    2410       58658 :           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1, 0, 0,   0,           0,
+    2411       58658 :           0, 0,   0,           0,           0, 0,   1,           dt1,         0, 0,   0,           0,
+    2412       58658 :           0, 0,   0,           0,           0, 0,   0,           1,           0, 0,   0,           0,
+    2413       58658 :           0, 0,   0,           0,           0, 0,   0,           0,           1, dt1, 0.5*dt1*dt1, 0,
+    2414       58658 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 1,   dt1,         0.5*dt1*dt1,
+    2415       58658 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   1,           dt1,
+    2416       58658 :           0, 0,   0,           0,           0, 0,   0,           0,           0, 0,   0,           1;
+    2417             : 
+    2418       58658 :       B_ << 0,   0,   0,
+    2419       58658 :             0,   0,   0,
+    2420       58658 :             0,   0,   0,
+    2421       58658 :             dt1, 0,   0,
+    2422       58658 :             0,   0,   0,
+    2423       58658 :             0,   0,   0,
+    2424       58658 :             0,   0,   0,
+    2425       58658 :             0,   dt1, 0,
+    2426       58658 :             0,   0,   0,
+    2427       58658 :             0,   0,   0,
+    2428       58658 :             0,   0,   0,
+    2429       58658 :             0,   0,   dt1;
+    2430             : 
+    2431       58658 :       A_heading_ << 1, dt1, 0.5*dt1*dt1, 0,
+    2432       58658 :                     0, 1,   dt1,         0.5*dt1*dt1,
+    2433       58658 :                     0, 0,   1,           dt1,
+    2434       58658 :                     0, 0,   0,           1;
+    2435             : 
+    2436       58658 :       B_heading_ << 0,
+    2437       58658 :                     0,
+    2438      117316 :                     0,
+    2439       58658 :                     dt1;
+    2440             : 
+    2441       58658 :     model_iteration_last_time_ = ros::Time::now();
+    2442             :   }
+    2443             : 
+    2444             :   {
+    2445      117464 :     auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2446      117464 :     auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    2447             : 
+    2448      117464 :     MatrixXd new_mpc_x         = A_ * mpc_x + B_ * mpc_u;
+    2449      117464 :     MatrixXd new_mpc_x_heading = A_heading_ * mpc_x_heading + B_heading_ * mpc_u_heading;
+    2450             : 
+    2451             :     // | --------------- check the state difference --------------- |
+    2452             :     {
+    2453       58732 :       auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    2454             : 
+    2455       58732 :       bool problem = false;
+    2456             : 
+    2457             :       // position
+    2458             : 
+    2459       58732 :       if (fabs((new_mpc_x(0) - mpc_x(0)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2460           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(0), new_mpc_x(0),
+    2461             :                   fabs((new_mpc_x(0) - mpc_x(0)) / dt1), constraints.horizontal_speed);
+    2462           0 :         problem = true;
+    2463             :       }
+    2464             : 
+    2465       58732 :       if (fabs((new_mpc_x(4) - mpc_x(4)) / dt1) > 1.05 * constraints.horizontal_speed) {
+    2466           0 :         ROS_DEBUG("[MpcTracker]: horizontal pos y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(4), new_mpc_x(4),
+    2467             :                   fabs((new_mpc_x(4) - mpc_x(4)) / dt1), constraints.horizontal_speed);
+    2468           0 :         problem = true;
+    2469             :     }
+    2470             : 
+    2471       58732 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) > 1.05 * constraints.vertical_ascending_speed) {
+    2472           0 :         ROS_DEBUG("[MpcTracker]: vertical pos z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(8), new_mpc_x(8),
+    2473             :                   ((new_mpc_x(8) - mpc_x(8)) / dt1), constraints.vertical_ascending_speed);
+    2474           0 :         problem = true;
+    2475             :       }
+    2476             : 
+    2477       58732 :       if (((new_mpc_x(8) - mpc_x(8)) / dt1) < 1.05 * -constraints.vertical_descending_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_descending_speed);
+    2480           0 :         problem = true;
+    2481             :       }
+    2482             : 
+    2483             :       /* if (fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1) > 1.2 * constraints.heading_speed) { */
+    2484             :       /*   ROS_DEBUG("[MpcTracker]: heading update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x_heading(0), new_mpc_x_heading(0), */
+    2485             :       /*             fabs(radians::diff(new_mpc_x_heading(0), mpc_x_heading(0)) / dt1), constraints.heading_speed); */
+    2486             :       /*   problem = true; */
+    2487             :       /* } */
+    2488             : 
+    2489             :       // velocity
+    2490             : 
+    2491       58732 :       if (fabs((new_mpc_x(1) - mpc_x(1)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2492           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(1), new_mpc_x(1),
+    2493             :                   fabs((new_mpc_x(1) - mpc_x(1)) / dt1), constraints.horizontal_acceleration);
+    2494           0 :         problem = true;
+    2495             :       }
+    2496             : 
+    2497       58732 :       if (fabs((new_mpc_x(5) - mpc_x(5)) / dt1) > 1.05 * constraints.horizontal_acceleration) {
+    2498           0 :         ROS_DEBUG("[MpcTracker]: horizontal vel y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(5), new_mpc_x(5),
+    2499             :                   fabs((new_mpc_x(5) - mpc_x(5)) / dt1), constraints.horizontal_acceleration);
+    2500           0 :         problem = true;
+    2501             :       }
+    2502             : 
+    2503       58732 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) > 1.05 * constraints.vertical_ascending_acceleration) {
+    2504           0 :         ROS_DEBUG("[MpcTracker]: vertical vel z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(9), new_mpc_x(9),
+    2505             :                   ((new_mpc_x(9) - mpc_x(9)) / dt1), constraints.vertical_ascending_acceleration);
+    2506           0 :         problem = true;
+    2507             :       }
+    2508             : 
+    2509       58732 :       if (((new_mpc_x(9) - mpc_x(9)) / dt1) < 1.05 * -constraints.vertical_descending_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_descending_acceleration);
+    2512           0 :         problem = true;
+    2513             :       }
+    2514             : 
+    2515             :       // acceleration
+    2516             : 
+    2517       58732 :       if (fabs((new_mpc_x(2) - mpc_x(2)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2518           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(2), new_mpc_x(2),
+    2519             :                   fabs((new_mpc_x(2) - mpc_x(2)) / dt1), constraints.horizontal_jerk);
+    2520           0 :         problem = true;
+    2521             :       }
+    2522             : 
+    2523       58732 :       if (fabs((new_mpc_x(6) - mpc_x(6)) / dt1) > 1.05 * constraints.horizontal_jerk) {
+    2524           0 :         ROS_DEBUG("[MpcTracker]: horizontal acc y update violates constraints: %.2f -> %.2f, = %.2f > %.2f", mpc_x(6), new_mpc_x(6),
+    2525             :                   fabs((new_mpc_x(6) - mpc_x(6)) / dt1), constraints.horizontal_jerk);
+    2526           0 :         problem = true;
+    2527             :       }
+    2528             : 
+    2529       58732 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) > 1.05 * constraints.vertical_ascending_jerk) {
+    2530           0 :         ROS_DEBUG("[MpcTracker]: vertical acc z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(10), new_mpc_x(10),
+    2531             :                   ((new_mpc_x(10) - mpc_x(10)) / dt1), constraints.vertical_ascending_jerk);
+    2532           0 :         problem = true;
+    2533             :       }
+    2534             : 
+    2535       58732 :       if (((new_mpc_x(10) - mpc_x(10)) / dt1) < 1.05 * -constraints.vertical_descending_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_descending_jerk);
+    2538           0 :         problem = true;
+    2539             :       }
+    2540             : 
+    2541             :       // jerk
+    2542             : 
+    2543       58732 :       if (fabs((new_mpc_x(3) - mpc_x(3)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2544           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk x update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(3), new_mpc_x(3),
+    2545             :                   fabs((new_mpc_x(3) - mpc_x(3)) / dt1), constraints.horizontal_snap);
+    2546           0 :         problem = true;
+    2547             :       }
+    2548             : 
+    2549       58732 :       if (fabs((new_mpc_x(7) - mpc_x(7)) / dt1) > 1.05 * constraints.horizontal_snap) {
+    2550           0 :         ROS_DEBUG("[MpcTracker]: horizontal jerk y update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(7), new_mpc_x(7),
+    2551             :                   fabs((new_mpc_x(7) - mpc_x(7)) / dt1), constraints.horizontal_snap);
+    2552           0 :         problem = true;
+    2553             :       }
+    2554             : 
+    2555       58732 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) > 1.05 * constraints.vertical_ascending_snap) {
+    2556           0 :         ROS_DEBUG("[MpcTracker]: vertical jerk z update violates constraints: %.2f -> %.2f = %.2f, > %.2f", mpc_x(11), new_mpc_x(11),
+    2557             :                   ((new_mpc_x(11) - mpc_x(11)) / dt1), constraints.vertical_ascending_snap);
+    2558           0 :         problem = true;
+    2559             :       }
+    2560             : 
+    2561       58732 :       if (((new_mpc_x(11) - mpc_x(11)) / dt1) < 1.05 * -constraints.vertical_descending_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_descending_snap);
+    2564           0 :         problem = true;
+    2565             :       }
+    2566             : 
+    2567       58732 :       if (problem) {
+    2568           0 :         debugPrintState(0.001);
+    2569           0 :         debugPrintMPCResult(0.001);
+    2570             :       }
+    2571             :     }
+    2572             : 
+    2573             :     {
+    2574       58732 :       std::scoped_lock lock(mutex_mpc_x_);
+    2575             : 
+    2576       58732 :       mpc_x_         = new_mpc_x;
+    2577       58732 :       mpc_x_heading_ = new_mpc_x_heading;
+    2578             : 
+    2579       58732 :       mpc_x_heading_(0) = sradians::wrap(mpc_x_heading_(0));
+    2580             :     }
+    2581             :   }
+    2582       58732 : }
+    2583             : 
+    2584             : //}
+    2585             : 
+    2586             : // | -------------------- referece setting -------------------- |
+    2587             : 
+    2588             : /* //{ loadTrajectory() */
+    2589             : 
+    2590             : // method for setting desired trajectory
+    2591         501 : std::tuple<bool, std::string, bool> MpcTracker::loadTrajectory(const mrs_msgs::TrajectoryReference msg) {
+    2592             : 
+    2593         501 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    2594             : 
+    2595             :   // copy the member variables
+    2596        1002 :   auto x         = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    2597        1002 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    2598             : 
+    2599        1002 :   std::stringstream ss;
+    2600             : 
+    2601             :   /* check the trajectory dt //{ */
+    2602             : 
+    2603             :   double trajectory_dt;
+    2604         501 :   if (msg.dt <= 1e-4) {
+    2605           0 :     trajectory_dt = 0.2;
+    2606           0 :     ROS_WARN_THROTTLE(10.0, "[MpcTracker]: the trajectory dt was not specified, assuming its the old 0.2 s");
+    2607         501 :   } else if (msg.dt < dt1) {
+    2608           0 :     trajectory_dt = 0.2;
+    2609           0 :     ss << std::setprecision(3) << "the trajectory dt (" << msg.dt << " s) is too small (smaller than the tracker's internal step size: " << dt1 << " s)";
+    2610           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2611           0 :     return std::tuple(false, ss.str(), false);
+    2612             :   } else {
+    2613         501 :     trajectory_dt = msg.dt;
+    2614             :   }
+    2615             : 
+    2616             :   //}
+    2617             : 
+    2618         501 :   int trajectory_size = msg.points.size();
+    2619             : 
+    2620             :   /* sanitize the time-ness of the trajectory //{ */
+    2621             : 
+    2622         501 :   int    trajectory_sample_offset    = 0;  // how many samples in past is the trajectory
+    2623         501 :   int    trajectory_subsample_offset = 0;  // how many simulation inner loops ahead of the first valid sample
+    2624         501 :   double trajectory_time_offset      = 0;  // how much time in past in [s]
+    2625             : 
+    2626             :   // btw, "trajectory_time_offset = trajectory_dt*trajectory_sample_offset + _dt1_*trajectory_subsample_offset" should hold
+    2627         501 :   if (msg.fly_now) {
+    2628             : 
+    2629         500 :     ros::Time trajectory_time = msg.header.stamp;
+    2630             : 
+    2631             :     // the desired time is 0 => the current time
+    2632             :     // the trajecoty is a single point => the current time
+    2633         500 :     if (trajectory_time == ros::Time(0) || int(msg.points.size()) == 1) {
+    2634             : 
+    2635           2 :       trajectory_time_offset = 0.0;
+    2636             : 
+    2637             :       // the desired time is specified
+    2638             :     } else {
+    2639             : 
+    2640         498 :       trajectory_time_offset = (ros::Time::now() - trajectory_time).toSec();
+    2641             : 
+    2642             :       // when the time offset is negative, thus in the future
+    2643             :       // just say it, but use it like its from the current time
+    2644         498 :       if (trajectory_time_offset < 0.0) {
+    2645             : 
+    2646           0 :         ROS_WARN_THROTTLE(1.0, "[MpcTracker]: received trajectory with timestamp in the future by %.3f s", -trajectory_time_offset);
+    2647             : 
+    2648           0 :         trajectory_time_offset = 0.0;
+    2649             :       }
+    2650             :     }
+    2651             : 
+    2652             :     // if the time offset is set, check if we need to "move the first idx"
+    2653         500 :     if (trajectory_time_offset > 0.0) {
+    2654             : 
+    2655             :       // calculate the offset in samples
+    2656           1 :       trajectory_sample_offset = int(floor(trajectory_time_offset / trajectory_dt));
+    2657             : 
+    2658             :       // and get the subsample offset, which will be used to initialize the interpolator
+    2659           1 :       trajectory_subsample_offset = int(floor(fmod(trajectory_time_offset, trajectory_dt) / dt1));
+    2660             : 
+    2661           1 :       ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: received trajectory with timestamp in the past by %.3f s",
+    2662             :                          trajectory_dt * trajectory_sample_offset + dt1 * trajectory_subsample_offset);
+    2663             : 
+    2664             :       // if the offset is larger than the number of points in the trajectory
+    2665             :       // the trajectory can not be used
+    2666           1 :       if (trajectory_sample_offset >= trajectory_size) {
+    2667             : 
+    2668           0 :         ss << "trajectory timestamp is too old (time difference = " << trajectory_time_offset << ")";
+    2669           0 :         ROS_ERROR_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2670           0 :         return std::tuple(false, ss.str(), false);
+    2671             : 
+    2672             :       } else {
+    2673             : 
+    2674             :         // if the offset is larger than one trajectory sample,
+    2675             :         // offset the start
+    2676           1 :         if (trajectory_time_offset >= trajectory_dt) {
+    2677             : 
+    2678             :           // decrease the trajectory size
+    2679           0 :           trajectory_size -= trajectory_sample_offset;
+    2680             : 
+    2681           0 :           ROS_DEBUG_THROTTLE(0.1, "[MpcTracker]: offsetting trajectory by %d samples", trajectory_sample_offset);
+    2682             : 
+    2683             :         } else {
+    2684             : 
+    2685           1 :           trajectory_sample_offset = 0;
+    2686             :         }
+    2687             :       }
+    2688             :     }
+    2689             : 
+    2690             :   } else { // not fly_now
+    2691             : 
+    2692           1 :       trajectory_tracking_in_progress_ = false;
+    2693             :   }
+    2694             : 
+    2695             :   //}
+    2696             : 
+    2697         501 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory sample offset: %d", trajectory_sample_offset);
+    2698         501 :   ROS_DEBUG_THROTTLE(1.0, "[MpcTracker]: trajectory subsample offset: %d", trajectory_subsample_offset);
+    2699             : 
+    2700             :   // after this, we should have the correct value of
+    2701             :   // * trajectory_size
+    2702             :   // * trajectory_sample_offset
+    2703             :   // * trajectory_subsample_offset
+    2704             : 
+    2705             :   /* copy the trajectory to a local variable //{ */
+    2706             : 
+    2707             :   // copy only the part from the first valid index
+    2708             : 
+    2709        1002 :   MatrixXd des_x_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2710        1002 :   MatrixXd des_y_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2711        1002 :   MatrixXd des_z_whole_trajectory       = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2712        1002 :   MatrixXd des_heading_whole_trajectory = VectorXd::Zero(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2713             : 
+    2714       25931 :   for (int i = 0; i < trajectory_size; i++) {
+    2715             : 
+    2716       25430 :     des_x_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.x;
+    2717       25430 :     des_y_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.y;
+    2718       25430 :     des_z_whole_trajectory(i)       = msg.points[trajectory_sample_offset + i].position.z;
+    2719       25430 :     des_heading_whole_trajectory(i) = msg.points[trajectory_sample_offset + i].heading;
+    2720             :   }
+    2721             : 
+    2722             :   //}
+    2723             : 
+    2724             :   /* set looping //{ */
+    2725             : 
+    2726         501 :   bool loop = false;
+    2727             : 
+    2728         501 :   if (msg.loop) {
+    2729             : 
+    2730           0 :     double first_x = des_x_whole_trajectory(0);
+    2731           0 :     double first_y = des_y_whole_trajectory(0);
+    2732           0 :     double first_z = des_z_whole_trajectory(0);
+    2733           0 :     double first_hdg = des_heading_whole_trajectory(0);
+    2734             : 
+    2735           0 :     double last_x = des_x_whole_trajectory(trajectory_size - 1);
+    2736           0 :     double last_y = des_y_whole_trajectory(trajectory_size - 1);
+    2737           0 :     double last_z = des_z_whole_trajectory(trajectory_size - 1);
+    2738           0 :     double last_hdg = des_heading_whole_trajectory(trajectory_size - 1);
+    2739             : 
+    2740             :     // check whether the trajectory is loopable
+    2741           0 :     if (mrs_lib::geometry::dist(vec3_t(first_x, first_y, first_z), vec3_t(last_x, last_y, last_z)) < 1.0 && abs(sradians::diff(first_hdg, last_hdg)) < 0.2) {
+    2742             : 
+    2743           0 :       ROS_INFO_THROTTLE(1.0, "[MpcTracker]: looping enabled");
+    2744           0 :       loop = true;
+    2745             : 
+    2746             :     } else {
+    2747             : 
+    2748           0 :       ss << "can not loop trajectory, the first and last points are too far apart";
+    2749           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    2750           0 :       return std::tuple(false, ss.str(), false);
+    2751             :     }
+    2752             : 
+    2753             :   } else {
+    2754             : 
+    2755         501 :     loop = false;
+    2756             :   }
+    2757             : 
+    2758             :   //}
+    2759             : 
+    2760             :   // by this time, the values of these should be set:
+    2761             :   // * loop
+    2762             : 
+    2763             :   /* add tail (the last point repeated to fill the prediction horizon) //{ */
+    2764             : 
+    2765         501 :   if (!loop) {
+    2766             : 
+    2767             :     // extend it so it has smooth ending
+    2768       20541 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2769             : 
+    2770       20040 :       des_x_whole_trajectory(i + trajectory_size)       = des_x_whole_trajectory(i + trajectory_size - 1);
+    2771       20040 :       des_y_whole_trajectory(i + trajectory_size)       = des_y_whole_trajectory(i + trajectory_size - 1);
+    2772       20040 :       des_z_whole_trajectory(i + trajectory_size)       = des_z_whole_trajectory(i + trajectory_size - 1);
+    2773       20040 :       des_heading_whole_trajectory(i + trajectory_size) = des_heading_whole_trajectory(i + trajectory_size - 1);
+    2774             :     }
+    2775             :   }
+    2776             : 
+    2777             :   //}
+    2778             : 
+    2779             :   // by this time, the values of these should be set correctly:
+    2780             :   // * trajectory_size
+    2781             :   // * des_x_whole_trajectory
+    2782             :   // * des_y_whole_trajectory
+    2783             :   // * des_z_whole_trajectory
+    2784             :   // * des_heading_whole_trajectory
+    2785             : 
+    2786             :   /* update the global variables //{ */
+    2787             : 
+    2788             :   {
+    2789        1002 :     std::scoped_lock lock(mutex_des_whole_trajectory_, mutex_des_trajectory_, mutex_trajectory_tracking_states_);
+    2790             : 
+    2791         501 :     des_whole_trajectory_id_ = msg.input_id;
+    2792             : 
+    2793         501 :     auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2794             : 
+    2795         501 :     trajectory_tracking_in_progress_ = msg.fly_now;
+    2796         501 :     trajectory_track_heading_        = msg.use_heading;
+    2797             : 
+    2798             :     // allocate the vectors
+    2799         501 :     des_x_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2800         501 :     des_y_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2801         501 :     des_z_whole_trajectory_       = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2802         501 :     des_heading_whole_trajectory_ = std::make_shared<VectorXd>(trajectory_size + MPC_HORIZON_LENGTH, 1);
+    2803             : 
+    2804       45971 :     for (int i = 0; i < trajectory_size + MPC_HORIZON_LENGTH; i++) {
+    2805             : 
+    2806       45470 :       (*des_x_whole_trajectory_)(i) = des_x_whole_trajectory(i);
+    2807       45470 :       (*des_y_whole_trajectory_)(i) = des_y_whole_trajectory(i);
+    2808       45470 :       (*des_z_whole_trajectory_)(i) = des_z_whole_trajectory(i);
+    2809             : 
+    2810       45470 :       if (trajectory_track_heading_) {
+    2811       45470 :         (*des_heading_whole_trajectory_)(i) = des_heading_whole_trajectory(i);
+    2812             :       } else {
+    2813           0 :         (*des_heading_whole_trajectory_).fill(mpc_x_heading(0, 0));
+    2814             :       }
+    2815             :     }
+    2816             : 
+    2817             :     // if we are tracking trajectory, copy the setpoint
+    2818         501 :     if (trajectory_tracking_in_progress_) {
+    2819             : 
+    2820         500 :       toggleHover(false);
+    2821             : 
+    2822             :       /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    2823             : 
+    2824       20500 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    2825             : 
+    2826       20000 :         double first_time = dt1 + i * _dt2_ + trajectory_subsample_offset * dt1;
+    2827             : 
+    2828       20000 :         int first_idx  = floor(first_time / trajectory_dt);
+    2829       20000 :         int second_idx = first_idx + 1;
+    2830             : 
+    2831       20000 :         double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    2832             : 
+    2833       20000 :         if (trajectory_tracking_loop_) {
+    2834             : 
+    2835           0 :           if (second_idx >= trajectory_size) {
+    2836           0 :             second_idx -= trajectory_size;
+    2837             :           }
+    2838             : 
+    2839           0 :           if (first_idx >= trajectory_size) {
+    2840           0 :             first_idx -= trajectory_size;
+    2841             :           }
+    2842             :         } else {
+    2843             : 
+    2844       20000 :           if (second_idx >= trajectory_size) {
+    2845           0 :             second_idx = trajectory_size - 1;
+    2846             :           }
+    2847             : 
+    2848       20000 :           if (first_idx >= trajectory_size) {
+    2849           0 :             first_idx = trajectory_size - 1;
+    2850             :           }
+    2851             :         }
+    2852             : 
+    2853       20000 :         des_x_trajectory_(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory(first_idx) + interp_coeff * des_x_whole_trajectory(second_idx);
+    2854       20000 :         des_y_trajectory_(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory(first_idx) + interp_coeff * des_y_whole_trajectory(second_idx);
+    2855       20000 :         des_z_trajectory_(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory(first_idx) + interp_coeff * des_z_whole_trajectory(second_idx);
+    2856             : 
+    2857       20000 :         des_heading_trajectory_(i, 0) = sradians::interp(des_heading_whole_trajectory(first_idx), des_heading_whole_trajectory(second_idx), interp_coeff);
+    2858             :       }
+    2859             : 
+    2860             :       //}
+    2861             :     }
+    2862             : 
+    2863         501 :     trajectory_size_             = trajectory_size;
+    2864         501 :     trajectory_current_time_     = 0;
+    2865         501 :     trajectory_set_              = true;
+    2866         501 :     trajectory_tracking_loop_    = loop;
+    2867         501 :     trajectory_dt_               = trajectory_dt;
+    2868         501 :     trajectory_count_++;
+    2869             :   }
+    2870             : 
+    2871             :   //}
+    2872             : 
+    2873         501 :   ROS_INFO_THROTTLE(1, "[MpcTracker]: finished setting trajectory with length %d", trajectory_size);
+    2874             : 
+    2875             :   /* publish the debugging topics of the post-processed trajectory //{ */
+    2876             : 
+    2877             :   {
+    2878             : 
+    2879        1002 :     geometry_msgs::PoseArray debug_trajectory_out;
+    2880         501 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    2881         501 :     debug_trajectory_out.header.frame_id = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2882             : 
+    2883             :     {
+    2884        1002 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2885             : 
+    2886       25931 :       for (int i = 0; i < trajectory_size; i++) {
+    2887             : 
+    2888       25430 :         geometry_msgs::Pose new_pose;
+    2889             : 
+    2890       25430 :         new_pose.position.x = (*des_x_whole_trajectory_)(i);
+    2891       25430 :         new_pose.position.y = (*des_y_whole_trajectory_)(i);
+    2892       25430 :         new_pose.position.z = (*des_z_whole_trajectory_)(i);
+    2893             : 
+    2894       25430 :         new_pose.orientation = mrs_lib::AttitudeConverter(0, 0, (*des_heading_whole_trajectory_)(i));
+    2895             : 
+    2896       25430 :         debug_trajectory_out.poses.push_back(new_pose);
+    2897             :       }
+    2898             :     }
+    2899             : 
+    2900         501 :     pub_debug_processed_trajectory_poses_.publish(debug_trajectory_out);
+    2901             : 
+    2902        1002 :     visualization_msgs::MarkerArray msg_out;
+    2903             : 
+    2904        1002 :     visualization_msgs::Marker marker;
+    2905             : 
+    2906         501 :     marker.header.stamp     = ros::Time::now();
+    2907         501 :     marker.header.frame_id  = common_handlers_->transformer->resolveFrame(msg.header.frame_id);
+    2908         501 :     marker.type             = visualization_msgs::Marker::LINE_LIST;
+    2909         501 :     marker.color.a          = 1;
+    2910         501 :     marker.scale.x          = 0.05;
+    2911         501 :     marker.color.r          = 1;
+    2912         501 :     marker.color.g          = 0;
+    2913         501 :     marker.color.b          = 0;
+    2914         501 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    2915             : 
+    2916             :     {
+    2917        1002 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    2918             : 
+    2919       25430 :       for (int i = 0; i < trajectory_size - 1; i++) {
+    2920             : 
+    2921       24929 :         geometry_msgs::Point point1;
+    2922             : 
+    2923       24929 :         point1.x = des_x_whole_trajectory(i);
+    2924       24929 :         point1.y = des_y_whole_trajectory(i);
+    2925       24929 :         point1.z = des_z_whole_trajectory(i);
+    2926             : 
+    2927       24929 :         marker.points.push_back(point1);
+    2928             : 
+    2929       24929 :         geometry_msgs::Point point2;
+    2930             : 
+    2931       24929 :         point2.x = des_x_whole_trajectory(i + 1);
+    2932       24929 :         point2.y = des_y_whole_trajectory(i + 1);
+    2933       24929 :         point2.z = des_z_whole_trajectory(i + 1);
+    2934             : 
+    2935       24929 :         marker.points.push_back(point2);
+    2936             :       }
+    2937             :     }
+    2938             : 
+    2939         501 :     msg_out.markers.push_back(marker);
+    2940             : 
+    2941         501 :     pub_debug_processed_trajectory_markers_.publish(msg_out);
+    2942             :   }
+    2943             : 
+    2944             :   //}
+    2945             : 
+    2946         501 :   publishDiagnostics();
+    2947             : 
+    2948        1002 :   return std::tuple(true, "trajectory loaded", false);
+    2949             : }
+    2950             : 
+    2951             : //}
+    2952             : 
+    2953             : /* //{ setSinglePointReference() */
+    2954             : 
+    2955             : // fill the des_*_trajectory based on a single point
+    2956         398 : void MpcTracker::setSinglePointReference(const double x, const double y, const double z, const double heading) {
+    2957             : 
+    2958         796 :   std::scoped_lock lock(mutex_des_trajectory_);
+    2959             : 
+    2960         398 :   des_x_trajectory_.fill(x);
+    2961         398 :   des_y_trajectory_.fill(y);
+    2962         398 :   des_z_trajectory_.fill(z);
+    2963         398 :   des_heading_trajectory_.fill(heading);
+    2964         398 : }
+    2965             : 
+    2966             : //}
+    2967             : 
+    2968             : /* //{ setGoal() */
+    2969             : 
+    2970             : // set absolute goal
+    2971         243 : void MpcTracker::setGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2972             : 
+    2973         243 :   double desired_heading = sradians::wrap(heading);
+    2974             : 
+    2975         486 :   auto mpc_x_heading = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_heading_);
+    2976             : 
+    2977         243 :   if (!use_heading) {
+    2978           0 :     desired_heading = mpc_x_heading(0, 0);
+    2979             :   }
+    2980             : 
+    2981         243 :   trajectory_tracking_in_progress_ = false;
+    2982             : 
+    2983         243 :   setSinglePointReference(pos_x, pos_y, pos_z, desired_heading);
+    2984             : 
+    2985         243 :   publishDiagnostics();
+    2986         243 : }
+    2987             : 
+    2988             : //}
+    2989             : 
+    2990             : /* //{ setRelativeGoal() */
+    2991             : 
+    2992         155 : void MpcTracker::setRelativeGoal(const double pos_x, const double pos_y, const double pos_z, const double heading, const bool use_heading) {
+    2993             : 
+    2994         310 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    2995             : 
+    2996         155 :   double abs_x = mpc_x(0, 0) + pos_x;
+    2997         155 :   double abs_y = mpc_x(4, 0) + pos_y;
+    2998         155 :   double abs_z = mpc_x(8, 0) + pos_z;
+    2999             : 
+    3000         155 :   double abs_heading = mpc_x_heading(0, 0);
+    3001             : 
+    3002         155 :   if (use_heading) {
+    3003           0 :     abs_heading += heading;
+    3004             :   }
+    3005             : 
+    3006         155 :   trajectory_tracking_in_progress_ = false;
+    3007             : 
+    3008         155 :   setSinglePointReference(abs_x, abs_y, abs_z, abs_heading);
+    3009             : 
+    3010         155 :   publishDiagnostics();
+    3011         155 : }
+    3012             : 
+    3013             : //}
+    3014             : 
+    3015             : /* toggleHover() //{ */
+    3016             : 
+    3017         903 : void MpcTracker::toggleHover(bool in) {
+    3018             : 
+    3019         903 :   if (in == false && hovering_in_progress_) {
+    3020             : 
+    3021          76 :     ROS_DEBUG("[MpcTracker]: stoppping the hover timer");
+    3022             : 
+    3023          76 :     timer_hover_.stop();
+    3024             : 
+    3025          76 :     hovering_in_progress_ = false;
+    3026             : 
+    3027         827 :   } else if (in == true && !hovering_in_progress_) {
+    3028             : 
+    3029          76 :     ROS_DEBUG("[MpcTracker]: starting the hover timer");
+    3030             : 
+    3031          76 :     hovering_in_progress_ = true;
+    3032             : 
+    3033          76 :     timer_hover_.start();
+    3034             :   }
+    3035         903 : }
+    3036             : 
+    3037             : //}
+    3038             : 
+    3039             : // | ------------------- trajectory tracking ------------------ |
+    3040             : 
+    3041             : /* startTrajectoryTrackingImpl() //{ */
+    3042             : 
+    3043           1 : std::tuple<bool, std::string> MpcTracker::startTrajectoryTrackingImpl(void) {
+    3044             : 
+    3045           2 :   std::stringstream ss;
+    3046             : 
+    3047           1 :   if (trajectory_set_) {
+    3048             : 
+    3049           1 :     toggleHover(false);
+    3050             : 
+    3051             :     {
+    3052           1 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3053             : 
+    3054           1 :       trajectory_tracking_in_progress_ = true;
+    3055           1 :       trajectory_current_time_ = 0;
+    3056             :     }
+    3057             : 
+    3058           1 :     publishDiagnostics();
+    3059             : 
+    3060           1 :     ss << "trajectory tracking started";
+    3061           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3062             : 
+    3063           1 :     return std::tuple(true, ss.str());
+    3064             : 
+    3065             :   } else {
+    3066             : 
+    3067           0 :     ss << "can not start trajectory tracking, the trajectory is not set";
+    3068           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3069             : 
+    3070           0 :     return std::tuple(false, ss.str());
+    3071             :   }
+    3072             : }
+    3073             : 
+    3074             : //}
+    3075             : 
+    3076             : /* resumeTrajectoryTrackingImpl() //{ */
+    3077             : 
+    3078           0 : std::tuple<bool, std::string> MpcTracker::resumeTrajectoryTrackingImpl(void) {
+    3079             : 
+    3080           0 :   std::stringstream ss;
+    3081             : 
+    3082           0 :   if (trajectory_set_) {
+    3083             : 
+    3084           0 :     toggleHover(false);
+    3085             : 
+    3086           0 :     int trajectory_tracking_idx = getCurrentTrajectoryIdx();
+    3087             : 
+    3088           0 :     if (trajectory_tracking_idx < (trajectory_size_ - 1)) {
+    3089             : 
+    3090             :       {
+    3091           0 :         std::scoped_lock lock(mutex_des_trajectory_);
+    3092             : 
+    3093           0 :         trajectory_tracking_in_progress_ = true;
+    3094             :       }
+    3095             : 
+    3096           0 :       ss << "trajectory tracking resumed";
+    3097           0 :       ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3098             : 
+    3099           0 :       publishDiagnostics();
+    3100             : 
+    3101           0 :       return std::tuple(true, ss.str());
+    3102             : 
+    3103             :     } else {
+    3104             : 
+    3105           0 :       ss << "can not resume trajectory tracking, trajectory is already finished";
+    3106           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3107             : 
+    3108           0 :       return std::tuple(false, ss.str());
+    3109             :     }
+    3110             : 
+    3111             :   } else {
+    3112             : 
+    3113           0 :     ss << "can not resume trajectory tracking, ther trajectory is not set";
+    3114           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3115             : 
+    3116           0 :     return std::tuple(false, ss.str());
+    3117             :   }
+    3118             : }
+    3119             : 
+    3120             : //}
+    3121             : 
+    3122             : /* stopTrajectoryTrackingImpl() //{ */
+    3123             : 
+    3124           0 : std::tuple<bool, std::string> MpcTracker::stopTrajectoryTrackingImpl(void) {
+    3125             : 
+    3126           0 :   std::stringstream ss;
+    3127             : 
+    3128           0 :   if (trajectory_tracking_in_progress_) {
+    3129             : 
+    3130           0 :     trajectory_tracking_in_progress_ = false;
+    3131             : 
+    3132           0 :     toggleHover(true);
+    3133             : 
+    3134           0 :     ss << "stopping trajectory tracking";
+    3135           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3136             : 
+    3137           0 :     publishDiagnostics();
+    3138             : 
+    3139             :   } else {
+    3140             : 
+    3141           0 :     ss << "can not stop trajectory tracking, already at stop";
+    3142           0 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3143             :   }
+    3144             : 
+    3145           0 :   return std::tuple(true, ss.str());
+    3146             : }
+    3147             : 
+    3148             : //}
+    3149             : 
+    3150             : /* gotoTrajectoryStartImpl() //{ */
+    3151             : 
+    3152           1 : std::tuple<bool, std::string> MpcTracker::gotoTrajectoryStartImpl(void) {
+    3153             : 
+    3154           2 :   std::stringstream ss;
+    3155             : 
+    3156           1 :   if (trajectory_set_) {
+    3157             : 
+    3158           1 :     toggleHover(false);
+    3159             : 
+    3160           1 :     trajectory_tracking_in_progress_ = false;
+    3161             : 
+    3162             :     {
+    3163           2 :       std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3164             : 
+    3165           1 :       setGoal((*des_x_whole_trajectory_)[0], (*des_y_whole_trajectory_)[0], (*des_z_whole_trajectory_)[0], (*des_heading_whole_trajectory_)[0],
+    3166           1 :               trajectory_track_heading_);
+    3167             :     }
+    3168             : 
+    3169           1 :     publishDiagnostics();
+    3170             : 
+    3171           1 :     ss << "flying to the start of the trajectory";
+    3172           1 :     ROS_INFO_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3173             : 
+    3174           1 :     return std::tuple(true, ss.str());
+    3175             : 
+    3176             :   } else {
+    3177             : 
+    3178           0 :     ss << "can not fly to the start of the trajectory, the trajectory is not set";
+    3179           0 :     ROS_WARN_STREAM_THROTTLE(1.0, "[MpcTracker]: " << ss.str());
+    3180             : 
+    3181           0 :     return std::tuple(false, ss.str());
+    3182             :   }
+    3183             : }
+    3184             : 
+    3185             : //}
+    3186             : 
+    3187             : // | ------------------------- support ------------------------ |
+    3188             : 
+    3189             : /* //{ publishDiagnostics() */
+    3190             : 
+    3191       18927 : void MpcTracker::publishDiagnostics(void) {
+    3192             : 
+    3193       37854 :   auto des_x_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_x_trajectory_);
+    3194       37854 :   auto des_y_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_y_trajectory_);
+    3195       37854 :   auto des_z_trajectory       = mrs_lib::get_mutexed(mutex_des_trajectory_, des_z_trajectory_);
+    3196       37854 :   auto des_heading_trajectory = mrs_lib::get_mutexed(mutex_des_trajectory_, des_heading_trajectory_);
+    3197             : 
+    3198       37854 :   mrs_msgs::MpcTrackerDiagnostics diagnostics;
+    3199             : 
+    3200       18927 :   diagnostics.header.stamp    = ros::Time::now();
+    3201       18927 :   diagnostics.header.frame_id = uav_state_.header.frame_id;
+    3202             : 
+    3203       18927 :   diagnostics.active = is_active_;
+    3204             : 
+    3205       18927 :   diagnostics.uav_name = _uav_name_;
+    3206             : 
+    3207       18927 :   diagnostics.collision_avoidance_active = collision_avoidance_enabled_;
+    3208       18927 :   diagnostics.avoiding_collision         = collision_avoidance_affecting_me_;
+    3209             : 
+    3210       18927 :   diagnostics.setpoint.position.x = des_x_trajectory(0, 0);
+    3211       18927 :   diagnostics.setpoint.position.y = des_y_trajectory(0, 0);
+    3212       18927 :   diagnostics.setpoint.position.z = des_z_trajectory(0, 0);
+    3213             : 
+    3214       18927 :   diagnostics.setpoint.orientation = mrs_lib::AttitudeConverter(0, 0, des_heading_trajectory(0, 0));
+    3215             : 
+    3216       37854 :   std::stringstream ss;
+    3217             : 
+    3218             :   {
+    3219       37854 :     std::scoped_lock lock(mutex_other_uav_diagnostics_);
+    3220             : 
+    3221             :     // fill in if other UAVs are sending their trajectories
+    3222       18927 :     std::map<std::string, mrs_msgs::MpcTrackerDiagnostics>::iterator u = other_uav_diagnostics_.begin();
+    3223             : 
+    3224       20860 :     while (u != other_uav_diagnostics_.end()) {
+    3225             : 
+    3226        1933 :       if (u->second.collision_avoidance_active) {
+    3227             : 
+    3228             :         // is the other's trajectory fresh enought?
+    3229        1229 :         if ((ros::Time::now() - u->second.header.stamp).toSec() < _collision_trajectory_timeout_) {
+    3230        1229 :           diagnostics.avoidance_active_uavs.push_back(u->first);
+    3231        1229 :           ss << u->first.c_str() << ", ";
+    3232             :         }
+    3233             :       }
+    3234             : 
+    3235        1933 :       u++;
+    3236             :     }
+    3237             :   }
+    3238             : 
+    3239       37854 :   auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3240             : 
+    3241       18927 :   if (ss.str().length() > 0) {
+    3242        1229 :     ROS_DEBUG_STREAM_THROTTLE(5.0, "[MpcTracker]: getting avoidance trajectories: " << ss.str());
+    3243       38223 :   } else if (collision_avoidance_enabled_ &&
+    3244       20525 :       (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk")) {
+    3245       14681 :     ROS_DEBUG_THROTTLE(10.0, "[MpcTracker]: missing avoidance trajectories!");
+    3246             :   }
+    3247             : 
+    3248       18927 :   pub_diagnostics_.publish(diagnostics);
+    3249             : 
+    3250       37854 :   std_msgs::String string_msg;
+    3251             : 
+    3252       18927 :   if (diagnostics.avoidance_active_uavs.empty()) {
+    3253             : 
+    3254       17698 :     string_msg.data = "-id col_avoid I see: NOTHING";
+    3255             : 
+    3256             :   } else {
+    3257             : 
+    3258        1229 :     string_msg.data = "-id col_avoid I see: ";
+    3259             :   }
+    3260             : 
+    3261       18927 :   if (diagnostics.avoidance_active_uavs.size() <= 3) {
+    3262             : 
+    3263       20156 :     for (size_t i = 0; i < diagnostics.avoidance_active_uavs.size(); i++) {
+    3264        1229 :       if (i == 0) {
+    3265        1229 :         string_msg.data += diagnostics.avoidance_active_uavs[i];
+    3266             :       } else {
+    3267           0 :         string_msg.data += ", " + diagnostics.avoidance_active_uavs[i];
+    3268             :       }
+    3269             :     }
+    3270             : 
+    3271             :   } else {
+    3272             : 
+    3273           0 :     std::stringstream ss;
+    3274           0 :     ss << diagnostics.avoidance_active_uavs.size();
+    3275             : 
+    3276           0 :     string_msg.data += ss.str() + " UAVs";
+    3277             :   }
+    3278             : 
+    3279       18927 :   pub_status_string_.publish(string_msg);
+    3280       18927 : }
+    3281             : 
+    3282             : //}
+    3283             : 
+    3284             : /* debugPrintState() //{ */
+    3285             : 
+    3286           0 : void MpcTracker::debugPrintState(const double throttle) {
+    3287             : 
+    3288           0 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3289             : 
+    3290           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));
+    3291           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));
+    3292           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));
+    3293           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));
+    3294           0 : }
+    3295             : 
+    3296             : //}
+    3297             : 
+    3298             : /* debugPrintMPCu() //{ */
+    3299             : 
+    3300           0 : void MpcTracker::debugPrintMPCResult(const double throttle) {
+    3301             : 
+    3302           0 :   auto [mpc_u, mpc_u_heading] = mrs_lib::get_mutexed(mutex_mpc_u_, mpc_u_, mpc_u_heading_);
+    3303           0 :   auto constraints            = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+    3304             : 
+    3305           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: MPC result: [%.2f, %.2f, %.2f, %.2f]", mpc_u(0), mpc_u(1), mpc_u(2), mpc_u_heading);
+    3306           0 :   ROS_DEBUG_THROTTLE(throttle, "[MpcTracker]: snap constraint: hor: %.2f, ver asc: %.2f, vert desc: %.2f, heading: %.2f]", constraints.horizontal_snap,
+    3307             :                      constraints.vertical_ascending_snap, constraints.vertical_descending_snap, constraints.heading_snap);
+    3308           0 : }
+    3309             : 
+    3310             : //}
+    3311             : 
+    3312             : /* getCurrentTrajectoryIdx() //{ */
+    3313             : 
+    3314        6833 : int MpcTracker::getCurrentTrajectoryIdx() {
+    3315             : 
+    3316        6833 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3317        6833 :   auto trajectory_dt   = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_dt_);
+    3318             : 
+    3319        6833 :   return floor(trajectory_current_time / trajectory_dt);
+    3320             : }
+    3321             : 
+    3322             : //}
+    3323             : 
+    3324             : /* increaseCurrentTrajectoryTime() //{ */
+    3325             : 
+    3326       12429 : void MpcTracker::increaseCurrentTrajectoryTime(const double dt) {
+    3327             : 
+    3328       12429 :   auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3329       12429 :   auto [trajectory_size, trajectory_dt] = mrs_lib::get_mutexed(mutex_des_trajectory_, trajectory_size_, trajectory_dt_);
+    3330             : 
+    3331       12429 :   trajectory_current_time += dt;
+    3332             : 
+    3333       12429 :   const double trajectory_duration = trajectory_size * trajectory_dt;
+    3334             : 
+    3335             :   // if the tracking idx hits the end of the trajectory
+    3336       12429 :   if (trajectory_current_time >= trajectory_duration) {
+    3337             : 
+    3338           4 :     if (trajectory_tracking_loop_) {
+    3339             : 
+    3340             :       // reset the idx
+    3341           0 :       trajectory_current_time -= trajectory_duration;
+    3342             : 
+    3343           0 :       ROS_INFO("[MpcTracker]: trajectory looped");
+    3344             : 
+    3345             :     } else {
+    3346             : 
+    3347           4 :       trajectory_tracking_in_progress_ = false;
+    3348             : 
+    3349           4 :       ROS_INFO("[MpcTracker]: done tracking trajectory");
+    3350             :     }
+    3351             :   }
+    3352             : 
+    3353       12429 :   mrs_lib::set_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time, trajectory_current_time_);
+    3354       12429 : }
+    3355             : 
+    3356             : //}
+    3357             : 
+    3358             : // --------------------------------------------------------------
+    3359             : // |                           timers                           |
+    3360             : // --------------------------------------------------------------
+    3361             : 
+    3362             : /* //{ timerDiagnostics() */
+    3363             : 
+    3364             : // published diagnostics in reguar intervals
+    3365       17990 : void MpcTracker::timerDiagnostics(const ros::TimerEvent& event) {
+    3366             : 
+    3367       17990 :   if (!is_initialized_)
+    3368           0 :     return;
+    3369             : 
+    3370       53970 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerDiagnostics", _diagnostics_rate_, 0.1, event);
+    3371       53970 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerDiagnostics", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3372             : 
+    3373       17990 :   publishDiagnostics();
+    3374             : }
+    3375             : 
+    3376             : //}
+    3377             : 
+    3378             : /* //{ timerMPC() */
+    3379             : 
+    3380       65459 : void MpcTracker::timerMPC(const ros::TimerEvent& event) {
+    3381             : 
+    3382       65459 :   if (odometry_reset_in_progress_) {
+    3383           0 :     ROS_ERROR("[MpcTracker]: mpc iteration tried run while reseting odometry");
+    3384           0 :     return;
+    3385             :   }
+    3386             : 
+    3387       65459 :   auto dt1 = mrs_lib::get_mutexed(mutex_dt1_, dt1_);
+    3388             : 
+    3389       65459 :   mrs_lib::AtomicScopeFlag unset_running(mpc_timer_running_);
+    3390             : 
+    3391       65459 :   bool started_with_invalid = mpc_result_invalid_;
+    3392             : 
+    3393       65459 :   if (!is_active_) {
+    3394           0 :     return;
+    3395             :   }
+    3396             : 
+    3397       65459 :   if (!is_initialized_) {
+    3398           0 :     return;
+    3399             :   }
+    3400             : 
+    3401      196377 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerMPC", 1.0 / dt1, 0.01, event);
+    3402      196377 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerMPC", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3403             : 
+    3404       65459 :   ros::Time     begin = ros::Time::now();
+    3405       65459 :   ros::Time     end;
+    3406       65459 :   ros::Duration interval;
+    3407             :   int           trajectory_id;
+    3408             : 
+    3409             :   // if we are tracking trajectory, copy the setpoint
+    3410       65459 :   if (trajectory_tracking_in_progress_) {
+    3411             : 
+    3412       24858 :     MatrixXd des_x_trajectory, des_y_trajectory, des_z_trajectory, des_heading_trajectory;
+    3413       24858 :     VectorXd des_x_whole_trajectory, des_y_whole_trajectory, des_z_whole_trajectory, des_heading_whole_trajectory;
+    3414             :     double   trajectory_dt;
+    3415             :     int      trajectory_size;
+    3416             :     {
+    3417       12429 :       std::scoped_lock lock(mutex_des_trajectory_, mutex_des_whole_trajectory_);
+    3418             : 
+    3419       12429 :       des_x_trajectory       = des_x_trajectory_;
+    3420       12429 :       des_y_trajectory       = des_y_trajectory_;
+    3421       12429 :       des_z_trajectory       = des_z_trajectory_;
+    3422       12429 :       des_heading_trajectory = des_heading_trajectory_;
+    3423             : 
+    3424       12429 :       des_x_whole_trajectory       = *des_x_whole_trajectory_;
+    3425       12429 :       des_y_whole_trajectory       = *des_y_whole_trajectory_;
+    3426       12429 :       des_z_whole_trajectory       = *des_z_whole_trajectory_;
+    3427       12429 :       des_heading_whole_trajectory = *des_heading_whole_trajectory_;
+    3428             : 
+    3429       12429 :       trajectory_size = trajectory_size_;
+    3430       12429 :       trajectory_dt   = trajectory_dt_;
+    3431             : 
+    3432       12429 :       trajectory_id = des_whole_trajectory_id_;
+    3433             :     }
+    3434             : 
+    3435             :     /* interpolate the trajectory points and fill in the desired_trajectory vector //{ */
+    3436             : 
+    3437       12429 :     const double dt_from_last_update = (event.current_real - event.last_real).toSec();
+    3438             : 
+    3439       12429 :     increaseCurrentTrajectoryTime(dt_from_last_update);
+    3440             : 
+    3441       12429 :     auto trajectory_current_time = mrs_lib::get_mutexed(mutex_trajectory_tracking_states_, trajectory_current_time_);
+    3442             : 
+    3443      509589 :     for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3444             : 
+    3445      497160 :       double first_time = trajectory_current_time + double(i) * _dt2_;
+    3446             : 
+    3447      497160 :       int first_idx  = int(floor(first_time / trajectory_dt));
+    3448      497160 :       int second_idx = first_idx + 1;
+    3449             : 
+    3450      497160 :       double interp_coeff = std::fmod(first_time / trajectory_dt, 1.0);
+    3451             : 
+    3452      497160 :       if (trajectory_tracking_loop_) {
+    3453             : 
+    3454           0 :         if (second_idx >= trajectory_size) {
+    3455           0 :           second_idx = second_idx % trajectory_size;
+    3456             :         }
+    3457             : 
+    3458           0 :         if (first_idx >= trajectory_size) {
+    3459           0 :           first_idx = first_idx % trajectory_size;
+    3460             :         }
+    3461             : 
+    3462             :       } else {
+    3463             : 
+    3464      497160 :         if (second_idx >= trajectory_size) {
+    3465       61462 :           second_idx = trajectory_size - 1;
+    3466             :         }
+    3467             : 
+    3468      497160 :         if (first_idx >= trajectory_size) {
+    3469       58460 :           first_idx = trajectory_size - 1;
+    3470             :         }
+    3471             :       }
+    3472             : 
+    3473      497160 :       des_x_trajectory(i, 0) = (1 - interp_coeff) * des_x_whole_trajectory[first_idx] + interp_coeff * des_x_whole_trajectory[second_idx];
+    3474      497160 :       des_y_trajectory(i, 0) = (1 - interp_coeff) * des_y_whole_trajectory[first_idx] + interp_coeff * des_y_whole_trajectory[second_idx];
+    3475      497160 :       des_z_trajectory(i, 0) = (1 - interp_coeff) * des_z_whole_trajectory[first_idx] + interp_coeff * des_z_whole_trajectory[second_idx];
+    3476             : 
+    3477      497160 :       des_heading_trajectory(i, 0) = sradians::interp(des_heading_whole_trajectory[first_idx], des_heading_whole_trajectory[second_idx], interp_coeff);
+    3478             :     }
+    3479             : 
+    3480             :     {
+    3481       24858 :       std::scoped_lock lock(mutex_des_trajectory_);
+    3482             : 
+    3483       12429 :       des_x_trajectory_       = des_x_trajectory;
+    3484       12429 :       des_y_trajectory_       = des_y_trajectory;
+    3485       12429 :       des_z_trajectory_       = des_z_trajectory;
+    3486       12429 :       des_heading_trajectory_ = des_heading_trajectory;
+    3487             :     }
+    3488             : 
+    3489             :     //}
+    3490             : 
+    3491             :   } else {
+    3492             : 
+    3493       53030 :     std::scoped_lock lock(mutex_des_whole_trajectory_);
+    3494             : 
+    3495       53030 :     trajectory_id = des_whole_trajectory_id_;
+    3496             :   }
+    3497             : 
+    3498       65459 :   manageConstraints();
+    3499             : 
+    3500       65459 :   calculateMPC();
+    3501             : 
+    3502       65459 :   end      = ros::Time::now();
+    3503       65459 :   interval = end - begin;
+    3504             : 
+    3505             :   // | ------------------ calculate the MPC RTF ----------------- |
+    3506             : 
+    3507       65459 :   mpc_rtf_ = 0.99 * mpc_rtf_ + 0.01 * (interval.toSec()/dt1);
+    3508             : 
+    3509       65459 :   if (mpc_rtf_ >= 1.0) {
+    3510           0 :     ROS_WARN_THROTTLE(5.0, "[MpcTracker] MPC Real Time Factor (%.3f) is slow", mpc_rtf_);
+    3511             :   }
+    3512             : 
+    3513             :   /* publish predicted future //{ */
+    3514             : 
+    3515             :   {
+    3516      130918 :     geometry_msgs::PoseArray debug_trajectory_out;
+    3517       65459 :     debug_trajectory_out.header.stamp    = ros::Time::now();
+    3518       65459 :     debug_trajectory_out.header.frame_id = uav_state_.header.frame_id;
+    3519             : 
+    3520             :     {
+    3521      130918 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3522             : 
+    3523     2683819 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3524             : 
+    3525     2618360 :         geometry_msgs::Pose newPose;
+    3526             : 
+    3527     2618360 :         newPose.position.x = predicted_trajectory_(i * MPC_N_STATES);
+    3528     2618360 :         newPose.position.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3529     2618360 :         newPose.position.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3530             : 
+    3531             :         try {
+    3532     2618360 :           newPose.orientation = mrs_lib::AttitudeConverter(0, 0, predicted_heading_trajectory_(i * MPC_N_STATES));
+    3533           0 :         } catch (...) {
+    3534           0 :           ROS_ERROR_THROTTLE(1.0, "[MpcTracker]: failed to fill orientation into debug print trajectory");
+    3535             :         }
+    3536             : 
+    3537     2618360 :         debug_trajectory_out.poses.push_back(newPose);
+    3538             :       }
+    3539             :     }
+    3540             : 
+    3541       65459 :     ph_predicted_trajectory_debugging_.publish(debug_trajectory_out);
+    3542             :   }
+    3543             : 
+    3544             :   //}
+    3545             : 
+    3546             :   /* publish full state prediction //{ */
+    3547             : 
+    3548             :   {
+    3549      130918 :     mrs_msgs::MpcPredictionFullState prediction_fs_out;
+    3550       65459 :     prediction_fs_out.header.stamp    = ros::Time::now();
+    3551       65459 :     prediction_fs_out.header.frame_id = uav_state_.header.frame_id;
+    3552             : 
+    3553       65459 :     ros::Time stamp = prediction_fs_out.header.stamp;
+    3554             : 
+    3555       65459 :     prediction_fs_out.input_id = trajectory_id;
+    3556             : 
+    3557             :     {
+    3558      130918 :       std::scoped_lock lock(mutex_predicted_trajectory_);
+    3559             : 
+    3560     2683819 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3561             : 
+    3562     2618360 :         if (i == 0) {
+    3563       65459 :           stamp += ros::Duration(0.01);
+    3564             :         } else {
+    3565     2552901 :           stamp += ros::Duration(0.2);
+    3566             :         }
+    3567             : 
+    3568     2618360 :         prediction_fs_out.stamps.push_back(stamp);
+    3569             : 
+    3570             :         {  // position
+    3571     2618360 :           geometry_msgs::Point point;
+    3572             : 
+    3573     2618360 :           point.x = predicted_trajectory_(i * MPC_N_STATES);
+    3574     2618360 :           point.y = predicted_trajectory_(i * MPC_N_STATES + 4);
+    3575     2618360 :           point.z = predicted_trajectory_(i * MPC_N_STATES + 8);
+    3576             : 
+    3577     2618360 :           prediction_fs_out.position.push_back(point);
+    3578             :         }
+    3579             : 
+    3580             :         {  // velocity
+    3581     2618360 :           geometry_msgs::Vector3 vector;
+    3582             : 
+    3583     2618360 :           vector.x = predicted_trajectory_(i * MPC_N_STATES + 1);
+    3584     2618360 :           vector.y = predicted_trajectory_(i * MPC_N_STATES + 5);
+    3585     2618360 :           vector.z = predicted_trajectory_(i * MPC_N_STATES + 9);
+    3586             : 
+    3587     2618360 :           prediction_fs_out.velocity.push_back(vector);
+    3588             :         }
+    3589             : 
+    3590             :         {  // acceleration
+    3591     2618360 :           geometry_msgs::Vector3 vector3;
+    3592             : 
+    3593     2618360 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 2);
+    3594     2618360 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 6);
+    3595     2618360 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 10);
+    3596             : 
+    3597     2618360 :           prediction_fs_out.acceleration.push_back(vector3);
+    3598             :         }
+    3599             : 
+    3600             :         {  // jerk
+    3601     2618360 :           geometry_msgs::Vector3 vector3;
+    3602             : 
+    3603     2618360 :           vector3.x = predicted_trajectory_(i * MPC_N_STATES + 3);
+    3604     2618360 :           vector3.y = predicted_trajectory_(i * MPC_N_STATES + 7);
+    3605     2618360 :           vector3.z = predicted_trajectory_(i * MPC_N_STATES + 11);
+    3606             : 
+    3607     2618360 :           prediction_fs_out.jerk.push_back(vector3);
+    3608             :         }
+    3609             : 
+    3610             :         {
+    3611             :           // heading
+    3612             : 
+    3613     2618360 :           prediction_fs_out.heading.push_back(predicted_heading_trajectory_(i * MPC_N_STATES));
+    3614     2618360 :           prediction_fs_out.heading_rate.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 1));
+    3615     2618360 :           prediction_fs_out.heading_acceleration.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 2));
+    3616     2618360 :           prediction_fs_out.heading_jerk.push_back(predicted_heading_trajectory_(i * MPC_N_STATES + 3));
+    3617             :         }
+    3618             :       }
+    3619             :     }
+    3620             : 
+    3621             :     {
+    3622      130918 :       std::scoped_lock lock(mutex_prediction_full_state_);
+    3623       65459 :       prediction_full_state_ = prediction_fs_out;
+    3624             :     }
+    3625             :   }
+    3626             : 
+    3627             :   //}
+    3628             : 
+    3629       65459 :   mpc_computed_ = true;
+    3630             : 
+    3631       65459 :   if (started_with_invalid) {
+    3632             : 
+    3633           4 :     mpc_result_invalid_ = false;
+    3634             : 
+    3635           4 :     ROS_INFO("[MpcTracker]: calculated the first MPC result after invalidation");
+    3636             :   }
+    3637             : }
+    3638             : 
+    3639             : //}
+    3640             : 
+    3641             : /* timerVelocityTracking() //{ */
+    3642             : 
+    3643         499 : void MpcTracker::timerVelocityTracking(const ros::TimerEvent& event) {
+    3644             : 
+    3645         499 :   if (!is_initialized_) {
+    3646           2 :     return;
+    3647             :   }
+    3648             : 
+    3649         499 :   if (!velocity_tracking_active_) {
+    3650           0 :     return;
+    3651             :   }
+    3652             : 
+    3653         998 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerVelocityTracking", int(30.0), 0.01, event);
+    3654             :   mrs_lib::ScopeTimer timer =
+    3655         998 :       mrs_lib::ScopeTimer("MpcTracker::timerVelocityTracking", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3656             : 
+    3657             :   // stop the timer when timeout
+    3658         499 :   if ((ros::Time::now() - velocity_reference_time_).toSec() > 0.5) {
+    3659             : 
+    3660           2 :     ROS_WARN_THROTTLE(1.0, "[MpcTracker]: velocity reference timeouted, hovering");
+    3661           2 :     timer_velocity_tracking_.stop();
+    3662             : 
+    3663           2 :     toggleHover(true);
+    3664             : 
+    3665           2 :     velocity_tracking_active_ = false;
+    3666             : 
+    3667           2 :     return;
+    3668             :   }
+    3669             : 
+    3670         994 :   auto [mpc_x, mpc_x_heading] = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_, mpc_x_heading_);
+    3671         497 :   auto velocity_reference     = mrs_lib::get_mutexed(mutex_velocity_reference_, velocity_reference_);
+    3672             : 
+    3673         994 :   mrs_msgs::TrajectoryReference trajectory;
+    3674             : 
+    3675         497 :   trajectory.fly_now         = true;
+    3676         497 :   trajectory.use_heading     = true;
+    3677         497 :   trajectory.dt              = 0.2;
+    3678         497 :   trajectory.header.stamp    = ros::Time::now();
+    3679         497 :   trajectory.header.frame_id = "";
+    3680             : 
+    3681         497 :   double x       = mpc_x(0, 0);
+    3682         497 :   double y       = mpc_x(4, 0);
+    3683         497 :   double z       = mpc_x(8, 0);
+    3684         497 :   double heading = mpc_x_heading(0, 0);
+    3685             : 
+    3686       25347 :   for (int i = 0; i < 50; i++) {
+    3687             : 
+    3688       24850 :     mrs_msgs::Reference reference;
+    3689       24850 :     reference.position.x = x;
+    3690       24850 :     reference.position.y = y;
+    3691       24850 :     reference.position.z = z;
+    3692       24850 :     reference.heading    = heading;
+    3693             : 
+    3694       24850 :     trajectory.points.push_back(reference);
+    3695             : 
+    3696       24850 :     x += velocity_reference.velocity.x * trajectory.dt;
+    3697       24850 :     y += velocity_reference.velocity.y * trajectory.dt;
+    3698       24850 :     z += velocity_reference.velocity.z * trajectory.dt;
+    3699             : 
+    3700       24850 :     if (velocity_reference.use_altitude) {
+    3701           0 :       z = velocity_reference.altitude;
+    3702             :     }
+    3703             : 
+    3704       24850 :     if (velocity_reference.use_heading_rate) {
+    3705       24850 :       heading += velocity_reference.heading_rate * trajectory.dt;
+    3706           0 :     } else if (velocity_reference.use_heading) {
+    3707           0 :       heading = velocity_reference.heading;
+    3708             :     }
+    3709             :   }
+    3710             : 
+    3711         994 :   auto [success, message, modified] = loadTrajectory(trajectory);
+    3712             : }
+    3713             : 
+    3714             : //}
+    3715             : 
+    3716             : /* //{ timerAvoidanceTrajectory() */
+    3717             : 
+    3718        3566 : void MpcTracker::timerAvoidanceTrajectory(const ros::TimerEvent& event) {
+    3719             : 
+    3720        3566 :   if (!is_active_) {
+    3721        1803 :     return;
+    3722             :   }
+    3723             : 
+    3724        1799 :   if (!is_initialized_) {
+    3725           0 :     return;
+    3726             :   }
+    3727             : 
+    3728        1799 :   if (!sh_estimation_diag_.hasMsg()) {
+    3729           0 :     return;
+    3730             :   } else {
+    3731             :     // we won't try to transform and publish the avoidance prediction if we cannot transform it
+    3732             : 
+    3733        1799 :     auto                     estimation_diag      = sh_estimation_diag_.getMsg();
+    3734        1799 :     std::vector<std::string> state_estimators = estimation_diag.get()->switchable_state_estimators;
+    3735             : 
+    3736        1799 :     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();
+    3737        1799 :     bool got_rtk_est = std::find(state_estimators.begin(), state_estimators.end(), "rtk") != state_estimators.end();
+    3738             : 
+    3739        1799 :     if (!got_gps_est && !got_rtk_est) {
+    3740          36 :       return;
+    3741             :     }
+    3742             :   }
+    3743             : 
+    3744        3526 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerAvoidanceTrajectory", _avoidance_trajectory_rate_, 0.1, event);
+    3745             :   mrs_lib::ScopeTimer timer =
+    3746        3526 :       mrs_lib::ScopeTimer("MpcTracker::timerAvoidanceTrajectory", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3747             : 
+    3748        1763 :   auto uav_state            = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+    3749        1763 :   auto predicted_trajectory = mrs_lib::get_mutexed(mutex_predicted_trajectory_, predicted_trajectory_);
+    3750             : 
+    3751        1763 :   if (future_was_predicted_) {
+    3752             : 
+    3753        1763 :     mrs_msgs::FutureTrajectory avoidance_trajectory;
+    3754             : 
+    3755             :     // fill last trajectory with initial data
+    3756        1763 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3757        1763 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3758        1763 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3759        1763 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_ && (uav_state.estimator_horizontal == "lat_gps" || uav_state.estimator_horizontal == "lat_rtk");
+    3760        1763 :     avoidance_trajectory.points.clear();
+    3761        1763 :     avoidance_trajectory.stamp               = ros::Time::now();
+    3762        1763 :     avoidance_trajectory.uav_name            = _uav_name_;
+    3763        1763 :     avoidance_trajectory.priority            = avoidance_this_uav_priority_;
+    3764        1763 :     avoidance_trajectory.collision_avoidance = collision_avoidance_enabled_;
+    3765             : 
+    3766        3526 :     auto res = common_handlers_->transformer->getTransform(uav_state.header.frame_id, "utm_origin", ros::Time::now());
+    3767             : 
+    3768        1763 :     if (!res) {
+    3769             : 
+    3770           0 :       std::string message = "[MpcTracker]: can not transform predicted future to utm_origin";
+    3771           0 :       ROS_WARN_STREAM_ONCE(message);
+    3772           0 :       ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3773           0 :       return;
+    3774             : 
+    3775             :     } else {
+    3776             : 
+    3777        3526 :       geometry_msgs::TransformStamped tf = res.value();
+    3778             : 
+    3779       72283 :       for (int i = 0; i < MPC_HORIZON_LENGTH; i++) {
+    3780             : 
+    3781             :         // original point
+    3782      141040 :         geometry_msgs::PoseStamped original_point;
+    3783             : 
+    3784       70520 :         original_point.header.stamp    = ros::Time::now();
+    3785       70520 :         original_point.header.frame_id = uav_state.header.frame_id;
+    3786             : 
+    3787       70520 :         original_point.pose.position.x = predicted_trajectory(i * MPC_N_STATES);
+    3788       70520 :         original_point.pose.position.y = predicted_trajectory(i * MPC_N_STATES + 4);
+    3789       70520 :         original_point.pose.position.z = predicted_trajectory(i * MPC_N_STATES + 8);
+    3790             : 
+    3791       70520 :         original_point.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    3792             : 
+    3793      141040 :         auto res = common_handlers_->transformer->transform(original_point, tf);
+    3794             : 
+    3795       70520 :         if (res) {
+    3796             : 
+    3797       70520 :           mrs_msgs::FuturePoint new_point;
+    3798             : 
+    3799       70520 :           new_point.x = res.value().pose.position.x;
+    3800       70520 :           new_point.y = res.value().pose.position.y;
+    3801       70520 :           new_point.z = res.value().pose.position.z;
+    3802             : 
+    3803       70520 :           avoidance_trajectory.points.push_back(new_point);
+    3804             : 
+    3805             :         } else {
+    3806             : 
+    3807           0 :           std::string message = "[MpcTracker]: can not transform a point of a future trajectory";
+    3808           0 :           ROS_WARN_STREAM_ONCE(message);
+    3809           0 :           ROS_DEBUG_STREAM_THROTTLE(1.0, message);
+    3810             :         }
+    3811             :       }
+    3812             :     }
+    3813             : 
+    3814        1763 :     ph_avoidance_trajectory_.publish(avoidance_trajectory);
+    3815             :   }
+    3816             : }
+    3817             : 
+    3818             : //}
+    3819             : 
+    3820             : /* timerHover() //{ */
+    3821             : 
+    3822          81 : void MpcTracker::timerHover(const ros::TimerEvent& event) {
+    3823             : 
+    3824         162 :   MatrixXd mpc_x = mrs_lib::get_mutexed(mutex_mpc_x_, mpc_x_);
+    3825             : 
+    3826         243 :   mrs_lib::Routine    profiler_routine = profiler.createRoutine("timerHover", 10, 0.01, event);
+    3827         243 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcTracker::timerHover", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+    3828             : 
+    3829          81 :   setRelativeGoal(0, 0, 0, 0, false);
+    3830             : 
+    3831          81 :   if (fabs(mpc_x(1, 0)) < 0.1 && fabs(mpc_x(5, 0)) < 0.1 && fabs(mpc_x(9, 0)) < 0.1) {
+    3832             : 
+    3833          47 :     toggleHover(false);
+    3834             : 
+    3835          47 :     ROS_INFO("[MpcTracker]: timerHover: speed is low, stopping hover timer");
+    3836             :   }
+    3837          81 : }
+    3838             : 
+    3839             : //}
+    3840             : 
+    3841             : }  // namespace mpc_tracker
+    3842             : 
+    3843             : }  // namespace mrs_uav_trackers
+    3844             : 
+    3845             : #include <pluginlib/class_list_macros.h>
+    3846          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::mpc_tracker::MpcTracker, mrs_uav_managers::Tracker)
+
+
+
+ + + + +
Generated by: LCOV version 1.14
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+ + + 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..28c7a379f7 --- /dev/null +++ b/mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp.gcov.overview.html @@ -0,0 +1,982 @@ + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trackers/src/mpc_tracker/mpc_tracker.cpp + + + + + + + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + overview + 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+ Overview +
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    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:2024-02-24 08:13:25Functions: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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    LCOV - code coverage report
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    Function Name Sort by function nameHit count Sort by hit count
    mrs_uav_trackers::speed_tracker::SpeedTracker::resetStatic()0
    mrs_uav_trackers::speed_tracker::SpeedTracker::setReference(boost::shared_ptr<mrs_msgs::ReferenceSrvRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::callbackCommand(boost::shared_ptr<mrs_msgs::SpeedTrackerCommand_<std::allocator<void> > const>)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::activate[abi:cxx11](std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::getStatus()0
    mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
    mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()18
    (anonymous namespace)::ProxyExec0::ProxyExec0()81
    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>)81
    mrs_uav_trackers::speed_tracker::SpeedTracker::setConstraints(boost::shared_ptr<mrs_msgs::DynamicsConstraintsSrvRequest_<std::allocator<void> > const> const&)258
    mrs_uav_trackers::speed_tracker::SpeedTracker::enableCallbacks(boost::shared_ptr<std_srvs::SetBoolRequest_<std::allocator<void> > const> const&)279
    mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
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    Current view:top level - mrs_uav_trackers/src/speed_tracker - speed_tracker.cpp (source / functions)HitTotalCoverage
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    Function Name Sort by function nameHit count Sort by hit count
    (anonymous namespace)::ProxyExec0::ProxyExec0()81
    mrs_uav_trackers::speed_tracker::SpeedTracker::deactivate()18
    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>)81
    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&)258
    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&)279
    mrs_uav_trackers::speed_tracker::SpeedTracker::gotoTrajectoryStart(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::setVelocityReference(boost::shared_ptr<mrs_msgs::VelocityReferenceSrvRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::switchOdometrySource(mrs_msgs::UavState_<std::allocator<void> > const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::setTrajectoryReference(boost::shared_ptr<mrs_msgs::TrajectoryReferenceSrvRequest_<std::allocator<void> > const> const&)4
    mrs_uav_trackers::speed_tracker::SpeedTracker::stopTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::startTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::resumeTrajectoryTracking(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::hover(boost::shared_ptr<std_srvs::TriggerRequest_<std::allocator<void> > const> const&)0
    mrs_uav_trackers::speed_tracker::SpeedTracker::update(mrs_msgs::UavState_<std::allocator<void> > const&, mrs_uav_managers::Controller::ControlOutput const&)112063
    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
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    Legend: Lines: + hit + not hit +
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    +
              Line data    Source code
    +
    +       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : 
+       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          81 : 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          81 :   this->common_handlers_  = common_handlers;
+     129          81 :   this->private_handlers_ = private_handlers;
+     130             : 
+     131          81 :   _uav_name_ = common_handlers->uav_name;
+     132             : 
+     133          81 :   nh_ = nh;
+     134             : 
+     135          81 :   ros::Time::waitForValid();
+     136             : 
+     137             :   // --------------------------------------------------------------
+     138             :   // |                     loading parameters                     |
+     139             :   // --------------------------------------------------------------
+     140             : 
+     141             :   // | ---------------- load parent's parameters ---------------- |
+     142             : 
+     143         162 :   mrs_lib::ParamLoader param_loader_parent(common_handlers->parent_nh, "ControlManager");
+     144             : 
+     145          81 :   param_loader_parent.loadParam("enable_profiler", _profiler_enabled_);
+     146             : 
+     147          81 :   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          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/private/speed_tracker.yaml");
+     155          81 :   private_handlers->param_loader->addYamlFile(ros::package::getPath("mrs_uav_trackers") + "/config/public/speed_tracker.yaml");
+     156             : 
+     157         162 :   const std::string yaml_prefix = "mrs_uav_trackers/speed_tracker/";
+     158             : 
+     159          81 :   private_handlers->param_loader->loadParam(yaml_prefix + "command_timeout", _external_command_timeout_);
+     160             : 
+     161          81 :   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          81 :   profiler_ = mrs_lib::Profiler(common_handlers->parent_nh, "SpeedTracker", _profiler_enabled_);
+     169             : 
+     170             :   // | ----------------------- subscribers ---------------------- |
+     171             : 
+     172          81 :   mrs_lib::SubscribeHandlerOptions shopts;
+     173          81 :   shopts.nh              = nh_;
+     174          81 :   shopts.node_name       = "SpeedTracker";
+     175          81 :   shopts.threadsafe      = true;
+     176          81 :   shopts.autostart       = true;
+     177          81 :   shopts.transport_hints = ros::TransportHints().tcpNoDelay();
+     178             : 
+     179          81 :   sh_command_ = mrs_lib::SubscribeHandler<mrs_msgs::SpeedTrackerCommand>(shopts, "command", &SpeedTracker::callbackCommand, this);
+     180             : 
+     181             :   // | ----------------------- publishers ----------------------- |
+     182             : 
+     183          81 :   ph_rviz_marker_ = mrs_lib::PublisherHandler<visualization_msgs::MarkerArray>(nh_, "rviz_marker", 1);
+     184             : 
+     185             :   // | --------------------- finish the init -------------------- |
+     186             : 
+     187          81 :   is_initialized_ = true;
+     188             : 
+     189          81 :   ROS_INFO("[SpeedTracker]: initialized");
+     190             : 
+     191          81 :   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          18 : void SpeedTracker::deactivate(void) {
+     236             : 
+     237          18 :   is_active_ = false;
+     238             : 
+     239          18 :   ROS_INFO("[SpeedTracker]: deactivated");
+     240          18 : }
+     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      112063 : 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      336189 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
+     259      336189 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     260             : 
+     261             :   {
+     262      112063 :     std::scoped_lock lock(mutex_uav_state_);
+     263             : 
+     264      112063 :     uav_state_ = uav_state;
+     265             : 
+     266      112063 :     got_uav_state_ = true;
+     267             :   }
+     268             : 
+     269             :   double uav_heading;
+     270             : 
+     271             :   try {
+     272      112063 :     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      112063 :   if (!is_active_) {
+     282      112063 :     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         279 : const std_srvs::SetBoolResponse::ConstPtr SpeedTracker::enableCallbacks(const std_srvs::SetBoolRequest::ConstPtr &cmd) {
+     381             : 
+     382         558 :   std_srvs::SetBoolResponse res;
+     383         558 :   std::stringstream         ss;
+     384             : 
+     385         279 :   if (cmd->data != callbacks_enabled_) {
+     386             : 
+     387          15 :     callbacks_enabled_ = cmd->data;
+     388             : 
+     389          15 :     ss << "callbacks " << (callbacks_enabled_ ? "enabled" : "disabled");
+     390          15 :     ROS_INFO_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     391             : 
+     392             :   } else {
+     393             : 
+     394         264 :     ss << "callbacks were already " << (callbacks_enabled_ ? "enabled" : "disabled");
+     395         264 :     ROS_WARN_STREAM_THROTTLE(1.0, "[SpeedTracker]: " << ss.str());
+     396             :   }
+     397             : 
+     398         279 :   res.message = ss.str();
+     399         279 :   res.success = true;
+     400             : 
+     401         558 :   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         258 : const mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr SpeedTracker::setConstraints([
+     459             :     [maybe_unused]] const mrs_msgs::DynamicsConstraintsSrvRequest::ConstPtr &cmd) {
+     460             : 
+     461             :   {
+     462         258 :     std::scoped_lock lock(mutex_constraints_);
+     463             : 
+     464         258 :     constraints_ = cmd->constraints;
+     465             :   }
+     466             : 
+     467         516 :   mrs_msgs::DynamicsConstraintsSrvResponse res;
+     468             : 
+     469         258 :   res.success = true;
+     470         258 :   res.message = "constraints updated";
+     471             : 
+     472         516 :   return mrs_msgs::DynamicsConstraintsSrvResponse::ConstPtr(new mrs_msgs::DynamicsConstraintsSrvResponse(res));
+     473             : }
+     474             : 
+     475             : //}
+     476             : 
+     477             : /* //{ setReference() */
+     478             : 
+     479           0 : const mrs_msgs::ReferenceSrvResponse::ConstPtr SpeedTracker::setReference([[maybe_unused]] const mrs_msgs::ReferenceSrvRequest::ConstPtr &cmd) {
+     480             : 
+     481           0 :   return mrs_msgs::ReferenceSrvResponse::Ptr();
+     482             : }
+     483             : 
+     484             : //}
+     485             : 
+     486             : /* //{ setVelocityReference() */
+     487             : 
+     488           0 : const mrs_msgs::VelocityReferenceSrvResponse::ConstPtr SpeedTracker::setVelocityReference([
+     489             :     [maybe_unused]] const mrs_msgs::VelocityReferenceSrvRequest::ConstPtr &cmd) {
+     490           0 :   return mrs_msgs::VelocityReferenceSrvResponse::Ptr();
+     491             : }
+     492             : 
+     493             : //}
+     494             : 
+     495             : /* //{ setTrajectoryReference() */
+     496             : 
+     497           4 : const mrs_msgs::TrajectoryReferenceSrvResponse::ConstPtr SpeedTracker::setTrajectoryReference([
+     498             :     [maybe_unused]] const mrs_msgs::TrajectoryReferenceSrvRequest::ConstPtr &cmd) {
+     499           4 :   return mrs_msgs::TrajectoryReferenceSrvResponse::Ptr();
+     500             : }
+     501             : 
+     502             : //}
+     503             : 
+     504             : // | --------------------- custom methods --------------------- |
+     505             : 
+     506             : /* callbackCommand() //{ */
+     507             : 
+     508           0 : void SpeedTracker::callbackCommand(const mrs_msgs::SpeedTrackerCommand::ConstPtr msg) {
+     509             : 
+     510           0 :   if (!is_initialized_)
+     511           0 :     return;
+     512             : 
+     513           0 :   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("callbackCommand");
+     514           0 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("SpeedTracker::callbackCommand", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+     515             : 
+     516           0 :   mrs_msgs::SpeedTrackerCommandConstPtr external_command = msg;
+     517             : 
+     518             :   double dt;
+     519           0 :   if (first_iteration_) {
+     520             : 
+     521           0 :     last_command_time_ = ros::Time::now();
+     522           0 :     first_iteration_   = false;
+     523             : 
+     524             :     {
+     525           0 :       std::scoped_lock lock(mutex_command_);
+     526             : 
+     527           0 :       command_ = *external_command;
+     528             :     }
+     529             : 
+     530           0 :     return;
+     531             :   } else {
+     532           0 :     dt                 = (ros::Time::now() - last_command_time_).toSec();
+     533           0 :     last_command_time_ = ros::Time::now();
+     534             : 
+     535           0 :     if (dt <= 1e-4) {
+     536           0 :       ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: the command dt is %.5f, returning", dt);
+     537           0 :       return;
+     538             :     }
+     539             :   }
+     540             : 
+     541           0 :   mrs_msgs::SpeedTrackerCommand transformed_command = *external_command;
+     542             : 
+     543           0 :   auto old_command = mrs_lib::get_mutexed(mutex_command_, command_);
+     544           0 :   auto constraints = mrs_lib::get_mutexed(mutex_constraints_, constraints_);
+     545           0 :   auto uav_state   = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     546             : 
+     547             :   double uav_heading;
+     548             : 
+     549             :   try {
+     550           0 :     uav_heading = mrs_lib::AttitudeConverter(uav_state_.pose.orientation).getHeading();
+     551             :   }
+     552           0 :   catch (...) {
+     553           0 :     ROS_ERROR_THROTTLE(1.0, "[SpeedTracker]: could not calculate UAV heading");
+     554           0 :     return;
+     555             :   }
+     556             : 
+     557             :   // transform the command
+     558             : 
+     559             :   // transform velocity
+     560             : 
+     561           0 :   if (transformed_command.use_velocity) {
+     562             : 
+     563           0 :     geometry_msgs::Vector3Stamped vector3;
+     564           0 :     vector3.header = transformed_command.header;
+     565             : 
+     566           0 :     vector3.vector.x = transformed_command.velocity.x;
+     567           0 :     vector3.vector.y = transformed_command.velocity.y;
+     568           0 :     vector3.vector.z = transformed_command.velocity.z;
+     569             : 
+     570           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     571             : 
+     572           0 :     if (ret) {
+     573           0 :       transformed_command.velocity.x = ret.value().vector.x;
+     574           0 :       transformed_command.velocity.y = ret.value().vector.y;
+     575           0 :       transformed_command.velocity.z = ret.value().vector.z;
+     576             :     } else {
+     577           0 :       return;
+     578             :     }
+     579             : 
+     580             :     /* horizontal speed limit //{ */
+     581             : 
+     582             :     {
+     583           0 :       double des_horizontal_speed = sqrt(pow(transformed_command.velocity.x, 2) + pow(transformed_command.velocity.y, 2));
+     584             : 
+     585           0 :       if (des_horizontal_speed > constraints.horizontal_speed) {
+     586             : 
+     587           0 :         double des_speed_heading = atan2(transformed_command.velocity.y, transformed_command.velocity.x);
+     588             : 
+     589           0 :         transformed_command.velocity.x = cos(des_speed_heading) * constraints.horizontal_speed;
+     590           0 :         transformed_command.velocity.y = sin(des_speed_heading) * constraints.horizontal_speed;
+     591             :       }
+     592             :     }
+     593             : 
+     594             :     //}
+     595             : 
+     596             :     /* horizontal speed change rate limit //{ */
+     597             : 
+     598             :     {
+     599             :       Eigen::Vector2d hor_speed_derivative =
+     600           0 :           Eigen::Vector2d(transformed_command.velocity.x - old_command.velocity.x, transformed_command.velocity.y - old_command.velocity.y) / dt;
+     601             : 
+     602             :       // exceeding the maximum acceleration
+     603           0 :       if (hor_speed_derivative.norm() > constraints.horizontal_acceleration) {
+     604             : 
+     605           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting speed change rate");
+     606           0 :         double direction = atan2(hor_speed_derivative[1], hor_speed_derivative[0]);
+     607             : 
+     608           0 :         transformed_command.velocity.x = old_command.velocity.x + cos(direction) * constraints.horizontal_acceleration * dt;
+     609           0 :         transformed_command.velocity.y = old_command.velocity.y + sin(direction) * constraints.horizontal_acceleration * dt;
+     610             :       }
+     611             :     }
+     612             : 
+     613             :     //}
+     614             : 
+     615             :     /* vertical speed limit //{ */
+     616             : 
+     617             :     {
+     618             :       // if ascending
+     619           0 :       if (transformed_command.velocity.z > constraints.vertical_ascending_speed) {
+     620             : 
+     621           0 :         transformed_command.velocity.z = constraints.vertical_ascending_speed;
+     622             :       }
+     623             : 
+     624             :       // if descending
+     625           0 :       if (transformed_command.velocity.z < -constraints.vertical_descending_speed) {
+     626             : 
+     627           0 :         transformed_command.velocity.z = -constraints.vertical_descending_speed;
+     628             :       }
+     629             :     }
+     630             : 
+     631             :     //}
+     632             : 
+     633             :     /* vertical speed change rate //{ */
+     634             : 
+     635             :     {
+     636             : 
+     637           0 :       double vert_speed_derivative = (transformed_command.velocity.z - old_command.velocity.z) / dt;
+     638             : 
+     639           0 :       if (vert_speed_derivative > constraints.vertical_ascending_acceleration) {
+     640             : 
+     641           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending speed change rate");
+     642           0 :         transformed_command.velocity.z = old_command.velocity.z + constraints.vertical_ascending_acceleration * dt;
+     643             : 
+     644           0 :       } else if (vert_speed_derivative < -constraints.vertical_descending_acceleration) {
+     645             : 
+     646           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending speed change rate");
+     647           0 :         transformed_command.velocity.z = old_command.velocity.z - constraints.vertical_descending_acceleration * dt;
+     648             :       }
+     649             :     }
+     650             : 
+     651             :     //}
+     652             :   }
+     653             : 
+     654             :   /* transform and constrain heading //{ */
+     655             : 
+     656           0 :   if (transformed_command.use_heading) {
+     657             : 
+     658           0 :     mrs_msgs::ReferenceStamped temp_ref;
+     659           0 :     temp_ref.header = transformed_command.header;
+     660             : 
+     661           0 :     temp_ref.reference.heading = transformed_command.heading;
+     662             : 
+     663           0 :     auto ret = common_handlers_->transformer->transformSingle(temp_ref, "");
+     664             : 
+     665           0 :     if (ret) {
+     666             : 
+     667             :       // calculate the produced heading rate
+     668           0 :       double des_hdg_rate = sradians::diff(ret.value().reference.heading, old_command.heading) / dt;
+     669             : 
+     670             :       // saturate the change in the desired heading
+     671           0 :       if (des_hdg_rate > constraints.heading_speed) {
+     672             : 
+     673           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     674           0 :         transformed_command.heading = old_command.heading + constraints.heading_speed * dt;
+     675             : 
+     676           0 :       } else if (des_hdg_rate < -constraints.heading_speed) {
+     677             : 
+     678           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting change of the desired heading using constraints");
+     679           0 :         transformed_command.heading = old_command.heading - constraints.heading_speed * dt;
+     680             : 
+     681             :       } else {
+     682             : 
+     683           0 :         transformed_command.heading = ret.value().reference.heading;
+     684             :       }
+     685             : 
+     686             :     } else {
+     687           0 :       return;
+     688             :     }
+     689             :   } else {
+     690           0 :     transformed_command.use_heading = false;
+     691           0 :     transformed_command.heading     = uav_heading;
+     692             :   }
+     693             : 
+     694             :   //}
+     695             : 
+     696           0 :   if (transformed_command.use_heading_rate) {
+     697             : 
+     698           0 :     if (transformed_command.heading_rate > constraints.heading_speed) {
+     699           0 :       transformed_command.heading_rate = constraints.heading_speed;
+     700           0 :     } else if (transformed_command.heading_rate < -constraints.heading_speed) {
+     701           0 :       transformed_command.heading_rate = -constraints.heading_speed;
+     702             :     }
+     703             :   }
+     704             : 
+     705           0 :   if (transformed_command.use_acceleration) {
+     706             : 
+     707           0 :     geometry_msgs::Vector3Stamped vector3;
+     708           0 :     vector3.header = transformed_command.header;
+     709             : 
+     710           0 :     vector3.vector.x = transformed_command.acceleration.x;
+     711           0 :     vector3.vector.y = transformed_command.acceleration.y;
+     712           0 :     vector3.vector.z = transformed_command.acceleration.z;
+     713             : 
+     714           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     715             : 
+     716           0 :     if (ret) {
+     717           0 :       transformed_command.acceleration.x = ret.value().vector.x;
+     718           0 :       transformed_command.acceleration.y = ret.value().vector.y;
+     719           0 :       transformed_command.acceleration.z = ret.value().vector.z;
+     720             :     } else {
+     721           0 :       return;
+     722             :     }
+     723             : 
+     724             :     /* horizontal acceleration limit //{ */
+     725             : 
+     726             :     {
+     727           0 :       double des_horizontal_acceleration = sqrt(pow(transformed_command.acceleration.x, 2) + pow(transformed_command.acceleration.y, 2));
+     728             : 
+     729           0 :       if (des_horizontal_acceleration > constraints.horizontal_acceleration) {
+     730             : 
+     731           0 :         double des_acc_heading = atan2(transformed_command.acceleration.y, transformed_command.acceleration.x);
+     732             : 
+     733           0 :         transformed_command.acceleration.x = cos(des_acc_heading) * constraints.horizontal_acceleration;
+     734           0 :         transformed_command.acceleration.y = sin(des_acc_heading) * constraints.horizontal_acceleration;
+     735             :       }
+     736             :     }
+     737             : 
+     738             :     //}
+     739             : 
+     740             :     /* horizontal acceleration change rate limit //{ */
+     741             : 
+     742             :     {
+     743             :       Eigen::Vector2d hor_acc_derivative =
+     744           0 :           Eigen::Vector2d(transformed_command.acceleration.x - old_command.acceleration.x, transformed_command.acceleration.y - old_command.acceleration.y) /
+     745           0 :           (dt);
+     746             : 
+     747             :       // exceeding the maximum acceleration
+     748           0 :       if (hor_acc_derivative.norm() > constraints.horizontal_jerk) {
+     749             : 
+     750           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting acceleration change rate");
+     751           0 :         double direction = atan2(hor_acc_derivative[1], hor_acc_derivative[0]);
+     752             : 
+     753           0 :         transformed_command.acceleration.x = old_command.acceleration.x + cos(direction) * constraints.horizontal_jerk * dt;
+     754           0 :         transformed_command.acceleration.y = old_command.acceleration.y + sin(direction) * constraints.horizontal_jerk * dt;
+     755             :       }
+     756             :     }
+     757             : 
+     758             :     //}
+     759             : 
+     760             :     /* vertical acceleration limit //{ */
+     761             : 
+     762             :     {
+     763             :       // if ascending
+     764           0 :       if (transformed_command.acceleration.z > constraints.vertical_ascending_acceleration) {
+     765             : 
+     766           0 :         transformed_command.acceleration.z = constraints.vertical_ascending_acceleration;
+     767             :       }
+     768             : 
+     769             :       // if descending
+     770           0 :       if (transformed_command.acceleration.z < -constraints.vertical_descending_acceleration) {
+     771             : 
+     772           0 :         transformed_command.acceleration.z = -constraints.vertical_descending_acceleration;
+     773             :       }
+     774             :     }
+     775             : 
+     776             :     //}
+     777             : 
+     778             :     /* vertical acceleration change rate //{ */
+     779             : 
+     780             :     {
+     781             : 
+     782           0 :       double vert_acc_derivative = (transformed_command.acceleration.z - old_command.acceleration.z) / dt;
+     783             : 
+     784           0 :       if (vert_acc_derivative > constraints.vertical_ascending_jerk) {
+     785             : 
+     786           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical ascending acceleration change rate");
+     787           0 :         transformed_command.acceleration.z = old_command.acceleration.z + constraints.vertical_ascending_jerk * dt;
+     788             : 
+     789           0 :       } else if (vert_acc_derivative < -constraints.vertical_descending_jerk) {
+     790             : 
+     791           0 :         ROS_WARN_THROTTLE(1.0, "[SpeedTracker]: limitting vertical descending acceleration change rate");
+     792           0 :         transformed_command.acceleration.z = old_command.acceleration.z - constraints.vertical_descending_jerk * dt;
+     793             :       }
+     794             :     }
+     795             : 
+     796             :     //}
+     797             :   }
+     798             : 
+     799             :   // transform force
+     800             : 
+     801           0 :   if (transformed_command.use_force) {
+     802             : 
+     803           0 :     geometry_msgs::Vector3Stamped vector3;
+     804           0 :     vector3.header = transformed_command.header;
+     805             : 
+     806           0 :     vector3.vector.x = transformed_command.force.x;
+     807           0 :     vector3.vector.y = transformed_command.force.y;
+     808           0 :     vector3.vector.z = transformed_command.force.z;
+     809             : 
+     810           0 :     auto ret = common_handlers_->transformer->transformSingle(vector3, "");
+     811             : 
+     812           0 :     if (ret) {
+     813           0 :       transformed_command.force.x = vector3.vector.x;
+     814           0 :       transformed_command.force.y = vector3.vector.y;
+     815           0 :       transformed_command.force.z = vector3.vector.z;
+     816             :     } else {
+     817           0 :       return;
+     818             :     }
+     819             :   }
+     820             : 
+     821             :   // check the feasibility of the z
+     822             :   {
+     823           0 :     double z_derivative = (transformed_command.z - old_command.z) / dt;
+     824             : 
+     825           0 :     if (z_derivative > constraints.vertical_ascending_speed) {
+     826             : 
+     827           0 :       transformed_command.z = old_command.z + constraints.vertical_ascending_speed * dt;
+     828             : 
+     829           0 :     } else if (z_derivative < -constraints.vertical_ascending_speed) {
+     830             : 
+     831           0 :       transformed_command.z = old_command.z - constraints.vertical_descending_speed * dt;
+     832             :     }
+     833             : 
+     834             :     // saturate the desired z using the safety area
+     835           0 :     if (common_handlers_->safety_area.use_safety_area) {
+     836             : 
+     837           0 :       if (transformed_command.z > common_handlers_->safety_area.getMaxZ("")) {
+     838             : 
+     839           0 :         transformed_command.z = common_handlers_->safety_area.getMaxZ("");
+     840             : 
+     841           0 :       } else if (transformed_command.z < common_handlers_->safety_area.getMinZ("")) {
+     842             : 
+     843           0 :         transformed_command.z = common_handlers_->safety_area.getMinZ("");
+     844             :       }
+     845             :     }
+     846             :   }
+     847             : 
+     848             :   // if not active, nullify the desired speeds and accelerations
+     849             :   // this will produce a rumpum (using the constraints) after the activation
+     850           0 :   if (!is_active_) {
+     851             : 
+     852           0 :     auto uav_state = mrs_lib::get_mutexed(mutex_uav_state_, uav_state_);
+     853             : 
+     854           0 :     transformed_command.velocity.x = 0;
+     855           0 :     transformed_command.velocity.y = 0;
+     856           0 :     transformed_command.velocity.z = 0;
+     857             : 
+     858           0 :     transformed_command.acceleration.x = 0;
+     859           0 :     transformed_command.acceleration.y = 0;
+     860           0 :     transformed_command.acceleration.z = 0;
+     861             : 
+     862             :     try {
+     863           0 :       transformed_command.heading = mrs_lib::AttitudeConverter(uav_state.pose.orientation).getHeading();
+     864             :     }
+     865           0 :     catch (...) {
+     866           0 :       return;
+     867             :     }
+     868             : 
+     869           0 :     transformed_command.z = uav_state_.pose.position.z;
+     870             :   }
+     871             : 
+     872             :   {
+     873           0 :     std::scoped_lock lock(mutex_command_);
+     874             : 
+     875           0 :     command_ = transformed_command;
+     876             :   }
+     877             : 
+     878           0 :   if (!is_active_) {
+     879           0 :     ROS_INFO_ONCE("[SpeedTracker]: getting command");
+     880             :   } else {
+     881           0 :     ROS_INFO_THROTTLE(5.0, "[SpeedTracker]: getting command");
+     882             :   }
+     883             : 
+     884             :   // --------------------------------------------------------------
+     885             :   // |                     publish rviz markers                   |
+     886             :   // --------------------------------------------------------------
+     887             : 
+     888           0 :   visualization_msgs::MarkerArray msg_out;
+     889             : 
+     890           0 :   double id = 0;
+     891             : 
+     892           0 :   geometry_msgs::Point point;
+     893             : 
+     894             :   /* desired speed //{ */
+     895             : 
+     896           0 :   if (transformed_command.use_velocity) {
+     897             : 
+     898           0 :     std::scoped_lock lock(mutex_uav_state_);
+     899             : 
+     900           0 :     visualization_msgs::Marker marker;
+     901             : 
+     902           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     903           0 :     marker.header.stamp    = ros::Time::now();
+     904           0 :     marker.ns              = "speed_tracker";
+     905           0 :     marker.id              = id++;
+     906           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     907           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     908             : 
+     909             :     /* position //{ */
+     910             : 
+     911           0 :     marker.pose.position.x = 0.0;
+     912           0 :     marker.pose.position.y = 0.0;
+     913           0 :     marker.pose.position.z = 0.0;
+     914             : 
+     915             :     //}
+     916             : 
+     917             :     /* orientation //{ */
+     918             : 
+     919           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     920             : 
+     921             :     //}
+     922             : 
+     923             :     /* origin //{ */
+     924           0 :     point.x = uav_state_.pose.position.x;
+     925           0 :     point.y = uav_state_.pose.position.y;
+     926           0 :     point.z = uav_state_.pose.position.z;
+     927             : 
+     928           0 :     marker.points.push_back(point);
+     929             : 
+     930             :     //}
+     931             : 
+     932             :     /* tip //{ */
+     933             : 
+     934           0 :     point.x = uav_state_.pose.position.x + transformed_command.velocity.x;
+     935           0 :     point.y = uav_state_.pose.position.y + transformed_command.velocity.y;
+     936           0 :     point.z = uav_state_.pose.position.z + transformed_command.velocity.z;
+     937             : 
+     938           0 :     marker.points.push_back(point);
+     939             : 
+     940             :     //}
+     941             : 
+     942           0 :     marker.scale.x = 0.05;
+     943           0 :     marker.scale.y = 0.05;
+     944           0 :     marker.scale.z = 0.05;
+     945             : 
+     946           0 :     marker.color.a = 0.5;
+     947           0 :     marker.color.r = 0.0;
+     948           0 :     marker.color.g = 1.0;
+     949           0 :     marker.color.b = 0.0;
+     950             : 
+     951           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+     952             : 
+     953           0 :     msg_out.markers.push_back(marker);
+     954             :   }
+     955             : 
+     956             :   //}
+     957             : 
+     958             :   /* desired acceleration //{ */
+     959           0 :   if (transformed_command.use_acceleration) {
+     960             : 
+     961           0 :     std::scoped_lock lock(mutex_uav_state_);
+     962             : 
+     963           0 :     visualization_msgs::Marker marker;
+     964             : 
+     965           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+     966           0 :     marker.header.stamp    = ros::Time::now();
+     967           0 :     marker.ns              = "speed_tracker";
+     968           0 :     marker.id              = id++;
+     969           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+     970           0 :     marker.action          = visualization_msgs::Marker::ADD;
+     971             : 
+     972             :     /* position //{ */
+     973             : 
+     974           0 :     marker.pose.position.x = 0.0;
+     975           0 :     marker.pose.position.y = 0.0;
+     976           0 :     marker.pose.position.z = 0.0;
+     977             : 
+     978             :     //}
+     979             : 
+     980             :     /* orientation //{ */
+     981             : 
+     982           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+     983             : 
+     984             :     //}
+     985             : 
+     986             :     /* origin //{ */
+     987           0 :     point.x = uav_state_.pose.position.x;
+     988           0 :     point.y = uav_state_.pose.position.y;
+     989           0 :     point.z = uav_state_.pose.position.z;
+     990             : 
+     991           0 :     marker.points.push_back(point);
+     992             : 
+     993             :     //}
+     994             : 
+     995             :     /* tip //{ */
+     996             : 
+     997           0 :     point.x = uav_state_.pose.position.x + transformed_command.acceleration.x;
+     998           0 :     point.y = uav_state_.pose.position.y + transformed_command.acceleration.y;
+     999           0 :     point.z = uav_state_.pose.position.z + transformed_command.acceleration.z;
+    1000             : 
+    1001           0 :     marker.points.push_back(point);
+    1002             : 
+    1003             :     //}
+    1004             : 
+    1005           0 :     marker.scale.x = 0.05;
+    1006           0 :     marker.scale.y = 0.05;
+    1007           0 :     marker.scale.z = 0.05;
+    1008             : 
+    1009           0 :     marker.color.a = 0.5;
+    1010           0 :     marker.color.r = 1.0;
+    1011           0 :     marker.color.g = 0.0;
+    1012           0 :     marker.color.b = 0.0;
+    1013             : 
+    1014           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1015             : 
+    1016           0 :     msg_out.markers.push_back(marker);
+    1017             :   }
+    1018             : 
+    1019             :   //}
+    1020             : 
+    1021             :   /* desired force //{ */
+    1022           0 :   if (transformed_command.use_force) {
+    1023             : 
+    1024           0 :     std::scoped_lock lock(mutex_uav_state_);
+    1025             : 
+    1026           0 :     visualization_msgs::Marker marker;
+    1027             : 
+    1028           0 :     marker.header.frame_id = uav_state_.header.frame_id;
+    1029           0 :     marker.header.stamp    = ros::Time::now();
+    1030           0 :     marker.ns              = "speed_tracker";
+    1031           0 :     marker.id              = id++;
+    1032           0 :     marker.type            = visualization_msgs::Marker::ARROW;
+    1033           0 :     marker.action          = visualization_msgs::Marker::ADD;
+    1034             : 
+    1035             :     /* position //{ */
+    1036             : 
+    1037           0 :     marker.pose.position.x = 0.0;
+    1038           0 :     marker.pose.position.y = 0.0;
+    1039           0 :     marker.pose.position.z = 0.0;
+    1040             : 
+    1041             :     //}
+    1042             : 
+    1043             :     /* orientation //{ */
+    1044             : 
+    1045           0 :     marker.pose.orientation = mrs_lib::AttitudeConverter(0, 0, 0);
+    1046             : 
+    1047             :     //}
+    1048             : 
+    1049             :     /* origin //{ */
+    1050           0 :     point.x = uav_state_.pose.position.x;
+    1051           0 :     point.y = uav_state_.pose.position.y;
+    1052           0 :     point.z = uav_state_.pose.position.z;
+    1053             : 
+    1054           0 :     marker.points.push_back(point);
+    1055             : 
+    1056             :     //}
+    1057             : 
+    1058             :     /* tip //{ */
+    1059             : 
+    1060           0 :     point.x = uav_state_.pose.position.x + transformed_command.force.x;
+    1061           0 :     point.y = uav_state_.pose.position.y + transformed_command.force.y;
+    1062           0 :     point.z = uav_state_.pose.position.z + transformed_command.force.z;
+    1063             : 
+    1064           0 :     marker.points.push_back(point);
+    1065             : 
+    1066             :     //}
+    1067             : 
+    1068           0 :     marker.scale.x = 0.05;
+    1069           0 :     marker.scale.y = 0.05;
+    1070           0 :     marker.scale.z = 0.05;
+    1071             : 
+    1072           0 :     marker.color.a = 0.5;
+    1073           0 :     marker.color.r = 0.0;
+    1074           0 :     marker.color.g = 0.0;
+    1075           0 :     marker.color.b = 1.0;
+    1076             : 
+    1077           0 :     marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
+    1078             : 
+    1079           0 :     msg_out.markers.push_back(marker);
+    1080             :   }
+    1081             : 
+    1082             :   //}
+    1083             : 
+    1084           0 :   ph_rviz_marker_.publish(msg_out);
+    1085             : }
+    1086             : 
+    1087             : //}
+    1088             : 
+    1089             : }  // namespace speed_tracker
+    1090             : 
+    1091             : }  // namespace mrs_uav_trackers
+    1092             : 
+    1093             : #include <pluginlib/class_list_macros.h>
+    1094          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trackers::speed_tracker::SpeedTracker, mrs_uav_managers::Tracker)
+
    +
    +
    + + + + +
    Generated by: LCOV version 1.14
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    eth_mav_msgs::quaternionFromYaw(double)2588
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    eth_mav_msgs::yawFromQuaternion(Eigen::Quaternion<double, 0> const&)849
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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         849 : inline double yawFromQuaternion(const Eigen::Quaterniond& q) {
+     131         849 :   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        2588 : inline Eigen::Quaterniond quaternionFromYaw(double yaw) {
+     139        5176 :   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        2588 :   EigenTrajectoryPoint()
+     192        2588 :       : timestamp_ns(-1),
+     193             :         time_from_start_ns(0),
+     194           0 :         position_W(Eigen::Vector3d::Zero()),
+     195           0 :         velocity_W(Eigen::Vector3d::Zero()),
+     196           0 :         acceleration_W(Eigen::Vector3d::Zero()),
+     197           0 :         jerk_W(Eigen::Vector3d::Zero()),
+     198           0 :         snap_W(Eigen::Vector3d::Zero()),
+     199             :         orientation_W_B(Eigen::Quaterniond::Identity()),
+     200           0 :         angular_velocity_W(Eigen::Vector3d::Zero()),
+     201        5176 :         angular_acceleration_W(Eigen::Vector3d::Zero()),
+     202        2588 :         degrees_of_freedom(MavActuation::DOF4) {
+     203        2588 :   }
+     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         849 :   inline double getYaw() const {
+     244         849 :     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        2588 :   inline void setFromYaw(double yaw) {
+     254        2588 :     orientation_W_B = quaternionFromYaw(yaw);
+     255        2588 :   }
+     256        1739 :   inline void setFromYawRate(double yaw_rate) {
+     257        1739 :     angular_velocity_W.x() = 0.0;
+     258        1739 :     angular_velocity_W.y() = 0.0;
+     259        1739 :     angular_velocity_W.z() = yaw_rate;
+     260        1739 :   }
+     261        1739 :   inline void setFromYawAcc(double yaw_acc) {
+     262        1739 :     angular_acceleration_W.x() = 0.0;
+     263        1739 :     angular_acceleration_W.y() = 0.0;
+     264        1739 :     angular_acceleration_W.z() = yaw_acc;
+     265        1739 :   }
+     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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    eth_trajectory_generation::Extremum::operator>(eth_trajectory_generation::Extremum const&) const2970
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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       22538 :   Extremum() : time(0.0), value(0.0), segment_idx(0) {
+      35       22538 :   }
+      36             : 
+      37       13340 :   Extremum(double _time, double _value, int _segment_idx) : time(_time), value(_value), segment_idx(_segment_idx) {
+      38       13340 :   }
+      39             : 
+      40       29650 :   bool operator<(const Extremum& rhs) const {
+      41       29650 :     return value < rhs.value;
+      42             :   }
+      43        2970 :   bool operator>(const Extremum& rhs) const {
+      44        2970 :     return value > rhs.value;
+      45             :   }
+      46             : 
+      47             :   double time;         // Time where the extremum occurs, relative to the segment start.
+      48             :   double value;        // Value of the extremum at time.
+      49             :   int    segment_idx;  // Index of the segment where the extremum occurs.
+      50             : };
+      51             : 
+      52             : inline std::ostream& operator<<(std::ostream& stream, const Extremum& e) {
+      53             :   stream << "time: " << e.time << ", value: " << e.value << ", segment idx: " << e.segment_idx << std::endl;
+      54             :   return stream;
+      55             : }
+      56             : 
+      57             : }  // namespace eth_trajectory_generation
+      58             : 
+      59             : #endif  // ETH_TRAJECTORY_GENERATION_EXTREMUM_H_
+
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    Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/implHitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:31664349.1 %
    Date:2024-02-24 08:13:25Functions:193357.6 %
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    Filename Sort by nameLine Coverage ( show details ) Sort by line coverageFunctions Sort by function coverage
    polynomial_optimization_linear_impl.h +
    79.0%79.0%
    +     		79.0 %169 / 21478.6 %11 / 14
    polynomial_optimization_nonlinear_impl.h +
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    Date:2024-02-24 08:13:25Functions:111478.6 %
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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)16
    eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()16
    eth_trajectory_generation::PolynomialOptimization<10>::PolynomialOptimization(unsigned long)16
    eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1613
    eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()1828
    eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()1828
    eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const1828
    eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)1844
    eth_trajectory_generation::PolynomialOptimization<10>::setupMappingMatrix(double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)18184
    eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)18184
    eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)18184
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    Date:2024-02-24 08:13:25Functions:111478.6 %
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::PolynomialOptimization<10>::solveLinear()1828
    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)16
    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>*)18184
    eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentTimes(std::vector<double, std::allocator<double> > const&)1844
    eth_trajectory_generation::PolynomialOptimization<10>::invertMappingMatrix(Eigen::Matrix<double, 10, 10, 0, 10, 10> const&, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)18184
    eth_trajectory_generation::PolynomialOptimization<10>::computeQuadraticCostJacobian(int, double, Eigen::Matrix<double, 10, 10, 0, 10, 10>*)18184
    eth_trajectory_generation::PolynomialOptimization<10>::setupConstraintReorderingMatrix()16
    eth_trajectory_generation::PolynomialOptimization<10>::updateSegmentsFromCompactConstraints()1828
    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)16
    eth_trajectory_generation::PolynomialOptimization<10>::constructR(Eigen::SparseMatrix<double, 0, int>*) const1828
    eth_trajectory_generation::PolynomialOptimization<10>::computeCost() const1613
    eth_trajectory_generation::PolynomialOptimization<10>::computeMaximumOfMagnitude(int, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const0
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    Current view:top level - mrs_uav_trajectory_generation/include/eth_trajectory_generation/impl - polynomial_optimization_linear_impl.h (source / functions)HitTotalCoverage
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    Date:2024-02-24 08:13:25Functions: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          16 : 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          16 :       n_free_constraints_(0) {
+      53          16 :   fixed_constraints_compact_.resize(dimension_);
+      54          16 :   free_constraints_compact_.resize(dimension_);
+      55          16 : }
+      56             : 
+      57             : //}
+      58             : 
+      59             : /* setupFromVertices() //{ */
+      60             : 
+      61             : template <int _N>
+      62          16 : bool PolynomialOptimization<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& times, int derivative_to_optimize) {
+      63          16 :   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          16 :   derivative_to_optimize_ = derivative_to_optimize;
+      69          16 :   vertices_               = vertices;
+      70          16 :   segment_times_          = times;
+      71             : 
+      72          16 :   n_vertices_ = vertices.size();
+      73          16 :   n_segments_ = n_vertices_ - 1;
+      74             : 
+      75          16 :   segments_.resize(n_segments_, Segment(N, dimension_));
+      76             : 
+      77          16 :   CHECK(n_vertices_ == times.size() + 1) << "Size of times must be one less than positions.";
+      78             : 
+      79          16 :   inverse_mapping_matrices_.resize(n_segments_);
+      80          16 :   cost_matrices_.resize(n_segments_);
+      81             : 
+      82             :   // Iterate through all vertices and remove invalid constraints (order too
+      83             :   // high).
+      84         197 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices_; ++vertex_idx) {
+      85         181 :     Vertex& vertex = vertices_[vertex_idx];
+      86             : 
+      87             :     // Check if we have valid constraints.
+      88         181 :     bool   vertex_valid = true;
+      89         362 :     Vertex vertex_tmp(dimension_);
+      90         438 :     for (Vertex::Constraints::const_iterator it = vertex.cBegin(); it != vertex.cEnd(); ++it) {
+      91         257 :       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         257 :         vertex_tmp.addConstraint(it->first, it->second);
+      97             :       }
+      98             :     }
+      99         181 :     if (!vertex_valid) {
+     100           0 :       vertex = vertex_tmp;
+     101             :     }
+     102             :   }
+     103          16 :   updateSegmentTimes(times);
+     104          16 :   setupConstraintReorderingMatrix();
+     105          16 :   return true;
+     106             : }
+     107             : 
+     108             : //}
+     109             : 
+     110             : /* setupMappingMatrix() //{ */
+     111             : 
+     112             : template <int _N>
+     113       18184 : 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      109104 :   for (int i = 0; i < N / 2; ++i) {
+     118       90920 :     A->row(i)         = Polynomial::baseCoeffsWithTime(N, i, 0.0);
+     119       90920 :     A->row(i + N / 2) = Polynomial::baseCoeffsWithTime(N, i, segment_time);
+     120             :   }
+     121       18184 : }
+     122             : 
+     123             : //}
+     124             : 
+     125             : /* computeCost() //{ */
+     126             : 
+     127             : template <int _N>
+     128        1613 : double PolynomialOptimization<_N>::computeCost() const {
+     129        1613 :   CHECK(n_segments_ == segments_.size() && n_segments_ == cost_matrices_.size());
+     130        1613 :   double cost = 0;
+     131       18053 :   for (size_t segment_idx = 0; segment_idx < n_segments_; ++segment_idx) {
+     132       16440 :     const SquareMatrix& Q       = cost_matrices_[segment_idx];
+     133       16440 :     const Segment&      segment = segments_[segment_idx];
+     134       82200 :     for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     135       65760 :       const Eigen::VectorXd c            = segment[dimension_idx].getCoefficients(derivative_order::POSITION);
+     136       65760 :       const double          partial_cost = c.transpose() * Q * c;
+     137       65760 :       cost += partial_cost;
+     138             :     }
+     139             :   }
+     140        1613 :   return 0.5 * cost;  // cost = 0.5 * c^T * Q * c
+     141             : }
+     142             : 
+     143             : //}
+     144             : 
+     145             : /* invertMappingMatrix() //{ */
+     146             : 
+     147             : template <int _N>
+     148       18184 : 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       18184 :   const int half_n = N / 2;
+     163             : 
+     164             :   // "template" keyword required below as half_n is dependent on the template
+     165             :   // parameter.
+     166       18184 :   const Eigen::Matrix<double, half_n, 1>      A_diag = mapping_matrix.template block<half_n, half_n>(0, 0).diagonal();
+     167       18184 :   const Eigen::Matrix<double, half_n, half_n> A_inv  = A_diag.cwiseInverse().asDiagonal();
+     168             : 
+     169       18184 :   const Eigen::Matrix<double, half_n, half_n> C = mapping_matrix.template block<half_n, half_n>(half_n, 0);
+     170             : 
+     171       18184 :   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       18184 :   inverse_mapping_matrix->template block<half_n, half_n>(0, 0) = A_inv;
+     174       18184 :   inverse_mapping_matrix->template block<half_n, half_n>(0, half_n).setZero();
+     175       18184 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, 0)      = -D_inv * C * A_inv;
+     176       18184 :   inverse_mapping_matrix->template block<half_n, half_n>(half_n, half_n) = D_inv;
+     177       18184 : }
+     178             : 
+     179             : //}
+     180             : 
+     181             : /* setupConstraintReorderingMatrix() //{ */
+     182             : 
+     183             : template <int _N>
+     184          16 : void PolynomialOptimization<_N>::setupConstraintReorderingMatrix() {
+     185             :   typedef Eigen::Triplet<double> Triplet;
+     186          32 :   std::vector<Triplet>           reordering_list;
+     187             : 
+     188          16 :   const size_t n_vertices = vertices_.size();
+     189             : 
+     190          32 :   std::vector<Constraint> all_constraints;
+     191          32 :   std::set<Constraint>    fixed_constraints;
+     192          16 :   std::set<Constraint>    free_constraints;
+     193             : 
+     194          16 :   all_constraints.reserve(n_vertices_ * N / 2);  // Will have exactly this number of elements in the end.
+     195             : 
+     196         197 :   for (size_t vertex_idx = 0; vertex_idx < n_vertices; ++vertex_idx) {
+     197         181 :     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         181 :     int n_constraint_occurence = 2;
+     203         181 :     if (vertex_idx == 0 || vertex_idx == (n_segments_))
+     204          32 :       n_constraint_occurence = 1;
+     205         511 :     for (int co = 0; co < n_constraint_occurence; ++co) {
+     206        1980 :       for (size_t constraint_idx = 0; constraint_idx < N / 2; ++constraint_idx) {
+     207        3300 :         Constraint constraint;
+     208        1650 :         constraint.vertex_idx     = vertex_idx;
+     209        1650 :         constraint.constraint_idx = constraint_idx;
+     210        1650 :         bool has_constraint       = vertex.getConstraint(constraint_idx, &(constraint.value));
+     211        1650 :         if (has_constraint) {
+     212         406 :           all_constraints.push_back(constraint);
+     213         406 :           fixed_constraints.insert(constraint);
+     214             :         } else {
+     215        1244 :           constraint.value = Vertex::ConstraintValue::Constant(dimension_, 0);
+     216        1244 :           all_constraints.push_back(constraint);
+     217        1244 :           free_constraints.insert(constraint);
+     218             :         }
+     219             :       }
+     220             :     }
+     221             :   }
+     222             : 
+     223          16 :   n_all_constraints_   = all_constraints.size();
+     224          16 :   n_fixed_constraints_ = fixed_constraints.size();
+     225          16 :   n_free_constraints_  = free_constraints.size();
+     226             : 
+     227          16 :   reordering_list.reserve(n_all_constraints_);
+     228          16 :   constraint_reordering_ = Eigen::SparseMatrix<double>(n_all_constraints_, n_fixed_constraints_ + n_free_constraints_);
+     229             : 
+     230          80 :   for (Eigen::VectorXd& df : fixed_constraints_compact_)
+     231          64 :     df.resize(n_fixed_constraints_, Eigen::NoChange);
+     232             : 
+     233          16 :   int row = 0;
+     234          16 :   int col = 0;
+     235        1666 :   for (const Constraint& ca : all_constraints) {
+     236       36880 :     for (const Constraint& cf : fixed_constraints) {
+     237       35230 :       if (ca == cf) {
+     238         406 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     239        2030 :         for (size_t d = 0; d < dimension_; ++d) {
+     240        1624 :           Eigen::VectorXd&      df                        = fixed_constraints_compact_[d];
+     241        1624 :           const Eigen::VectorXd constraint_all_dimensions = cf.value;
+     242        1624 :           df[col]                                         = constraint_all_dimensions[d];
+     243             :         }
+     244             :       }
+     245       35230 :       ++col;
+     246             :     }
+     247      102220 :     for (const Constraint& cp : free_constraints) {
+     248      100570 :       if (ca == cp)
+     249        1244 :         reordering_list.emplace_back(Triplet(row, col, 1.0));
+     250      100570 :       ++col;
+     251             :     }
+     252        1650 :     col = 0;
+     253        1650 :     ++row;
+     254             :   }
+     255             : 
+     256          16 :   constraint_reordering_.setFromTriplets(reordering_list.begin(), reordering_list.end());
+     257          16 : }
+     258             : 
+     259             : //}
+     260             : 
+     261             : /* setupConstraintReorderingMatrix() //{ */
+     262             : 
+     263             : template <int _N>
+     264        1828 : void PolynomialOptimization<_N>::updateSegmentsFromCompactConstraints() {
+     265        1828 :   const size_t n_all_constraints = n_fixed_constraints_ + n_free_constraints_;
+     266             : 
+     267        9140 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     268        7312 :     const Eigen::VectorXd& df     = fixed_constraints_compact_[dimension_idx];
+     269        7312 :     const Eigen::VectorXd& dp_opt = free_constraints_compact_[dimension_idx];
+     270             : 
+     271       14624 :     Eigen::VectorXd d_all(n_all_constraints);
+     272        7312 :     d_all << df, dp_opt;
+     273             : 
+     274       79388 :     for (size_t i = 0; i < n_segments_; ++i) {
+     275       72076 :       const Eigen::Matrix<double, N, 1> new_d   = constraint_reordering_.block(i * N, 0, N, n_all_constraints) * d_all;
+     276       72076 :       const Eigen::Matrix<double, N, 1> coeffs  = inverse_mapping_matrices_[i] * new_d;
+     277       72076 :       Segment&                          segment = segments_[i];
+     278       72076 :       segment.setTime(segment_times_[i]);
+     279       72076 :       segment[dimension_idx] = Polynomial(N, coeffs);
+     280             :     }
+     281             :   }
+     282        1828 : }
+     283             : 
+     284             : //}
+     285             : 
+     286             : /* updateSegmentTimes() //{ */
+     287             : 
+     288             : template <int _N>
+     289        1844 : void PolynomialOptimization<_N>::updateSegmentTimes(const std::vector<double>& segment_times) {
+     290        1844 :   const size_t n_segment_times = segment_times.size();
+     291        1844 :   CHECK(n_segment_times == n_segments_) << "Number of segment times (" << n_segment_times << ") does not match number of segments (" << n_segments_ << ")";
+     292             : 
+     293        1844 :   segment_times_ = segment_times;
+     294             : 
+     295       20028 :   for (size_t i = 0; i < n_segments_; i++) {
+     296       18184 :     const double segment_time = segment_times[i];
+     297       18184 :     CHECK_GT(segment_time, 0) << "Segment times need to be greater than zero";
+     298             : 
+     299       18184 :     computeQuadraticCostJacobian(derivative_to_optimize_, segment_time, &cost_matrices_[i]);
+     300       18184 :     SquareMatrix A;
+     301       18184 :     setupMappingMatrix(segment_time, &A);
+     302       18184 :     invertMappingMatrix(A, &inverse_mapping_matrices_[i]);
+     303             :   };
+     304        1844 : }
+     305             : 
+     306             : //}
+     307             : 
+     308             : /* constructR() //{ */
+     309             : 
+     310             : template <int _N>
+     311        1828 : void PolynomialOptimization<_N>::constructR(Eigen::SparseMatrix<double>* R) const {
+     312        1828 :   CHECK_NOTNULL(R);
+     313             :   typedef Eigen::Triplet<double> Triplet;
+     314        3656 :   std::vector<Triplet>           cost_unconstrained_triplets;
+     315        1828 :   cost_unconstrained_triplets.reserve(N * N * n_segments_);
+     316             : 
+     317       19847 :   for (size_t i = 0; i < n_segments_; ++i) {
+     318       18019 :     const SquareMatrix& Ai        = inverse_mapping_matrices_[i];
+     319       18019 :     const SquareMatrix& Q         = cost_matrices_[i];
+     320       18019 :     const SquareMatrix  H         = Ai.transpose() * Q * Ai;
+     321       18019 :     const int           start_pos = i * N;
+     322      198209 :     for (int row = 0; row < N; ++row) {
+     323     1982090 :       for (int col = 0; col < N; ++col) {
+     324     1801900 :         cost_unconstrained_triplets.emplace_back(Triplet(start_pos + row, start_pos + col, H(row, col)));
+     325             :       }
+     326             :     }
+     327             :   }
+     328        1828 :   Eigen::SparseMatrix<double> cost_unconstrained(N * n_segments_, N * n_segments_);
+     329        1828 :   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        1828 :   *R = constraint_reordering_.transpose() * cost_unconstrained * constraint_reordering_;
+     334        1828 : }
+     335             : 
+     336             : //}
+     337             : 
+     338             : /* solveLinear() //{ */
+     339             : 
+     340             : template <int _N>
+     341        1828 : bool PolynomialOptimization<_N>::solveLinear() {
+     342        1828 :   CHECK(derivative_to_optimize_ >= 0 && derivative_to_optimize_ <= kHighestDerivativeToOptimize);
+     343             :   // Catch the fully constrained case:
+     344        1828 :   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        3656 :   Eigen::SparseMatrix<double> R;
+     357        1828 :   constructR(&R);
+     358             : 
+     359             :   // Extract block matrices and prepare solver.
+     360        3656 :   Eigen::SparseMatrix<double> Rpf = R.block(n_fixed_constraints_, 0, n_free_constraints_, n_fixed_constraints_);
+     361        3656 :   Eigen::SparseMatrix<double> Rpp = R.block(n_fixed_constraints_, n_fixed_constraints_, n_free_constraints_, n_free_constraints_);
+     362        1828 :   Eigen::SparseQR<Eigen::SparseMatrix<double>, Eigen::COLAMDOrdering<int>> solver;
+     363        1828 :   solver.compute(Rpp);
+     364             : 
+     365             :   // Compute dp_opt for every dimension.
+     366        9140 :   for (size_t dimension_idx = 0; dimension_idx < dimension_; ++dimension_idx) {
+     367        7312 :     Eigen::VectorXd df                       = -Rpf * fixed_constraints_compact_[dimension_idx];  // Rpf = Rfp^T
+     368        7312 :     free_constraints_compact_[dimension_idx] = solver.solve(df);                                  // dp = -Rpp^-1 * Rpf * df
+     369             :   }
+     370             : 
+     371        1828 :   updateSegmentsFromCompactConstraints();
+     372        1828 :   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       18184 : void PolynomialOptimization<_N>::computeQuadraticCostJacobian(int derivative, double t, SquareMatrix* cost_jacobian) {
+     607       18184 :   CHECK_LT(derivative, N);
+     608             : 
+     609       18184 :   cost_jacobian->setZero();
+     610      163656 :   for (int col = 0; col < N - derivative; col++) {
+     611     1309250 :     for (int row = 0; row < N - derivative; row++) {
+     612     1163780 :       double exponent = (N - 1 - derivative) * 2 + 1 - row - col;
+     613             : 
+     614     1163780 :       (*cost_jacobian)(N - 1 - row, N - 1 - col) =
+     615     1163780 :           Polynomial::base_coefficients_(derivative, N - 1 - row) * Polynomial::base_coefficients_(derivative, N - 1 - col) * pow(t, exponent) * 2.0 / exponent;
+     616             :     }
+     617             :   }
+     618       18184 : }
+     619             : 
+     620             : //}
+     621             : 
+     622             : }  // namespace eth_trajectory_generation
+     623             : 
+     624             : #endif  // eth_trajectory_generation_IMPL_POLYNOMIAL_OPTIMIZATION_LINEAR_IMPL_H_
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    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>::computeTotalTrajectoryTime(std::vector<double, std::allocator<double> > const&)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) const0
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#3}::operator()(double) const0
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#1}::operator()(double) const0
    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)16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimize()16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)192
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)199
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::objectiveFunctionTimeMellingerOuterLoop(std::vector<double, std::allocator<double> > const&, std::vector<double, std::allocator<double> >&, void*)199
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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)16
    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>::computeTotalTrajectoryTime(std::vector<double, std::allocator<double> > const&)0
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::getCostAndGradientMellinger(std::vector<double, std::allocator<double> >*)199
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::addMaximumMagnitudeConstraint(int, int, double)192
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeAndFreeConstraints()0
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::scaleSegmentTimesWithViolation()16
    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*)199
    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()16
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::PolynomialOptimizationNonLinear(unsigned long, eth_trajectory_generation::NonlinearOptimizationParameters const&)16
    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) const0
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#3}::operator()(double) const0
    eth_trajectory_generation::PolynomialOptimizationNonLinear<10>::optimizeTimeMellingerOuterLoop()::{lambda(double)#1}::operator()(double) const0
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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:14742934.3 %
    Date:2024-02-24 08:13:25Functions:81942.1 %
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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          16 : PolynomialOptimizationNonLinear<_N>::PolynomialOptimizationNonLinear(size_t dimension, const NonlinearOptimizationParameters& parameters)
+      48          16 :     : poly_opt_(dimension), optimization_parameters_(parameters) {
+      49          16 : }
+      50             : 
+      51             : template <int _N>
+      52          16 : bool PolynomialOptimizationNonLinear<_N>::setupFromVertices(const Vertex::Vector& vertices, const std::vector<double>& segment_times,
+      53             :                                                             int derivative_to_optimize) {
+      54          16 :   bool ret = poly_opt_.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+      55             : 
+      56             :   size_t n_optimization_parameters;
+      57          16 :   switch (optimization_parameters_.time_alloc_method) {
+      58          16 :     case NonlinearOptimizationParameters::kSquaredTime:
+      59             :     case NonlinearOptimizationParameters::kRichterTime:
+      60             :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+      61          16 :       n_optimization_parameters = segment_times.size();
+      62          16 :       break;
+      63           0 :     default:
+      64           0 :       n_optimization_parameters = segment_times.size() + poly_opt_.getNumberFreeConstraints() * poly_opt_.getDimension();
+      65           0 :       break;
+      66             :   }
+      67             : 
+      68          16 :   nlopt_.reset(new nlopt::opt(optimization_parameters_.algorithm, n_optimization_parameters));
+      69          16 :   nlopt_->set_ftol_rel(optimization_parameters_.f_rel);
+      70          16 :   nlopt_->set_ftol_abs(optimization_parameters_.f_abs);
+      71          16 :   nlopt_->set_xtol_rel(optimization_parameters_.x_rel);
+      72          16 :   nlopt_->set_xtol_abs(optimization_parameters_.x_abs);
+      73          16 :   nlopt_->set_maxeval(optimization_parameters_.max_iterations);
+      74          16 :   nlopt_->set_maxtime(optimization_parameters_.max_time);
+      75             : 
+      76          16 :   if (optimization_parameters_.random_seed < 0)
+      77           0 :     nlopt_srand_time();
+      78             :   else
+      79          16 :     nlopt_srand(optimization_parameters_.random_seed);
+      80             : 
+      81          16 :   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          16 : int PolynomialOptimizationNonLinear<_N>::optimize() {
+      91          16 :   optimization_info_ = OptimizationInfo();
+      92          16 :   int result         = nlopt::FAILURE;
+      93             : 
+      94          16 :   const std::chrono::high_resolution_clock::time_point t_start = std::chrono::high_resolution_clock::now();
+      95             : 
+      96          16 :   switch (optimization_parameters_.time_alloc_method) {
+      97           0 :     case NonlinearOptimizationParameters::kSquaredTime:
+      98             :     case NonlinearOptimizationParameters::kRichterTime:
+      99           0 :       result = optimizeTime();
+     100           0 :       break;
+     101           0 :     case NonlinearOptimizationParameters::kSquaredTimeAndConstraints:
+     102             :     case NonlinearOptimizationParameters::kRichterTimeAndConstraints:
+     103           0 :       result = optimizeTimeAndFreeConstraints();
+     104           0 :       break;
+     105          16 :     case NonlinearOptimizationParameters::kMellingerOuterLoop:
+     106          16 :       result = optimizeTimeMellingerOuterLoop();
+     107          16 :       break;
+     108           0 :     default:
+     109           0 :       break;
+     110             :   }
+     111             : 
+     112          16 :   const std::chrono::high_resolution_clock::time_point t_stop = std::chrono::high_resolution_clock::now();
+     113          16 :   optimization_info_.optimization_time                        = std::chrono::duration_cast<std::chrono::duration<double>>(t_stop - t_start).count();
+     114             : 
+     115          16 :   optimization_info_.stopping_reason = result;
+     116             : 
+     117          16 :   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           0 :     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           0 :     return nlopt::FAILURE;
+     154             :   }
+     155             : 
+     156           0 :   return result;
+     157             : }
+     158             : 
+     159             : template <int _N>
+     160          16 : int PolynomialOptimizationNonLinear<_N>::optimizeTimeMellingerOuterLoop() {
+     161          32 :   std::vector<double> segment_times;
+     162          16 :   poly_opt_.getSegmentTimes(&segment_times);
+     163             : 
+     164             :   // Save original segment times
+     165          32 :   std::vector<double> original_segment_times = segment_times;
+     166             : 
+     167          16 :   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           0 :     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          16 :     nlopt_->set_upper_bounds(std::numeric_limits<double>::max());
+     179          16 :     nlopt_->set_lower_bounds(kOptimizationTimeLowerBound);
+     180          16 :     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           0 :     return nlopt::FAILURE;
+     185             :   }
+     186             : 
+     187          16 :   double final_cost = std::numeric_limits<double>::max();
+     188          16 :   int    result     = nlopt::FAILURE;
+     189             : 
+     190             :   try {
+     191          16 :     result = nlopt_->optimize(segment_times, final_cost);
+     192             :   }
+     193          10 :   catch (std::exception& e) {
+     194           5 :     LOG(ERROR) << "error while running nlopt: " << e.what() << ". This likely means the optimization aborted early." << std::endl;
+     195           5 :     if (final_cost == std::numeric_limits<double>::max()) {
+     196           0 :       return nlopt::FAILURE;
+     197             :     }
+     198             : 
+     199           5 :     if (optimization_parameters_.print_debug_info_time_allocation) {
+     200           0 :       std::cout << "Segment times after opt: ";
+     201           0 :       for (const double seg_time : segment_times) {
+     202           0 :         std::cout << seg_time << " ";
+     203             :       }
+     204           0 :       std::cout << std::endl;
+     205           0 :       std::cout << "Final cost: " << final_cost << std::endl;
+     206           0 :       std::cout << "Nlopt result: " << result << std::endl;
+     207             :     }
+     208             :   }
+     209             : 
+     210             :   // Scaling of segment times
+     211          32 :   std::vector<double> relative_segment_times;
+     212          16 :   poly_opt_.getSegmentTimes(&relative_segment_times);
+     213          16 :   scaleSegmentTimesWithViolation();
+     214          16 :   std::vector<double> scaled_segment_times;
+     215          16 :   poly_opt_.getSegmentTimes(&scaled_segment_times);
+     216             : 
+     217             :   // Print all parameter after scaling
+     218          16 :   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          16 :   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         199 : double PolynomialOptimizationNonLinear<_N>::getCostAndGradientMellinger(std::vector<double>* gradients) {
+     258             :   // Weighting terms for different costs
+     259             :   // Retrieve the current segment times
+     260         398 :   std::vector<double> segment_times;
+     261         199 :   poly_opt_.getSegmentTimes(&segment_times);
+     262         199 :   const double J_d = poly_opt_.computeCost();
+     263             : 
+     264         199 :   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         199 :   if (gradients != NULL) {
+     274         199 :     const size_t n_segments = poly_opt_.getNumberSegments();
+     275             : 
+     276         199 :     gradients->clear();
+     277         199 :     gradients->resize(n_segments);
+     278             : 
+     279             :     // Initialize changed segment times for numerical derivative
+     280         398 :     std::vector<double> segment_times_bigger(n_segments);
+     281         199 :     const double        increment_time = 0.1;
+     282        1613 :     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        1414 :       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        1414 :       double const_traj_time_corr = increment_time / (n_segments - 1.0);
+     289       16440 :       for (size_t i = 0; i < segment_times_bigger.size(); ++i) {
+     290       15026 :         if (i == n) {
+     291        1414 :           segment_times_bigger[i] += increment_time;
+     292             :         } else {
+     293       13612 :           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       16440 :       for (double& t : segment_times_bigger) {
+     310       15026 :         t = std::max(kOptimizationTimeLowerBound, t);
+     311             :       }
+     312             : 
+     313             :       // Update the segment times. This changes the polynomial coefficients.
+     314        1414 :       poly_opt_.updateSegmentTimes(segment_times_bigger);
+     315        1414 :       poly_opt_.solveLinear();
+     316             : 
+     317             :       // Calculate cost and gradient with new segment time
+     318        1414 :       const double J_d_bigger = poly_opt_.computeCost();
+     319        1414 :       const double dJd_dt     = (J_d_bigger - J_d) / increment_time;
+     320             : 
+     321             :       // Calculate the gradient
+     322        1414 :       gradients->at(n) = dJd_dt;
+     323             :     }
+     324             : 
+     325             :     // Set again the original segment times from before calculating the
+     326             :     // numerical gradient
+     327         199 :     poly_opt_.updateSegmentTimes(segment_times);
+     328         199 :     poly_opt_.solveLinear();
+     329             :   }
+     330             : 
+     331             :   // Compute cost without gradient
+     332         199 :   return J_d;
+     333             : }
+     334             : 
+     335             : template <int _N>
+     336          16 : void PolynomialOptimizationNonLinear<_N>::scaleSegmentTimesWithViolation() {
+     337             : 
+     338             :   // Get trajectory
+     339          32 :   Trajectory traj;
+     340          16 :   poly_opt_.getTrajectory(&traj);
+     341             : 
+     342             :   // get constraints
+     343          16 :   double v_max_horizontal = 0.0;
+     344          16 :   double a_max_horizontal = 0.0;
+     345          16 :   double j_max_horizontal = 0.0;
+     346             : 
+     347          16 :   double v_max_vertical = 0.0;
+     348          16 :   double a_max_vertical = 0.0;
+     349          16 :   double j_max_vertical = 0.0;
+     350             : 
+     351          16 :   double v_max_heading = 0.0;
+     352          16 :   double a_max_heading = 0.0;
+     353          16 :   double j_max_heading = 0.0;
+     354             : 
+     355         208 :   for (const auto& constraint : inequality_constraints_) {
+     356         192 :     if (constraint->dimension <= 1) {
+     357          96 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     358          32 :         v_max_horizontal = constraint->value;
+     359          64 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     360          32 :         a_max_horizontal = constraint->value;
+     361          32 :       } else if (constraint->derivative == derivative_order::JERK) {
+     362          32 :         j_max_horizontal = constraint->value;
+     363             :       }
+     364          96 :     } else if (constraint->dimension == 2) {
+     365          48 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     366          16 :         v_max_vertical = constraint->value;
+     367          32 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     368          16 :         a_max_vertical = constraint->value;
+     369          16 :       } else if (constraint->derivative == derivative_order::JERK) {
+     370          16 :         j_max_vertical = constraint->value;
+     371             :       }
+     372          48 :     } else if (constraint->dimension == 3) {
+     373          48 :       if (constraint->derivative == derivative_order::VELOCITY) {
+     374          16 :         v_max_heading = constraint->value;
+     375          32 :       } else if (constraint->derivative == derivative_order::ACCELERATION) {
+     376          16 :         a_max_heading = constraint->value;
+     377          16 :       } else if (constraint->derivative == derivative_order::JERK) {
+     378          16 :         j_max_heading = constraint->value;
+     379             :       }
+     380             :     }
+     381             :   }
+     382             : 
+     383          16 :   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          16 :   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          32 :   std::vector<double> segment_times;
+     406          16 :   segment_times = traj.getSegmentTimes();
+     407          16 :   poly_opt_.updateSegmentTimes(segment_times);
+     408          16 :   poly_opt_.solveLinear();
+     409             : 
+     410          16 :   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          16 : }
+     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           0 :     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           0 :     return nlopt::FAILURE;
+     533             :   }
+     534             : 
+     535           0 :   return result;
+     536             : }
+     537             : 
+     538             : template <int _N>
+     539         192 : bool PolynomialOptimizationNonLinear<_N>::addMaximumMagnitudeConstraint(int dimension, int derivative, double maximum_value) {
+     540             : 
+     541         192 :   CHECK_GE(derivative, 0);
+     542         192 :   CHECK_GE(maximum_value, 0.0);
+     543             : 
+     544         384 :   std::shared_ptr<ConstraintData> constraint_data(new ConstraintData);
+     545         192 :   constraint_data->dimension   = dimension;
+     546         192 :   constraint_data->derivative  = derivative;
+     547         192 :   constraint_data->value       = maximum_value;
+     548         192 :   constraint_data->this_object = this;
+     549             : 
+     550             :   // Store the shared_ptrs such that their data will be destroyed later.
+     551         192 :   inequality_constraints_.push_back(constraint_data);
+     552             : 
+     553         192 :   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           0 :       return false;
+     561             :     }
+     562             :   }
+     563             : 
+     564         192 :   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         199 : double PolynomialOptimizationNonLinear<_N>::objectiveFunctionTimeMellingerOuterLoop(const std::vector<double>& segment_times, std::vector<double>& gradient,
+     618             :                                                                                     void* data) {
+     619         199 :   CHECK(!gradient.empty()) << "only with gradients possible, choose a gradient based method";
+     620         199 :   CHECK_NOTNULL(data);
+     621             : 
+     622         199 :   PolynomialOptimizationNonLinear<N>* optimization_data = static_cast<PolynomialOptimizationNonLinear<N>*>(data);  // wheee ...
+     623             : 
+     624         199 :   CHECK_EQ(segment_times.size(), optimization_data->poly_opt_.getNumberSegments());
+     625             : 
+     626         199 :   optimization_data->poly_opt_.updateSegmentTimes(segment_times);
+     627         199 :   optimization_data->poly_opt_.solveLinear();
+     628             :   double cost_trajectory;
+     629         199 :   if (!gradient.empty()) {
+     630         199 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(&gradient);
+     631             :   } else {
+     632           0 :     cost_trajectory = optimization_data->getCostAndGradientMellinger(NULL);
+     633             :   }
+     634             : 
+     635         199 :   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         199 :   optimization_data->optimization_info_.n_iterations++;
+     646         199 :   optimization_data->optimization_info_.cost_trajectory = cost_trajectory;
+     647             : 
+     648         199 :   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           0 :   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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    Test:MRS UAV System - Test coverage reportLines:444989.8 %
    Date:2024-02-24 08:13:25Functions:81080.0 %
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::Polynomial::operator==(eth_trajectory_generation::Polynomial const&) const0
    eth_trajectory_generation::Polynomial::operator!=(eth_trajectory_generation::Polynomial const&) const0
    eth_trajectory_generation::Polynomial::Polynomial(int)16
    eth_trajectory_generation::Polynomial::Polynomial(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)990
    eth_trajectory_generation::Polynomial::getConvolutionLength(int, int)2970
    eth_trajectory_generation::Polynomial::evaluate(double, int) const53102
    eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)72076
    eth_trajectory_generation::Polynomial::getCoefficients(int) const72690
    eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)181840
    eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)181840
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double)181840
    eth_trajectory_generation::Polynomial::baseCoeffsWithTime(int, int, double, Eigen::Matrix<double, -1, 1, 0, -1, 1>*)181840
    eth_trajectory_generation::Polynomial::getConvolutionLength(int, int)2970
    eth_trajectory_generation::Polynomial::Polynomial(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)990
    eth_trajectory_generation::Polynomial::Polynomial(int)16
    eth_trajectory_generation::Polynomial::Polynomial(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)72076
    eth_trajectory_generation::Polynomial::getCoefficients(int) const72690
    eth_trajectory_generation::Polynomial::evaluate(double, int) const53102
    eth_trajectory_generation::Polynomial::operator==(eth_trajectory_generation::Polynomial const&) const0
    eth_trajectory_generation::Polynomial::operator!=(eth_trajectory_generation::Polynomial const&) const0
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    Date:2024-02-24 08:13:25Functions:81080.0 %
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    +
              Line data    Source code
    +
    +       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #ifndef ETH_TRAJECTORY_GENERATION_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             : 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          16 :   Polynomial(int N) : N_(N), coefficients_(N) {
+      54          16 :     coefficients_.setZero();
+      55          16 :   }
+      56             : 
+      57             :   // Assigns arbitrary coefficients to a polynomial.
+      58       72076 :   Polynomial(int N, const Eigen::VectorXd& coeffs) : N_(N), coefficients_(coeffs) {
+      59       72076 :     CHECK_EQ(N_, coeffs.size()) << "Number of coefficients has to match.";
+      60       72076 :   }
+      61             : 
+      62         990 :   Polynomial(const Eigen::VectorXd& coeffs) : N_(coeffs.size()), coefficients_(coeffs) {
+      63         990 :   }
+      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       72690 :   Eigen::VectorXd getCoefficients(int derivative = 0) const {
+     109       72690 :     CHECK_LE(derivative, N_);
+     110       72690 :     if (derivative == 0) {
+     111       66750 :       return coefficients_;
+     112             :     } else {
+     113       11880 :       Eigen::VectorXd result(N_);
+     114        5940 :       result.setZero();
+     115        5940 :       result.head(N_ - derivative) =
+     116       11880 :           coefficients_.tail(N_ - derivative).cwiseProduct(base_coefficients_.block(derivative, derivative, 1, N_ - derivative).transpose());
+     117        5940 :       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       53102 :   double evaluate(double t, int derivative) const {
+     151       53102 :     if (derivative >= N_) {
+     152           0 :       return 0.0;
+     153             :     }
+     154             :     double             result;
+     155       53102 :     const int          tmp = N_ - 1;
+     156       53102 :     Eigen::RowVectorXd row = base_coefficients_.block(derivative, 0, 1, N_);
+     157       53102 :     result                 = row[tmp] * coefficients_[tmp];
+     158      419700 :     for (int j = tmp - 1; j >= derivative; --j) {
+     159      366598 :       result *= t;
+     160      366598 :       result += row[j] * coefficients_[j];
+     161             :     }
+     162       53102 :     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      181840 :   static void baseCoeffsWithTime(int N, int derivative, double t, Eigen::VectorXd* coeffs) {
+     209      181840 :     CHECK_LT(derivative, N);
+     210      181840 :     CHECK_GE(derivative, 0);
+     211             : 
+     212      181840 :     coeffs->resize(N, 1);
+     213      181840 :     coeffs->setZero();
+     214             :     // first coefficient doesn't get multiplied
+     215      181840 :     (*coeffs)[derivative] = base_coefficients_(derivative, derivative);
+     216             : 
+     217      181840 :     if (std::abs(t) < std::numeric_limits<double>::epsilon())
+     218       90920 :       return;
+     219             : 
+     220       90920 :     double t_power = t;
+     221             :     // now multiply increasing power of t towards the right
+     222      727360 :     for (int j = derivative + 1; j < N; j++) {
+     223      636440 :       (*coeffs)[j] = base_coefficients_(derivative, j) * t_power;
+     224      636440 :       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      181840 :   static Eigen::VectorXd baseCoeffsWithTime(int N, int derivative, double t) {
+     234      181840 :     Eigen::VectorXd c(N);
+     235      181840 :     baseCoeffsWithTime(N, derivative, t, &c);
+     236      181840 :     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        2970 :   static inline int getConvolutionLength(int data_size, int kernel_size) {
+     244        2970 :     return data_size + kernel_size - 1;
+     245             :   }
+     246             : 
+     247             :   // Scales the polynomial in time with a scaling factor.
+     248             :   // To stretch out by a factor of 10, pass scaling_factor (b) = 1/10. To shrink
+     249             :   // by a factor of 10, pass scalign factor = 10.
+     250             :   // p_out = a12*b^12*t^12 + a11*b^11*t^11... etc.
+     251             :   void scalePolynomialInTime(double scaling_factor);
+     252             : 
+     253             :   // Offset this polynomial.
+     254             :   void offsetPolynomial(const double offset);
+     255             : 
+     256             : private:
+     257             :   int             N_;
+     258             :   Eigen::VectorXd coefficients_;
+     259             : };
+     260             : 
+     261             : // Static functions to compute base coefficients.
+     262             : 
+     263             : // Computes the base coefficients of the derivatives of the polynomial,
+     264             : // up to order N.
+     265             : Eigen::MatrixXd computeBaseCoefficients(int N);
+     266             : 
+     267             : }  // namespace eth_trajectory_generation
+     268             : 
+     269             : #endif  // ETH_TRAJECTORY_GENERATION_POLYNOMIAL_H_
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    eth_trajectory_generation::PolynomialOptimization<10>::getVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
    eth_trajectory_generation::PolynomialOptimization<10>::getDimension() const0
    eth_trajectory_generation::PolynomialOptimization<10>::getFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >*) const0
    eth_trajectory_generation::PolynomialOptimization<10>::getDerivativeToOptimize() const0
    eth_trajectory_generation::PolynomialOptimization<10>::getNumberFreeConstraints() const0
    eth_trajectory_generation::PolynomialOptimization<10>::getSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> >*) const11
    eth_trajectory_generation::PolynomialOptimization<10>::getTrajectory(eth_trajectory_generation::Trajectory*) const27
    eth_trajectory_generation::PolynomialOptimization<10>::getSegmentTimes(std::vector<double, std::allocator<double> >*) const247
    eth_trajectory_generation::PolynomialOptimization<10>::getNumberSegments() const597
    eth_trajectory_generation::Constraint::operator<(eth_trajectory_generation::Constraint const&) const12464
    eth_trajectory_generation::Constraint::operator==(eth_trajectory_generation::Constraint const&) const135800
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    eth_trajectory_generation::Constraint::operator==(eth_trajectory_generation::Constraint const&) const135800
    eth_trajectory_generation::Constraint::operator<(eth_trajectory_generation::Constraint const&) const12464
    eth_trajectory_generation::PolynomialOptimization<10>::getSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> >*) const11
    eth_trajectory_generation::PolynomialOptimization<10>::getVertices(std::vector<eth_trajectory_generation::Vertex, std::allocator<eth_trajectory_generation::Vertex> >*) const0
    eth_trajectory_generation::PolynomialOptimization<10>::getDimension() const0
    eth_trajectory_generation::PolynomialOptimization<10>::getTrajectory(eth_trajectory_generation::Trajectory*) const27
    eth_trajectory_generation::PolynomialOptimization<10>::getSegmentTimes(std::vector<double, std::allocator<double> >*) const247
    eth_trajectory_generation::PolynomialOptimization<10>::getNumberSegments() const597
    eth_trajectory_generation::PolynomialOptimization<10>::getFreeConstraints(std::vector<Eigen::Matrix<double, -1, 1, 0, -1, 1>, std::allocator<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >*) const0
    eth_trajectory_generation::PolynomialOptimization<10>::getDerivativeToOptimize() const0
    eth_trajectory_generation::PolynomialOptimization<10>::getNumberFreeConstraints() const0
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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          27 :   void getTrajectory(Trajectory* trajectory) const {
+     113          27 :     CHECK_NOTNULL(trajectory);
+     114          27 :     trajectory->setSegments(segments_);
+     115          27 :   }
+     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          11 :   void getSegments(Segment::Vector* segments) const {
+     178          11 :     CHECK_NOTNULL(segments);
+     179          11 :     *segments = segments_;
+     180          11 :   }
+     181             : 
+     182         247 :   void getSegmentTimes(std::vector<double>* segment_times) const {
+     183         247 :     CHECK(segment_times != nullptr);
+     184         247 :     *segment_times = segment_times_;
+     185         247 :   }
+     186             : 
+     187           0 :   void getFreeConstraints(std::vector<Eigen::VectorXd>* free_constraints) const {
+     188           0 :     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           0 :     return dimension_;
+     208             :   }
+     209         597 :   size_t getNumberSegments() const {
+     210         597 :     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           0 :     return n_free_constraints_;
+     220             :   }
+     221           0 :   int getDerivativeToOptimize() const {
+     222           0 :     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             : struct Constraint
+     290             : {
+     291       12464 :   inline bool operator<(const Constraint& rhs) const {
+     292       12464 :     if (vertex_idx < rhs.vertex_idx)
+     293         330 :       return true;
+     294       12134 :     if (rhs.vertex_idx < vertex_idx)
+     295        7374 :       return false;
+     296             : 
+     297        4760 :     if (constraint_idx < rhs.constraint_idx)
+     298        1125 :       return true;
+     299        3635 :     if (rhs.constraint_idx < constraint_idx)
+     300        2145 :       return false;
+     301        1490 :     return false;
+     302             :   }
+     303             : 
+     304      135800 :   inline bool operator==(const Constraint& rhs) const {
+     305      135800 :     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             : 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          11 :   void getTrajectory(Trajectory* trajectory) const {
+     182          11 :     poly_opt_.getTrajectory(trajectory);
+     183          11 :   }
+     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          11 :   PolynomialOptimization<N>& getPolynomialOptimizationRef() {
+     194          11 :     return poly_opt_;
+     195             :   }
+     196             : 
+     197          33 :   OptimizationInfo getOptimizationInfo() const {
+     198          33 :     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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    eth_trajectory_generation::Segment::Segment(int, int)16
    eth_trajectory_generation::Segment::N() const290
    eth_trajectory_generation::Segment::Segment(eth_trajectory_generation::Segment const&)526
    eth_trajectory_generation::Segment::D() const1115
    eth_trajectory_generation::Segment::getTime() const16208
    eth_trajectory_generation::Segment::setTime(double)72241
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    eth_trajectory_generation::Segment::Segment(eth_trajectory_generation::Segment const&)526
    eth_trajectory_generation::Segment::Segment(int, int)16
    eth_trajectory_generation::Segment::D() const1115
    eth_trajectory_generation::Segment::N() const290
    eth_trajectory_generation::Segment::getTime() const16208
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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             : class Segment {
+      45             : public:
+      46             :   typedef std::vector<Segment> Vector;
+      47             : 
+      48          16 :   Segment(int N, int D) : time_(0.0), N_(N), D_(D) {
+      49          16 :     polynomials_.resize(D_, Polynomial(N_));
+      50          16 :   }
+      51         526 :   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        1115 :   int D() const {
+      59        1115 :     return D_;
+      60             :   }
+      61         290 :   int N() const {
+      62         290 :     return N_;
+      63             :   }
+      64       16208 :   double getTime() const {
+      65       16208 :     return time_;
+      66             :   }
+      67             :   uint64_t getTimeNSec() const {
+      68             :     return static_cast<uint64_t>(kNumNSecPerSec * time_);
+      69             :   }
+      70             : 
+      71       72241 :   void setTime(double time_sec) {
+      72       72241 :     time_ = time_sec;
+      73       72241 :   }
+      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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    Test:MRS UAV System - Test coverage reportLines:0390.0 %
    Date:2024-02-24 08:13:25Functions:0100.0 %
    Legend: Lines: + hit + not hit +
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Add(double)0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Accumulator()0
    eth_trajectory_generation::timing::TimerMapValue::TimerMapValue()0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::RollingMean() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::LazyVariance() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::TotalSamples() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Max() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Min() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Sum() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Mean() const0
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    Generated by: LCOV version 1.14
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    + + + diff --git a/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.func.html b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.func.html new file mode 100644 index 0000000000..273eedbde5 --- /dev/null +++ b/mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h.func.html @@ -0,0 +1,120 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/include/eth_trajectory_generation/timing.h - functions + + + + + + + + + + + + + + +
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    Test:MRS UAV System - Test coverage reportLines:0390.0 %
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    Legend: Lines: + hit + not hit +
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Add(double)0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Accumulator()0
    eth_trajectory_generation::timing::TimerMapValue::TimerMapValue()0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::RollingMean() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::LazyVariance() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::TotalSamples() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Max() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Min() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Sum() const0
    eth_trajectory_generation::timing::Accumulator<double, double, 50>::Mean() const0
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    Test:MRS UAV System - Test coverage reportLines:0390.0 %
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    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           0 :   }
+      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           0 :     return total_samples_;
+      65             :   }
+      66             : 
+      67           0 :   double Sum() const {
+      68           0 :     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           0 :     return max_;
+      81             :   }
+      82             : 
+      83           0 :   double Min() const {
+      84           0 :     return min_;
+      85             :   }
+      86             : 
+      87           0 :   double LazyVariance() const {
+      88           0 :     if (window_samples_ == 0) {
+      89           0 :       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           0 :   }
+     114             : 
+     115             :   // Create an accumulator with specified window size.
+     116             :   Accumulator<double, double, 50> acc_;
+     117             : };
+     118             : 
+     119             : // A class that has the timer interface but does nothing. Swapping this in in
+     120             : // place of the Timer class (say with a typedef) should allow one to disable
+     121             : // timing. Because all of the functions are inline, they should just disappear.
+     122             : class DummyTimer {
+     123             : public:
+     124             :   DummyTimer(size_t /*handle*/, bool /*constructStopped*/ = false) {
+     125             :   }
+     126             :   DummyTimer(std::string const& /*tag*/, bool /*constructStopped*/ = false) {
+     127             :   }
+     128             :   ~DummyTimer() {
+     129             :   }
+     130             : 
+     131             :   void Start() {
+     132             :   }
+     133             :   void Stop() {
+     134             :   }
+     135             :   bool IsTiming() {
+     136             :     return false;
+     137             :   }
+     138             : };
+     139             : 
+     140             : class Timer {
+     141             : public:
+     142             :   Timer(size_t handle, bool constructStopped = false);
+     143             :   Timer(std::string const& tag, bool constructStopped = false);
+     144             :   ~Timer();
+     145             : 
+     146             :   void Start();
+     147             :   void Stop();
+     148             :   bool IsTiming() const;
+     149             : 
+     150             : private:
+     151             :   std::chrono::time_point<std::chrono::system_clock> time_;
+     152             : 
+     153             :   bool   timing_;
+     154             :   size_t handle_;
+     155             : };
+     156             : 
+     157             : class Timing {
+     158             : public:
+     159             :   typedef std::map<std::string, size_t> map_t;
+     160             :   friend class Timer;
+     161             :   // Definition of static functions to query the timers.
+     162             :   static size_t       GetHandle(std::string const& tag);
+     163             :   static std::string  GetTag(size_t handle);
+     164             :   static double       GetTotalSeconds(size_t handle);
+     165             :   static double       GetTotalSeconds(std::string const& tag);
+     166             :   static double       GetMeanSeconds(size_t handle);
+     167             :   static double       GetMeanSeconds(std::string const& tag);
+     168             :   static size_t       GetNumSamples(size_t handle);
+     169             :   static size_t       GetNumSamples(std::string const& tag);
+     170             :   static double       GetVarianceSeconds(size_t handle);
+     171             :   static double       GetVarianceSeconds(std::string const& tag);
+     172             :   static double       GetMinSeconds(size_t handle);
+     173             :   static double       GetMinSeconds(std::string const& tag);
+     174             :   static double       GetMaxSeconds(size_t handle);
+     175             :   static double       GetMaxSeconds(std::string const& tag);
+     176             :   static double       GetHz(size_t handle);
+     177             :   static double       GetHz(std::string const& tag);
+     178             :   static void         Print(std::ostream& out);
+     179             :   static std::string  Print();
+     180             :   static std::string  SecondsToTimeString(double seconds);
+     181             :   static void         Reset();
+     182             :   static const map_t& GetTimers() {
+     183             :     return Instance().tag_map_;
+     184             :   }
+     185             : 
+     186             : private:
+     187             :   void AddTime(size_t handle, double seconds);
+     188             : 
+     189             :   static Timing& Instance();
+     190             : 
+     191             :   Timing();
+     192             :   ~Timing();
+     193             : 
+     194             :   typedef std::vector<TimerMapValue> list_t;
+     195             : 
+     196             :   list_t timers_;
+     197             :   map_t  tag_map_;
+     198             :   size_t max_tag_length_;
+     199             : };
+     200             : 
+     201             : #if DISABLE_TIMING
+     202             : typedef DummyTimer DebugTimer;
+     203             : #else
+     204             : typedef Timer DebugTimer;
+     205             : #endif
+     206             : 
+     207             : // Small timer for benchmarking.
+     208             : class MiniTimer {
+     209             : public:
+     210             :   MiniTimer() : start_(std::chrono::system_clock::now()) {
+     211             :   }
+     212             : 
+     213             :   void start() {
+     214             :     start_ = std::chrono::system_clock::now();
+     215             :   }
+     216             : 
+     217             :   double stop() {
+     218             :     end_ = std::chrono::system_clock::now();
+     219             :     return getTime();
+     220             :   }
+     221             : 
+     222             :   double getTime() const {
+     223             :     if (end_ < start_) {
+     224             :       return 0.0;
+     225             :     }
+     226             :     std::chrono::duration<double> duration = end_ - start_;
+     227             :     return duration.count();
+     228             :   }
+     229             : 
+     230             : private:
+     231             :   std::chrono::time_point<std::chrono::system_clock> start_;
+     232             :   std::chrono::time_point<std::chrono::system_clock> end_;
+     233             : };
+     234             : 
+     235             : }  // namespace timing
+     236             : }  // namespace eth_trajectory_generation
+     237             : 
+     238             : #endif  // ETH_TRAJECTORY_GENERATION_TIMING_H_
+
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::Trajectory::clear()0
    eth_trajectory_generation::Trajectory::getSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> >*) const0
    eth_trajectory_generation::Trajectory::K() const0
    eth_trajectory_generation::Trajectory::N() const0
    eth_trajectory_generation::Trajectory::segments() const0
    eth_trajectory_generation::Trajectory::getMaxTime() const22
    eth_trajectory_generation::Trajectory::getMinTime() const22
    eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)27
    eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)27
    eth_trajectory_generation::Trajectory::Trajectory()27
    eth_trajectory_generation::Trajectory::~Trajectory()27
    eth_trajectory_generation::Trajectory::D() const1750
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    eth_trajectory_generation::Trajectory::addSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)27
    eth_trajectory_generation::Trajectory::setSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)27
    eth_trajectory_generation::Trajectory::clear()0
    eth_trajectory_generation::Trajectory::Trajectory()27
    eth_trajectory_generation::Trajectory::~Trajectory()27
    eth_trajectory_generation::Trajectory::getMaxTime() const22
    eth_trajectory_generation::Trajectory::getMinTime() const22
    eth_trajectory_generation::Trajectory::getSegments(std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> >*) const0
    eth_trajectory_generation::Trajectory::D() const1750
    eth_trajectory_generation::Trajectory::K() const0
    eth_trajectory_generation::Trajectory::N() const0
    eth_trajectory_generation::Trajectory::segments() const0
    +
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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             : class Trajectory {
+      34             : public:
+      35          27 :   Trajectory() : D_(0), N_(0), max_time_(0.0) {
+      36          27 :   }
+      37          27 :   ~Trajectory() {
+      38          27 :   }
+      39             : 
+      40             :   bool        operator==(const Trajectory& rhs) const;
+      41             :   inline bool operator!=(const Trajectory& rhs) const {
+      42             :     return !operator==(rhs);
+      43             :   }
+      44             : 
+      45        1750 :   int D() const {
+      46        1750 :     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          27 :   void setSegments(const Segment::Vector& segments) {
+      66          27 :     CHECK(!segments.empty());
+      67             :     // Reset states.
+      68          27 :     D_        = segments.front().D();
+      69          27 :     N_        = segments.front().N();
+      70          27 :     max_time_ = 0.0;
+      71          27 :     segments_.clear();
+      72             : 
+      73          27 :     addSegments(segments);
+      74          27 :   }
+      75             : 
+      76          27 :   void addSegments(const Segment::Vector& segments) {
+      77         290 :     for (const Segment& segment : segments) {
+      78         263 :       CHECK_EQ(segment.D(), D_);
+      79         263 :       CHECK_EQ(segment.N(), N_);
+      80         263 :       max_time_ += segment.getTime();
+      81             :     }
+      82          27 :     segments_.insert(segments_.end(), segments.begin(), segments.end());
+      83          27 :   }
+      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          22 :   double getMinTime() const {
+      95          22 :     return 0.0;
+      96             :   }
+      97          22 :   double getMaxTime() const {
+      98          22 :     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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    eth_trajectory_generation::Vertex::D() const0
    eth_trajectory_generation::Vertex::cBegin() const181
    eth_trajectory_generation::Vertex::Vertex(unsigned long)390
    eth_trajectory_generation::Vertex::cEnd() const438
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    eth_trajectory_generation::Vertex::D() const0
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    eth_trajectory_generation::Vertex::cBegin() const181
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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             : 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         390 :   Vertex(size_t dimension) : D_(dimension) {
+      52         390 :   }
+      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         181 :   typename Constraints::const_iterator cBegin() const {
+      93         181 :     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         438 :   typename Constraints::const_iterator cEnd() const {
+      99         438 :     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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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
    eth_trajectory_generation::orientationDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
    eth_trajectory_generation::positionDerivativeToString[abi:cxx11](int)0
    eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
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    Generated by: LCOV version 1.14
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    eth_trajectory_generation::positionDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
    eth_trajectory_generation::orientationDerivativeToInt(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)0
    eth_trajectory_generation::positionDerivativeToString[abi:cxx11](int)0
    eth_trajectory_generation::orintationDerivativeToString[abi:cxx11](int)0
    +
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    Generated by: LCOV version 1.14
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              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             :     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             :   using namespace derivative_order;
+      43           0 :   if (string == "position") {
+      44           0 :     return POSITION;
+      45           0 :   } else if (string == "velocity") {
+      46           0 :     return VELOCITY;
+      47           0 :   } else if (string == "acceleration") {
+      48           0 :     return ACCELERATION;
+      49           0 :   } else if (string == "jerk") {
+      50           0 :     return JERK;
+      51           0 :   } else if (string == "snap") {
+      52           0 :     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             :     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             :   using namespace derivative_order;
+      77           0 :   if (string == "orientation") {
+      78           0 :     return ORIENTATION;
+      79           0 :   } else if (string == "angular_velocity") {
+      80           0 :     return ANGULAR_VELOCITY;
+      81           0 :   } else if (string == "angular_acceleration") {
+      82           0 :     return ANGULAR_ACCELERATION;
+      83             :   } else {
+      84           0 :     return INVALID;
+      85             :   }
+      86             : }
+      87             : 
+      88             : //}
+      89             : 
+      90             : }  // namespace eth_trajectory_generation
+
    +
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    Generated by: LCOV version 1.14
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    + + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/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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    Test:MRS UAV System - Test coverage reportLines:5410949.5 %
    Date:2024-02-24 08:13:25Functions: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)81
    eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)660
    eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)1980
    eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)2970
    eth_trajectory_generation::Polynomial::computeMinMaxCandidates(double, double, int, std::vector<double, std::allocator<double> >*) const2970
    eth_trajectory_generation::Polynomial::getRoots(int, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*) const2970
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    eth_trajectory_generation::Polynomial::offsetPolynomial(double)0
    eth_trajectory_generation::Polynomial::scalePolynomialInTime(double)660
    eth_trajectory_generation::Polynomial::selectMinMaxCandidatesFromRoots(double, double, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1> const&, std::vector<double, std::allocator<double> >*)2970
    eth_trajectory_generation::Polynomial::convolve(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)1980
    eth_trajectory_generation::computeBaseCoefficients(int)81
    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> >*) const2970
    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>*) const2970
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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        2970 : bool Polynomial::getRoots(int derivative, Eigen::VectorXcd* roots) const {
+      31        2970 :   return findRootsJenkinsTraub(getCoefficients(derivative), roots);
+      32             : }
+      33             : 
+      34             : /* selectMinMaxCandidatesFromRoots() //{ */
+      35             : 
+      36        2970 : bool Polynomial::selectMinMaxCandidatesFromRoots(double t_start, double t_end, const Eigen::VectorXcd& roots_derivative_of_derivative,
+      37             :                                                  std::vector<double>* candidates) {
+      38        2970 :   CHECK_NOTNULL(candidates);
+      39        2970 :   if (t_start > t_end) {
+      40           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+      41           0 :     return false;
+      42             :   }
+      43        2970 :   candidates->clear();
+      44        2970 :   candidates->reserve(roots_derivative_of_derivative.size() + 2);
+      45             :   // Put start and end in, as they are valid candidates.
+      46        2970 :   candidates->push_back(t_start);
+      47        2970 :   candidates->push_back(t_end);
+      48       27072 :   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       24102 :     if (std::abs(roots_derivative_of_derivative[i].imag()) > std::numeric_limits<double>::epsilon()) {
+      51       16702 :       continue;
+      52             :     }
+      53       11362 :     const double candidate = roots_derivative_of_derivative[i].real();
+      54             : 
+      55             :     // Do not evaluate points outside the domain.
+      56       11362 :     if (candidate < t_start || candidate > t_end) {
+      57        3962 :       continue;
+      58             :     } else {
+      59        7400 :       candidates->push_back(candidate);
+      60             :     }
+      61             :   }
+      62        2970 :   return true;
+      63             : }
+      64             : 
+      65             : //}
+      66             : 
+      67             : /* computeMinMaxCandidates() //{ */
+      68             : 
+      69        2970 : bool Polynomial::computeMinMaxCandidates(double t_start, double t_end, int derivative, std::vector<double>* candidates) const {
+      70        2970 :   CHECK_NOTNULL(candidates);
+      71        2970 :   candidates->clear();
+      72        2970 :   if (N_ - derivative - 1 < 0) {
+      73           0 :     LOG(WARNING) << "N - derivative - 1 has to be at least 0.";
+      74           0 :     return false;
+      75             :   }
+      76        5940 :   Eigen::VectorXcd roots;
+      77        2970 :   bool             success = getRoots(derivative + 1, &roots);
+      78        2970 :   if (!success) {
+      79           0 :     VLOG(1) << "Couldn't find roots, polynomial may be constant.";
+      80             :   }
+      81        2970 :   if (!selectMinMaxCandidatesFromRoots(t_start, t_end, roots, candidates)) {
+      82           0 :     return false;
+      83             :   }
+      84        2970 :   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           0 :     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           0 :     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           0 :   return true;
+     149             : }
+     150             : 
+     151             : //}
+     152             : 
+     153             : /* computeBaseCoefficients() //{ */
+     154             : 
+     155          81 : Eigen::MatrixXd computeBaseCoefficients(int N) {
+     156          81 :   Eigen::MatrixXd base_coefficients(N, N);
+     157             : 
+     158          81 :   base_coefficients.setZero();
+     159          81 :   base_coefficients.row(0).setOnes();
+     160             : 
+     161          81 :   const int DEG   = N - 1;
+     162          81 :   int       order = DEG;
+     163        1782 :   for (int n = 1; n < N; n++) {
+     164       22113 :     for (int i = DEG - order; i < N; i++) {
+     165       20412 :       base_coefficients(n, i) = (order - DEG + i) * base_coefficients(n - 1, i);
+     166             :     }
+     167        1701 :     order--;
+     168             :   }
+     169          81 :   return base_coefficients;
+     170             : }
+     171             : 
+     172             : //}
+     173             : 
+     174             : /* convolve() //{ */
+     175             : 
+     176        1980 : Eigen::VectorXd Polynomial::convolve(const Eigen::VectorXd& data, const Eigen::VectorXd& kernel) {
+     177        1980 :   const int       convolution_dimension = getConvolutionLength(data.size(), kernel.size());
+     178        1980 :   Eigen::VectorXd convolved             = Eigen::VectorXd::Zero(convolution_dimension);
+     179        3960 :   Eigen::VectorXd kernel_reverse        = kernel.reverse();
+     180             : 
+     181       29700 :   for (int i = 0; i < convolution_dimension; i++) {
+     182       27720 :     const int data_idx = i - kernel.size() + 1;
+     183             : 
+     184       27720 :     int lower_bound = std::max(0, -data_idx);
+     185       27720 :     int upper_bound = std::min(kernel.size(), data.size() - data_idx);
+     186             : 
+     187      139920 :     for (int kernel_idx = lower_bound; kernel_idx < upper_bound; ++kernel_idx) {
+     188      112200 :       convolved[i] += kernel_reverse[kernel_idx] * data[data_idx + kernel_idx];
+     189             :     }
+     190             :   }
+     191        3960 :   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         660 : void Polynomial::scalePolynomialInTime(double scaling_factor) {
+     219         660 :   double scale = 1.0;
+     220        7260 :   for (int n = 0; n < N_; n++) {
+     221        6600 :     coefficients_[n] *= scale;
+     222        6600 :     scale *= scaling_factor;
+     223             :   }
+     224         660 : }
+     225             : 
+     226             : //}
+     227             : 
+     228             : /* offsetPolynomial() //{ */
+     229             : 
+     230           0 : void Polynomial::offsetPolynomial(const double offset) {
+     231           0 :   if (coefficients_.size() == 0)
+     232           0 :     return;
+     233             : 
+     234           0 :   coefficients_[0] += offset;
+     235             : }
+     236             : 
+     237             : //}
+     238             : 
+     239             : Eigen::MatrixXd Polynomial::base_coefficients_ = computeBaseCoefficients(Polynomial::kMaxConvolutionSize);
+     240             : 
+     241             : }  // namespace eth_trajectory_generation
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)2862
    eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)2862
    eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)2970
    eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)2970
    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*)8207
    eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)8513
    eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)13355
    eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)26787
    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*)48565
    eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)48620
    eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)80323
    eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)117914
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    Test:MRS UAV System - Test coverage reportLines:36539891.7 %
    Date:2024-02-24 08:13:25Functions:1212100.0 %
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::rpoly_impl::Fxshfr_ak1(int, int*, double, double, double*, int, double*, int, double*, double*, double*, double*, double*)13355
    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*)8207
    eth_trajectory_generation::rpoly_impl::QuadSD_ak1(int, double, double, double*, double*, double*, double*)117914
    eth_trajectory_generation::rpoly_impl::RealIT_ak1(int*, int*, double*, int, double*, int, double*, double*, double*, double*, double*)8513
    eth_trajectory_generation::rpoly_impl::calcSC_ak1(int, double, double, double*, double*, double*, double*, double*, double*, double*, double*, double*, double*, double, double, double*)80323
    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*)48565
    eth_trajectory_generation::rpoly_impl::Quad_ak1(double, double, double, double*, double*, double*, double*)26787
    eth_trajectory_generation::rpoly_impl::nextK_ak1(int, int, double, double, double, double*, double*, double*, double*, double*)48620
    eth_trajectory_generation::rpoly_impl::rpoly_ak1(double*, int*, double*, double*)2862
    eth_trajectory_generation::rpolyWrapper(double*, int*, double*, double*)2862
    eth_trajectory_generation::findLastNonZeroCoeff(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)2970
    eth_trajectory_generation::findRootsJenkinsTraub(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, Eigen::Matrix<std::complex<double>, -1, 1, 0, -1, 1>*)2970
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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        2970 : int findLastNonZeroCoeff(const Eigen::VectorXd& coefficients) {
+      60        2970 :   int last_non_zero_coefficient = -1;
+      61             : 
+      62             :   // Find last non-zero coefficient:
+      63        9666 :   for (int i = coefficients.size() - 1; i != -1; i--) {
+      64        9558 :     if (std::abs(coefficients(i)) >= std::numeric_limits<double>::min()) {
+      65        2862 :       last_non_zero_coefficient = i;
+      66        2862 :       break;
+      67             :     }
+      68             :   }
+      69        2970 :   return last_non_zero_coefficient;
+      70             : }
+      71             : 
+      72             : //}
+      73             : 
+      74             : /* findRootsJenkinsTraub() //{ */
+      75             : 
+      76        2970 : bool findRootsJenkinsTraub(const Eigen::VectorXd& coefficients_increasing, Eigen::VectorXcd* roots) {
+      77             :   // Remove trailing zeros.
+      78        2970 :   const int last_non_zero_coefficient = findLastNonZeroCoeff(coefficients_increasing);
+      79        2970 :   if (last_non_zero_coefficient == -1) {
+      80             :     // The polynomial has all zero coefficients and has no roots.
+      81         108 :     roots->resize(0);
+      82         108 :     return true;
+      83             :   }
+      84             : 
+      85             :   // Reverse coefficients in descending order.
+      86        5724 :   Eigen::VectorXd coefficients_decreasing = coefficients_increasing.head(last_non_zero_coefficient + 1).reverse();
+      87             : 
+      88        2862 :   const int n_coefficients = coefficients_decreasing.size();
+      89        2862 :   if (n_coefficients < 2) {
+      90             :     // The polynomial is 0th order and has no roots.
+      91           0 :     roots->resize(0);
+      92           0 :     return true;
+      93             :   }
+      94        2862 :   int     degree     = n_coefficients - 1;
+      95        2862 :   double* polynomial = new double[kRpolyMaxDegree + 1];
+      96        2862 :   double* roots_real = new double[kRpolyMaxDegree];
+      97        2862 :   double* roots_imag = new double[kRpolyMaxDegree];
+      98             : 
+      99       29826 :   for (size_t i = 0; i < n_coefficients; i++) {
+     100       26964 :     polynomial[i] = coefficients_decreasing(i);
+     101             :   }
+     102             : 
+     103        2862 :   rpolyWrapper(polynomial, &degree, roots_real, roots_imag);
+     104        2862 :   if (degree > 0) {
+     105        2862 :     roots->resize(degree);
+     106       26964 :     for (int i = 0; i < degree; ++i) {
+     107       24102 :       (*roots)[i] = std::complex<double>(roots_real[i], roots_imag[i]);
+     108             :     }
+     109             :   }
+     110             : 
+     111        2862 :   delete[] polynomial;
+     112        2862 :   delete[] roots_real;
+     113        2862 :   delete[] roots_imag;
+     114             : 
+     115        2862 :   if (degree > 0) {
+     116        2862 :     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        2862 : void rpoly_ak1(double op[MDP1], int* Degree, double zeror[MAXDEGREE], double zeroi[MAXDEGREE]) {
+     149             :   int i, j, jj, l, N, NM1, NN, NZ, zerok;
+     150             : 
+     151             :   double K[MDP1], p[MDP1], pt[MDP1], qp[MDP1], temp[MDP1];
+     152             :   double bnd, df, dx, factor, ff, moduli_max, moduli_min, sc, x, xm;
+     153             :   double aa, bb, cc, lzi, lzr, sr, szi, szr, t, xx, xxx, yy;
+     154             : 
+     155        2862 :   const double RADFAC = 3.14159265358979323846 / 180;  // Degrees-to-radians conversion factor = pi/180
+     156        2862 :   const double lb2    = log(2.0);                      // Dummy variable to avoid re-calculating this value in loop below
+     157        2862 :   const double lo     = FLT_MIN / DBL_EPSILON;
+     158        2862 :   const double cosr   = cos(94.0 * RADFAC);  // = -0.069756474
+     159        2862 :   const double sinr   = sin(94.0 * RADFAC);  // = 0.99756405
+     160             : 
+     161        2862 :   if ((*Degree) > MAXDEGREE) {
+     162             :     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        2862 :   if (op[0] != 0) {
+     170        2862 :     N  = *Degree;
+     171        2862 :     xx = sqrt(0.5);  // = 0.70710678
+     172        2862 :     yy = -xx;
+     173             : 
+     174             :     // Remove zeros at the origin, if any
+     175        2862 :     j = 0;
+     176        2986 :     while (op[N] == 0) {
+     177         124 :       zeror[j] = zeroi[j] = 0.0;
+     178         124 :       N--;
+     179         124 :       j++;
+     180             :     }  // End while (op[N] == 0)
+     181             : 
+     182        2862 :     NN = N + 1;
+     183             : 
+     184             :     // Make a copy of the coefficients
+     185       29702 :     for (i = 0; i < NN; i++)
+     186       26840 :       p[i] = op[i];
+     187             : 
+     188       16190 :     while (N >= 1) {  // Main loop
+     189             :       // Start the algorithm for one zero
+     190       16190 :       if (N <= 2) {
+     191             :         // Calculate the final zero or pair of zeros
+     192        2862 :         if (N < 2) {
+     193         948 :           zeror[(*Degree) - 1] = -(p[1] / p[0]);
+     194         948 :           zeroi[(*Degree) - 1] = 0.0;
+     195             :         }       // End if (N < 2)
+     196             :         else {  // else N == 2
+     197        1914 :           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        2862 :         break;
+     200             :       }  // End if (N <= 2)
+     201             : 
+     202             :       // Find the largest and smallest moduli of the coefficients
+     203             : 
+     204       13328 :       moduli_max = 0.0;
+     205       13328 :       moduli_min = FLT_MAX;
+     206             : 
+     207      116869 :       for (i = 0; i < NN; i++) {
+     208      103541 :         x = fabs(p[i]);
+     209      103541 :         if (x > moduli_max)
+     210       51513 :           moduli_max = x;
+     211      103541 :         if ((x != 0) && (x < moduli_min))
+     212       40203 :           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       13328 :       sc = lo / moduli_min;
+     224             : 
+     225       13328 :       if (((sc <= 1.0) && (moduli_max >= 10)) || ((sc > 1.0) && (FLT_MAX / sc >= moduli_max))) {
+     226        1986 :         sc     = ((sc == 0) ? FLT_MIN : sc);
+     227        1986 :         l      = (int)(log(sc) / lb2 + 0.5);
+     228        1986 :         factor = pow(2.0, l);
+     229        1986 :         if (factor != 1.0) {
+     230       22558 :           for (i = 0; i < NN; i++)
+     231       20574 :             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      116869 :       for (i = 0; i < NN; i++)
+     239      103541 :         pt[i] = fabs(p[i]);
+     240       13328 :       pt[N] = -(pt[N]);
+     241             : 
+     242       13328 :       NM1 = N - 1;
+     243             : 
+     244             :       // Compute upper estimate of bound
+     245             : 
+     246       13328 :       x = exp((log(-pt[N]) - log(pt[0])) / (double)N);
+     247             : 
+     248       13328 :       if (pt[NM1] != 0) {
+     249             :         // If Newton step at the origin is better, use it
+     250       13328 :         xm = -pt[N] / pt[NM1];
+     251       13328 :         x  = ((xm < x) ? xm : x);
+     252             :       }  // End if (pt[NM1] != 0)
+     253             : 
+     254             :       // Chop the interval (0, x) until ff <= 0
+     255             : 
+     256       13328 :       xm = x;
+     257         436 :       do {
+     258       13764 :         x  = xm;
+     259       13764 :         xm = 0.1 * x;
+     260       13764 :         ff = pt[0];
+     261      109049 :         for (i = 1; i < NN; i++)
+     262       95285 :           ff = ff * xm + pt[i];
+     263       13764 :       } while (ff > 0);  // End do-while loop
+     264             : 
+     265       13328 :       dx = x;
+     266             : 
+     267             :       // Do Newton iteration until x converges to two decimal places
+     268             : 
+     269       58558 :       while (fabs(dx / x) > 0.005) {
+     270       45230 :         df = ff = pt[0];
+     271      326042 :         for (i = 1; i < N; i++) {
+     272      280812 :           ff = x * ff + pt[i];
+     273      280812 :           df = x * df + ff;
+     274             :         }  // End for i
+     275       45230 :         ff = x * ff + pt[N];
+     276       45230 :         dx = ff / df;
+     277       45230 :         x -= dx;
+     278             :       }  // End while loop
+     279             : 
+     280       13328 :       bnd = x;
+     281             : 
+     282             :       // Compute the derivative as the initial K polynomial and do 5 steps with
+     283             :       // no shift
+     284             : 
+     285       90213 :       for (i = 1; i < N; i++)
+     286       76885 :         K[i] = (double)(N - i) * p[i] / ((double)N);
+     287       13328 :       K[0] = p[0];
+     288             : 
+     289       13328 :       aa    = p[N];
+     290       13328 :       bb    = p[NM1];
+     291       13328 :       zerok = ((K[NM1] == 0) ? 1 : 0);
+     292             : 
+     293       79968 :       for (jj = 0; jj < 5; jj++) {
+     294       66640 :         cc = K[NM1];
+     295       66640 :         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       66640 :           t = -aa / cc;
+     308      451065 :           for (i = 0; i < NM1; i++) {
+     309      384425 :             j    = NM1 - i;
+     310      384425 :             K[j] = t * K[j - 1] + p[j];
+     311             :           }  // End for i
+     312       66640 :           K[0]  = p[0];
+     313       66640 :           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      103541 :       for (i = 0; i < N; i++)
+     320       90213 :         temp[i] = K[i];
+     321             : 
+     322             :       // Loop to select the quadratic corresponding to each new shift
+     323             : 
+     324       13355 :       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       13355 :         xxx = -(sinr * yy) + cosr * xx;
+     330       13355 :         yy  = sinr * xx + cosr * yy;
+     331       13355 :         xx  = xxx;
+     332       13355 :         sr  = bnd * xx;
+     333             : 
+     334             :         // Second stage calculation, fixed quadratic
+     335             : 
+     336       13355 :         Fxshfr_ak1(20 * jj, &NZ, sr, bnd, K, N, p, NN, qp, &lzi, &lzr, &szi, &szr);
+     337             : 
+     338       13355 :         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       13328 :           j        = (*Degree) - N;
+     346       13328 :           zeror[j] = szr;
+     347       13328 :           zeroi[j] = szi;
+     348       13328 :           NN       = NN - NZ;
+     349       13328 :           N        = NN - 1;
+     350       97667 :           for (i = 0; i < NN; i++)
+     351       84339 :             p[i] = qp[i];
+     352       13328 :           if (NZ != 1) {
+     353        5874 :             zeror[j + 1] = lzr;
+     354        5874 :             zeroi[j + 1] = lzi;
+     355             :           }  // End if (NZ != 1)
+     356       13328 :           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         338 :           for (i = 0; i < N; i++)
+     363         311 :             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       13328 :       if (jj > 20) {
+     371             :         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             :     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        2862 :   return;
+     387             : }  // End rpoly_ak1
+     388             : 
+     389       13355 : 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             :   int    fflag, i, iFlag, j, spass, stry, tFlag, vpass, vtry;
+     401             :   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             :   double qk[MDP1], svk[MDP1];
+     403             : 
+     404       13355 :   *NZ   = 0;
+     405       13355 :   betav = betas = 0.25;
+     406       13355 :   u             = -(2.0 * sr);
+     407       13355 :   oss           = sr;
+     408       13355 :   ovv = v = bnd;
+     409             : 
+     410             :   // Evaluate polynomial by synthetic division
+     411       13355 :   QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     412             : 
+     413       13355 :   tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     414             : 
+     415       31917 :   for (j = 0; j < L2; j++) {
+     416             :     // Calculate next K polynomial and estimate v
+     417       31890 :     nextK_ak1(N, tFlag, a, b, a1, &a3, &a7, K, qk, qp);
+     418       31890 :     tFlag = calcSC_ak1(N, a, b, &a1, &a3, &a7, &c, &d, &e, &f, &g, &h, K, u, v, qk);
+     419       31890 :     newest_ak1(tFlag, &ui, &vi, a, a1, a3, a7, b, c, d, f, g, h, u, v, K, N, p);
+     420             : 
+     421       31890 :     vv = vi;
+     422             : 
+     423             :     // Estimate s
+     424             : 
+     425       31890 :     ss = ((K[N - 1] != 0.0) ? -(p[N] / K[N - 1]) : 0.0);
+     426             : 
+     427       31890 :     ts = tv = 1.0;
+     428             : 
+     429       31890 :     if ((j != 0) && (tFlag != 3)) {
+     430             :       // Compute relative measures of convergence of s and v sequences
+     431             : 
+     432       18535 :       tv = ((vv != 0.0) ? fabs((vv - ovv) / vv) : tv);
+     433       18535 :       ts = ((ss != 0.0) ? fabs((ss - oss) / ss) : ts);
+     434             : 
+     435             :       // If decreasing, multiply the two most recent convergence measures
+     436             : 
+     437       18535 :       tvv = ((tv < otv) ? tv * otv : 1.0);
+     438       18535 :       tss = ((ts < ots) ? ts * ots : 1.0);
+     439             : 
+     440             :       // Compare with convergence criteria
+     441             : 
+     442       18535 :       vpass = ((tvv < betav) ? 1 : 0);
+     443       18535 :       spass = ((tss < betas) ? 1 : 0);
+     444             : 
+     445       18535 :       if ((spass) || (vpass)) {
+     446             :         // At least one sequence has passed the convergence test.
+     447             :         // Store variables before iterating
+     448             : 
+     449      117297 :         for (i = 0; i < N; i++)
+     450      102296 :           svk[i] = K[i];
+     451             : 
+     452       15001 :         s = ss;
+     453             : 
+     454             :         // Choose iteration according to the fastest converging sequence
+     455             : 
+     456       15001 :         stry = vtry = 0;
+     457       15001 :         fflag       = 1;
+     458             : 
+     459         274 :         do {
+     460       15275 :           iFlag = 1;  // Begin each loop by assuming RealIT will be called
+     461             :                       // UNLESS iFlag changed below
+     462             : 
+     463       15275 :           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        8207 :             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        8207 :             if ((*NZ) > 0)
+     471        5874 :               return;
+     472             : 
+     473             :             // Quadratic iteration has failed. Flag that it has been tried and
+     474             :             // decrease the
+     475             :             // convergence criterion
+     476             : 
+     477        2333 :             vtry = 1;
+     478        2333 :             betav *= 0.25;
+     479             : 
+     480             :             // Try linear iteration if it has not been tried and the s sequence
+     481             :             // is converging
+     482        2333 :             if (stry || (!spass)) {
+     483         888 :               iFlag = 0;
+     484             :             }  // End if (stry || (!spass))
+     485             :             else {
+     486       10212 :               for (i = 0; i < N; i++)
+     487        8767 :                 K[i] = svk[i];
+     488             :             }  // End if (stry || !spass)
+     489             : 
+     490             :           }  // End else !fflag
+     491             : 
+     492        9401 :           if (iFlag != 0) {
+     493        8513 :             RealIT_ak1(&iFlag, NZ, &s, N, p, NN, qp, szr, szi, K, qk);
+     494             : 
+     495        8513 :             if ((*NZ) > 0)
+     496        7454 :               return;
+     497             : 
+     498             :             // Linear iteration has failed. Flag that it has been tried and
+     499             :             // decrease the
+     500             :             // convergence criterion
+     501             : 
+     502        1059 :             stry = 1;
+     503        1059 :             betas *= 0.25;
+     504             : 
+     505        1059 :             if (iFlag != 0) {
+     506             :               // If linear iteration signals an almost double real zero, attempt
+     507             :               // quadratic iteration
+     508             : 
+     509          76 :               ui = -(s + s);
+     510          76 :               vi = s * s;
+     511          76 :               continue;
+     512             : 
+     513             :             }  // End if (iFlag != 0)
+     514             :           }    // End if (iFlag != 0)
+     515             : 
+     516             :           // Restore variables
+     517       15092 :           for (i = 0; i < N; i++)
+     518       13221 :             K[i] = svk[i];
+     519             : 
+     520             :           // Try quadratic iteration if it has not been tried and the v sequence
+     521             :           // is converging
+     522             : 
+     523        1947 :         } while (vpass && !vtry);  // End do-while loop
+     524             : 
+     525             :         // Re-compute qp and scalar values to continue the second stage
+     526             : 
+     527        1673 :         QuadSD_ak1(NN, u, v, p, qp, &a, &b);
+     528        1673 :         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       18562 :     ovv = vv;
+     535       18562 :     oss = ss;
+     536       18562 :     otv = tv;
+     537       18562 :     ots = ts;
+     538             :   }  // End for j
+     539             : 
+     540          27 :   return;
+     541             : }  // End Fxshfr_ak1
+     542             : 
+     543      117914 : 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             :   int i;
+     548             : 
+     549      117914 :   q[0] = *b = p[0];
+     550      117914 :   q[1] = *a = -((*b) * u) + p[1];
+     551             : 
+     552      728818 :   for (i = 2; i < NN; i++) {
+     553      610904 :     q[i] = -((*a) * u + (*b) * v) + p[i];
+     554      610904 :     *b   = (*a);
+     555      610904 :     *a   = q[i];
+     556             :   }  // End for i
+     557             : 
+     558      117914 :   return;
+     559             : }  // End QuadSD_ak1
+     560             : 
+     561       80323 : 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       80323 :   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       80323 :   QuadSD_ak1(N, u, v, K, qk, c, d);
+     575             : 
+     576       80323 :   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           0 :       return dumFlag;
+     579             :   }  // End if (fabs(c) <= (100.0*DBL_EPSILON*fabs(K[N - 1])))
+     580             : 
+     581       80323 :   *h = v * b;
+     582       80323 :   if (fabs((*d)) >= fabs((*c))) {
+     583       60432 :     dumFlag = 2;  // TYPE = 2 indicates that all formulas are divided by d
+     584       60432 :     *e      = a / (*d);
+     585       60432 :     *f      = (*c) / (*d);
+     586       60432 :     *g      = u * b;
+     587       60432 :     *a3     = (*e) * ((*g) + a) + (*h) * (b / (*d));
+     588       60432 :     *a1     = -a + (*f) * b;
+     589       60432 :     *a7     = (*h) + ((*f) + u) * a;
+     590             :   }  // End if(fabs(d) >= fabs(c))
+     591             :   else {
+     592       19891 :     dumFlag = 1;  // TYPE = 1 indicates that all formulas are divided by c;
+     593       19891 :     *e      = a / (*c);
+     594       19891 :     *f      = (*d) / (*c);
+     595       19891 :     *g      = (*e) * u;
+     596       19891 :     *a3     = (*e) * a + ((*g) + (*h) / (*c)) * b;
+     597       19891 :     *a1     = -(a * ((*d) / (*c))) + b;
+     598       19891 :     *a7     = (*g) * (*d) + (*h) * (*f) + a;
+     599             :   }  // End else
+     600             : 
+     601       80323 :   return dumFlag;
+     602             : }  // End calcSC_ak1
+     603             : 
+     604       48620 : 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             :   int    i;
+     608             :   double temp;
+     609             : 
+     610       48620 :   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           0 :     return;
+     617             :   }  // End if (tFlag == 3)
+     618             : 
+     619       48620 :   temp = ((tFlag == 1) ? b : a);
+     620             : 
+     621       48620 :   if (fabs(a1) > (10.0 * DBL_EPSILON * fabs(temp))) {
+     622             :     // Use scaled form of the recurrence
+     623             : 
+     624       48620 :     (*a7) /= a1;
+     625       48620 :     (*a3) /= a1;
+     626       48620 :     K[0] = qp[0];
+     627       48620 :     K[1] = -((*a7) * qp[0]) + qp[1];
+     628             : 
+     629      291604 :     for (i = 2; i < N; i++)
+     630      242984 :       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       48620 :   return;
+     644             : 
+     645             : }  // End nextK_ak1
+     646             : 
+     647       48565 : 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             :   double a4, a5, b1, b2, c1, c2, c3, c4, temp;
+     653             : 
+     654       48565 :   (*vv) = (*uu) = 0.0;  // The quadratic is zeroed
+     655             : 
+     656       48565 :   if (tFlag != 3) {
+     657       48565 :     if (tFlag != 2) {
+     658       11331 :       a4 = a + u * b + h * f;
+     659       11331 :       a5 = c + (u + v * f) * d;
+     660             :     }       // End if (tFlag != 2)
+     661             :     else {  // else tFlag == 2
+     662       37234 :       a4 = (a + g) * f + h;
+     663       37234 :       a5 = (f + u) * c + v * d;
+     664             :     }  // End else tFlag == 2
+     665             : 
+     666             :     // Evaluate new quadratic coefficients
+     667             : 
+     668       48565 :     b1   = -K[N - 1] / p[N];
+     669       48565 :     b2   = -(K[N - 2] + b1 * p[N - 1]) / p[N];
+     670       48565 :     c1   = v * b2 * a1;
+     671       48565 :     c2   = b1 * a7;
+     672       48565 :     c3   = b1 * b1 * a3;
+     673       48565 :     c4   = -(c2 + c3) + c1;
+     674       48565 :     temp = -c4 + a5 + b1 * a4;
+     675       48565 :     if (temp != 0.0) {
+     676       48548 :       *uu = -((u * (c3 + c2) + v * (b1 * a1 + b2 * a7)) / temp) + u;
+     677       48548 :       *vv = v * (1.0 + c4 / temp);
+     678             :     }  // End if (temp != 0)
+     679             : 
+     680             :   }  // End if (tFlag != 3)
+     681             : 
+     682       48565 :   return;
+     683             : }  // End newest_ak1
+     684             : 
+     685        8207 : 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        8207 :   int    i, j = 0, tFlag, triedFlag = 0;
+     692             :   double c, ee, mp, omp, relstp, t, u, ui, v, vi, zm;
+     693             : 
+     694        8207 :   *NZ = 0;   // Number of zeros found
+     695        8207 :   u   = uu;  // uu and vv are coefficients of the starting quadratic
+     696        8207 :   v   = vv;
+     697             : 
+     698       16666 :   do {
+     699       24873 :     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       24873 :     if (fabs(fabs(*szr) - fabs(*lzr)) > 0.01 * fabs(*lzr))
+     706        2321 :       break;
+     707             : 
+     708             :     // Evaluate polynomial by quadratic synthetic division
+     709             : 
+     710       22552 :     QuadSD_ak1(NN, u, v, p, qp, a, b);
+     711             : 
+     712       22552 :     mp = fabs(-((*szr) * (*b)) + (*a)) + fabs((*szi) * (*b));
+     713             : 
+     714             :     // Compute a rigorous bound on the rounding error in evaluating p
+     715             : 
+     716       22552 :     zm = sqrt(fabs(v));
+     717       22552 :     ee = 2.0 * fabs(qp[0]);
+     718       22552 :     t  = -((*szr) * (*b));
+     719             : 
+     720      151408 :     for (i = 1; i < N; i++)
+     721      128856 :       ee = ee * zm + fabs(qp[i]);
+     722             : 
+     723       22552 :     ee = ee * zm + fabs((*a) + t);
+     724       22552 :     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       22552 :     if (mp <= 20.0 * ee) {
+     730        5874 :       *NZ = 2;
+     731        5874 :       break;
+     732             :     }  // End if (mp <= 20.0*ee)
+     733             : 
+     734       16678 :     j++;
+     735             : 
+     736             :     // Stop iteration after 20 steps
+     737       16678 :     if (j > 20)
+     738           3 :       break;
+     739             : 
+     740       16675 :     if (j >= 2) {
+     741       10449 :       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          11 :         relstp = ((relstp < DBL_EPSILON) ? sqrt(DBL_EPSILON) : sqrt(relstp));
+     746             : 
+     747          11 :         u -= u * relstp;
+     748          11 :         v += v * relstp;
+     749             : 
+     750          11 :         QuadSD_ak1(NN, u, v, p, qp, a, b);
+     751             : 
+     752          66 :         for (i = 0; i < 5; i++) {
+     753          55 :           tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     754          55 :           nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     755             :         }  // End for i
+     756             : 
+     757          11 :         triedFlag = 1;
+     758          11 :         j         = 0;
+     759             : 
+     760             :       }  // End if ((relstp <= 0.01) && (mp >= omp) && (!triedFlag))
+     761             : 
+     762             :     }  // End if (j >= 2)
+     763             : 
+     764       16675 :     omp = mp;
+     765             : 
+     766             :     // Calculate next K polynomial and new u and v
+     767             : 
+     768       16675 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     769       16675 :     nextK_ak1(N, tFlag, *a, *b, *a1, a3, a7, K, qk, qp);
+     770       16675 :     tFlag = calcSC_ak1(N, *a, *b, a1, a3, a7, &c, d, e, f, g, h, K, u, v, qk);
+     771       16675 :     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       16675 :     if (vi != 0) {
+     775       16666 :       relstp = fabs((-v + vi) / vi);
+     776       16666 :       u      = ui;
+     777       16666 :       v      = vi;
+     778             :     }                 // End if (vi != 0)
+     779       16675 :   } while (vi != 0);  // End do-while loop
+     780             : 
+     781       16414 :   return;
+     782             : 
+     783             : }  // End QuadIT_ak1
+     784             : 
+     785        8513 : 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        8513 :   int    i, j = 0, nm1 = N - 1;
+     793             :   double ee, kv, mp, ms, omp, pv, s, t;
+     794             : 
+     795        8513 :   *iFlag = *NZ = 0;
+     796        8513 :   s            = *sss;
+     797             : 
+     798             :   for (;;) {
+     799       38032 :     qp[0] = pv = p[0];
+     800             : 
+     801             :     // Evaluate p at s
+     802      290939 :     for (i = 1; i < NN; i++)
+     803      252907 :       qp[i] = pv = pv * s + p[i];
+     804             : 
+     805       38032 :     mp = fabs(pv);
+     806             : 
+     807             :     // Compute a rigorous bound on the error in evaluating p
+     808             : 
+     809       38032 :     ms = fabs(s);
+     810       38032 :     ee = 0.5 * fabs(qp[0]);
+     811      290939 :     for (i = 1; i < NN; i++)
+     812      252907 :       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       38032 :     if (mp <= 20.0 * DBL_EPSILON * (2.0 * ee - mp)) {
+     818        7454 :       *NZ  = 1;
+     819        7454 :       *szr = s;
+     820        7454 :       *szi = 0.0;
+     821        7454 :       break;
+     822             :     }  // End if (mp <= 20.0*DBL_EPSILON*(2.0*ee - mp))
+     823             : 
+     824       30578 :     j++;
+     825             : 
+     826             :     // Stop iteration after 10 steps
+     827             : 
+     828       30578 :     if (j > 10)
+     829         983 :       break;
+     830             : 
+     831       29595 :     if (j >= 2) {
+     832       21194 :       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          76 :         *iFlag = 1;
+     837          76 :         *sss   = s;
+     838          76 :         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       29519 :     omp = mp;
+     846             : 
+     847             :     // Compute t, the next polynomial and the new iterate
+     848       29519 :     qk[0] = kv = K[0];
+     849      194728 :     for (i = 1; i < N; i++)
+     850      165209 :       qk[i] = kv = kv * s + K[i];
+     851             : 
+     852       29519 :     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       29519 :       t    = -(pv / kv);
+     856       29519 :       K[0] = qp[0];
+     857      194728 :       for (i = 1; i < N; i++)
+     858      165209 :         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       29519 :     kv = K[0];
+     868      194728 :     for (i = 1; i < N; i++)
+     869      165209 :       kv = kv * s + K[i];
+     870             : 
+     871       29519 :     t = ((fabs(kv) > (fabs(K[nm1]) * 10.0 * DBL_EPSILON)) ? -(pv / kv) : 0.0);
+     872             : 
+     873       29519 :     s += t;
+     874             : 
+     875             :   }  // End infinite for loop
+     876             : 
+     877        8513 :   return;
+     878             : 
+     879             : }  // End RealIT_ak1
+     880             : 
+     881       26787 : 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             :   double b, d, e;
+     890             : 
+     891       26787 :   *sr = *si = *lr = *li = 0.0;
+     892             : 
+     893       26787 :   if (a == 0) {
+     894           0 :     *sr = ((b1 != 0) ? -(c / b1) : *sr);
+     895           0 :     return;
+     896             :   }  // End if (a == 0))
+     897             : 
+     898       26787 :   if (c == 0) {
+     899           0 :     *lr = -(b1 / a);
+     900           0 :     return;
+     901             :   }  // End if (c == 0)
+     902             : 
+     903             :   // Compute discriminant avoiding overflow
+     904             : 
+     905       26787 :   b = b1 / 2.0;
+     906       26787 :   if (fabs(b) < fabs(c)) {
+     907       11788 :     e = ((c >= 0) ? a : -a);
+     908       11788 :     e = -e + b * (b / fabs(c));
+     909       11788 :     d = sqrt(fabs(e)) * sqrt(fabs(c));
+     910             :   }       // End if (fabs(b) < fabs(c))
+     911             :   else {  // Else (fabs(b) >= fabs(c))
+     912       14999 :     e = -((a / b) * (c / b)) + 1.0;
+     913       14999 :     d = sqrt(fabs(e)) * (fabs(b));
+     914             :   }  // End else (fabs(b) >= fabs(c))
+     915             : 
+     916       26787 :   if (e >= 0) {
+     917             :     // Real zeros
+     918             : 
+     919        3869 :     d   = ((b >= 0) ? -d : d);
+     920        3869 :     *lr = (-b + d) / a;
+     921        3869 :     *sr = ((*lr != 0) ? (c / (*lr)) / a : *sr);
+     922             :   }       // End if (e >= 0)
+     923             :   else {  // Else (e < 0)
+     924             :     // Complex conjugate zeros
+     925             : 
+     926       22918 :     *lr = *sr = -(b / a);
+     927       22918 :     *si       = fabs(d / a);
+     928       22918 :     *li       = -(*si);
+     929             :   }  // End else (e < 0)
+     930             : 
+     931       26787 :   return;
+     932             : }  // End Quad_ak1
+     933             : 
+     934             : 
+     935             : }  // namespace rpoly_impl
+     936             : 
+     937             : //}
+     938             : 
+     939        2862 : void rpolyWrapper(double* coefficients_decreasing, int* degree, double* roots_real, double* roots_imag) {
+     940        2862 :   rpoly_impl::rpoly_ak1(coefficients_decreasing, degree, roots_real, roots_imag);
+     941        2862 : }
+     942             : 
+     943             : }  // namespace eth_trajectory_generation
+
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    Generated by: LCOV version 1.14
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    LCOV - code coverage report
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    Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:5413540.0 %
    Date:2024-02-24 08:13:25Functions:61346.2 %
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    Function Name Sort by function nameHit count Sort by hit count
    eth_trajectory_generation::printSegment(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&, int)0
    eth_trajectory_generation::Segment::offsetSegment(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)0
    eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, eth_trajectory_generation::Segment const&)0
    eth_trajectory_generation::operator<<(std::basic_ostream<char, std::char_traits<char> >&, std::vector<eth_trajectory_generation::Segment, std::allocator<eth_trajectory_generation::Segment> > const&)0
    eth_trajectory_generation::Segment::getSegmentWithSingleDimension(int, eth_trajectory_generation::Segment*) const0
    eth_trajectory_generation::Segment::getSegmentWithAppendedDimension(eth_trajectory_generation::Segment const&, eth_trajectory_generation::Segment*) const0
    eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
    eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidates(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<eth_trajectory_generation::Extremum, std::allocator<eth_trajectory_generation::Extremum> >*) const2970
    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*) const2970
    eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const2970
    eth_trajectory_generation::Segment::evaluate(double, int) const8695
    eth_trajectory_generation::Segment::operator[](unsigned long) const65760
    eth_trajectory_generation::Segment::operator[](unsigned long)72736
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    Generated by: LCOV version 1.14
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    + + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/segment.cpp.func.html new file mode 100644 index 0000000000..f42079f2a0 --- /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 + + + + + + + + + + + + + + +
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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:5413540.0 %
    Date:2024-02-24 08:13:25Functions: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)72736
    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> >*) const2970
    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*) const2970
    eth_trajectory_generation::Segment::computeMinMaxMagnitudeCandidateTimes(int, double, double, std::vector<int, std::allocator<int> > const&, std::vector<double, std::allocator<double> >*) const2970
    eth_trajectory_generation::Segment::evaluate(double, int) const8695
    eth_trajectory_generation::Segment::operator==(eth_trajectory_generation::Segment const&) const0
    eth_trajectory_generation::Segment::operator[](unsigned long) const65760
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    LCOV - code coverage report
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    Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - segment.cpp (source / functions)HitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:5413540.0 %
    Date:2024-02-24 08:13:25Functions:61346.2 %
    Legend: Lines: + hit + not hit +
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    +
              Line data    Source code
    +
    +       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/segment.h>
+      22             : 
+      23             : #include <cmath>
+      24             : #include <limits>
+      25             : 
+      26             : namespace eth_trajectory_generation
+      27             : {
+      28             : 
+      29             : /* operator==(const Segment& rhs)() //{ */
+      30             : 
+      31           0 : bool Segment::operator==(const Segment& rhs) const {
+      32           0 :   if (D_ != rhs.D_ || time_ != rhs.time_) {
+      33           0 :     return false;
+      34             :   } else {
+      35           0 :     for (int i = 0; i < D(); i++) {
+      36           0 :       if (polynomials_[i] != rhs[i]) {
+      37           0 :         return false;
+      38             :       }
+      39             :     }
+      40             :   }
+      41           0 :   return true;
+      42             : }
+      43             : 
+      44             : //}
+      45             : 
+      46             : /* Segment::operator[](size_t idx) //{ */
+      47             : 
+      48       72736 : Polynomial& Segment::operator[](size_t idx) {
+      49       72736 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      50       72736 :   return polynomials_[idx];
+      51             : }
+      52             : 
+      53             : //}
+      54             : 
+      55             : /* Segment::operator[](size_t idx) //{ */
+      56             : 
+      57       65760 : const Polynomial& Segment::operator[](size_t idx) const {
+      58       65760 :   CHECK_LT(idx, static_cast<size_t>(D_));
+      59       65760 :   return polynomials_[idx];
+      60             : }
+      61             : 
+      62             : //}
+      63             : 
+      64             : /* evaluate() //{ */
+      65             : 
+      66        8695 : Eigen::VectorXd Segment::evaluate(double t, int derivative) const {
+      67        8695 :   Eigen::VectorXd result(D_);
+      68        8695 :   result.setZero();
+      69       43475 :   for (int d = 0; d < D_; ++d) {
+      70       34780 :     result[d] = polynomials_[d].evaluate(t, derivative);
+      71             :   }
+      72        8695 :   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        2970 : 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        2970 :   CHECK_NOTNULL(candidate_times);
+     117        2970 :   candidate_times->clear();
+     118             :   // Compute magnitude derivative roots.
+     119        2970 :   if (dimensions.empty()) {
+     120           0 :     LOG(WARNING) << "No dimensions specified." << std::endl;
+     121           0 :     return false;
+     122        2970 :   } else if (dimensions.size() > 1) {
+     123         990 :     const int       n_d                           = N_ - derivative;
+     124         990 :     const int       n_dd                          = n_d - 1;
+     125         990 :     const int       convolved_coefficients_length = Polynomial::getConvolutionLength(n_d, n_dd);
+     126         990 :     Eigen::VectorXd convolved_coefficients(convolved_coefficients_length);
+     127         990 :     convolved_coefficients.setZero();
+     128        2970 :     for (int dim : dimensions) {
+     129        1980 :       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        3960 :       Eigen::VectorXd d  = polynomials_[dim].getCoefficients(derivative).head(n_d);
+     137        1980 :       Eigen::VectorXd dd = polynomials_[dim].getCoefficients(derivative + 1).head(n_dd);
+     138        1980 :       convolved_coefficients += Polynomial::convolve(d, dd);
+     139             :     }
+     140         990 :     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         990 :     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        1980 :     if (!polynomials_[dimensions[0]].computeMinMaxCandidates(t_start, t_end, derivative, candidate_times)) {
+     152           0 :       return false;
+     153             :     }
+     154             :   }
+     155        2970 :   return true;
+     156             : }
+     157             : 
+     158             : //}
+     159             : 
+     160             : /* computeMinMaxMagnitudeCandidates() //{ */
+     161             : 
+     162        2970 : bool Segment::computeMinMaxMagnitudeCandidates(
+     163             : 
+     164             :     int derivative, double t_start, double t_end, const std::vector<int>& dimensions, std::vector<Extremum>* candidates) const {
+     165        2970 :   CHECK_NOTNULL(candidates);
+     166             :   // Find candidate times (roots + start + end).
+     167        2970 :   std::vector<double> candidate_times;
+     168        2970 :   computeMinMaxMagnitudeCandidateTimes(derivative, t_start, t_end, dimensions, &candidate_times);
+     169             : 
+     170             :   // Evaluate candidate times.
+     171        2970 :   candidates->resize(candidate_times.size());
+     172       16310 :   for (size_t i = 0; i < candidate_times.size(); i++) {
+     173       13340 :     double magnitude = 0.0;
+     174       31662 :     for (int dim : dimensions) {
+     175       18322 :       magnitude += std::pow(polynomials_[dim].evaluate(candidate_times[i], derivative), 2);
+     176             :     }
+     177       13340 :     magnitude        = std::sqrt(magnitude);
+     178       13340 :     (*candidates)[i] = Extremum(candidate_times[i], magnitude, 0);
+     179             :   }
+     180             : 
+     181        5940 :   return true;
+     182             : }
+     183             : 
+     184             : //}
+     185             : 
+     186             : /* selectMinMaxMagnitudeFromCandidates() //{ */
+     187             : 
+     188        2970 : 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        2970 :   CHECK_NOTNULL(minimum);
+     193        2970 :   CHECK_NOTNULL(maximum);
+     194        2970 :   if (t_start > t_end) {
+     195           0 :     LOG(WARNING) << "t_start is greater than t_end.";
+     196           0 :     return false;
+     197             :   }
+     198             : 
+     199        2970 :   minimum->value = std::numeric_limits<double>::max();
+     200        2970 :   maximum->value = std::numeric_limits<double>::lowest();
+     201             : 
+     202             :   // Evaluate passed candidates.
+     203       16310 :   for (const Extremum& candidate : candidates) {
+     204       13340 :     if (candidate.time < t_start || candidate.time > t_end) {
+     205           0 :       continue;
+     206             :     }
+     207       13340 :     *maximum = std::max(*maximum, candidate);
+     208       13340 :     *minimum = std::min(*minimum, candidate);
+     209             :   }
+     210             : 
+     211        2970 :   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           0 :     }
+     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           0 :           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           0 :   return true;
+     311             : }
+     312             : 
+     313             : //}
+     314             : 
+     315             : }  // 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 - timing.cpp (source / functions)HitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:01110.0 %
    Date:2024-02-24 08:13:25Functions:0300.0 %
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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
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    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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    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
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    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
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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             :   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           0 :     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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    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)16
    eth_trajectory_generation::Trajectory::getSegmentTimes() const16
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const16
    eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const16
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const16
    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> >*) const55
    eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*) const144
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const165
    eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const165
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const165
    eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const1485
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    + + + diff --git a/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html new file mode 100644 index 0000000000..2d48210216 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp.func.html @@ -0,0 +1,172 @@ + + + + + + + LCOV - MRS UAV System - Test coverage report - mrs_uav_trajectory_generation/src/eth_trajectory_generation/trajectory.cpp - functions + + + + + + + + + + + + + + +
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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:18031457.3 %
    Date:2024-02-24 08:13:25Functions: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)16
    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> >*) const55
    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() const16
    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*) const144
    eth_trajectory_generation::Trajectory::computeMinMaxMagnitude(int, std::vector<int, std::allocator<int> > const&, eth_trajectory_generation::Extremum*, eth_trajectory_generation::Extremum*, int) const1485
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*) const16
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHeading(double*, double*, double*, int) const165
    eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*) const16
    eth_trajectory_generation::Trajectory::computeMaxDerivativesVertical(double*, double*, double*, int) const165
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*) const16
    eth_trajectory_generation::Trajectory::computeMaxDerivativesHorizontal(double*, double*, double*, int) const165
    eth_trajectory_generation::Trajectory::getTrajectoryWithSingleDimension(int) const0
    eth_trajectory_generation::Trajectory::getTrajectoryWithAppendedDimension(eth_trajectory_generation::Trajectory const&, eth_trajectory_generation::Trajectory*) const0
    eth_trajectory_generation::Trajectory::evaluate(double, int) const0
    eth_trajectory_generation::Trajectory::operator==(eth_trajectory_generation::Trajectory const&) const0
    +
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    Generated by: LCOV version 1.14
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    LCOV - code coverage report
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    Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - trajectory.cpp (source / functions)HitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:18031457.3 %
    Date:2024-02-24 08:13:25Functions:112347.8 %
    Legend: Lines: + hit + not hit +
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    +
              Line data    Source code
    +
    +       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <eth_trajectory_generation/trajectory.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           0 :     return false;
+      41             :   } else {
+      42           0 :     for (int i = 0; i < K(); i++) {
+      43           0 :       if (segments_ != rhs.segments_) {
+      44           0 :         return false;
+      45             :       }
+      46             :     }
+      47           0 :     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           0 :       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          55 : 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          55 :   const size_t expected_number_of_samples = (t_end - t_start) / dt + 1;
+      96             : 
+      97          55 :   result->clear();
+      98          55 :   result->reserve(expected_number_of_samples);
+      99             : 
+     100          55 :   if (sampling_times != nullptr) {
+     101           0 :     sampling_times->clear();
+     102           0 :     sampling_times->reserve(expected_number_of_samples);
+     103             :   }
+     104             : 
+     105          55 :   double accumulated_time = 0.0;
+     106             : 
+     107             :   // Look for the correct segment to start.
+     108          55 :   size_t i = 0;
+     109          55 :   for (i = 0; i < segments_.size(); ++i) {
+     110          55 :     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          55 :     if (accumulated_time > t_start) {
+     118          55 :       break;
+     119             :     }
+     120             :   }
+     121          55 :   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          55 :   accumulated_time -= segments_[i].getTime();
+     128          55 :   double time_in_segment = t_start - accumulated_time;
+     129             : 
+     130             :   // Get all the samples, incrementing the segments as we go.
+     131        9185 :   while (accumulated_time < t_end) {
+     132        9130 :     if (time_in_segment > segments_[i].getTime()) {
+     133         435 :       time_in_segment = time_in_segment - segments_[i].getTime();
+     134         435 :       i++;
+     135             :       // Make sure we don't access segments that don't exist!
+     136         435 :       if (i >= segments_.size()) {
+     137           0 :         break;
+     138             :       }
+     139         435 :       continue;
+     140             :     }
+     141             : 
+     142        8695 :     result->push_back(segments_[i].evaluate(time_in_segment, derivative_order));
+     143             : 
+     144        8695 :     if (sampling_times != nullptr) {
+     145           0 :       sampling_times->push_back(accumulated_time);
+     146             :     }
+     147             : 
+     148        8695 :     time_in_segment += dt;
+     149        8695 :     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           0 :   return true;
+     205             : }
+     206             : 
+     207             : //}
+     208             : 
+     209             : /* computeMinMaxMagnitude() //{ */
+     210             : 
+     211        1485 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum, int seg) const {
+     212             : 
+     213        1485 :   CHECK_NOTNULL(minimum);
+     214        1485 :   CHECK_NOTNULL(maximum);
+     215             : 
+     216        1485 :   minimum->value = std::numeric_limits<double>::max();
+     217        1485 :   maximum->value = std::numeric_limits<double>::lowest();
+     218             : 
+     219             :   // Compute candidates.
+     220        2970 :   std::vector<Extremum> candidates;
+     221        1485 :   if (!segments_[seg].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, &candidates)) {
+     222           0 :     return false;
+     223             :   }
+     224             :   // Evaluate candidates.
+     225        1485 :   Extremum minimum_candidate, maximum_candidate;
+     226        1485 :   if (!segments_[seg].selectMinMaxMagnitudeFromCandidates(derivative, 0.0, segments_[seg].getTime(), dimensions, candidates, &minimum_candidate,
+     227             :                                                           &maximum_candidate)) {
+     228           0 :     return false;
+     229             :   }
+     230             :   // Select minimum / maximum.
+     231        1485 :   if (minimum_candidate < *minimum) {
+     232        1485 :     *minimum             = minimum_candidate;
+     233        1485 :     minimum->segment_idx = static_cast<int>(seg);
+     234             :   }
+     235        1485 :   if (maximum_candidate > *maximum) {
+     236        1485 :     *maximum             = maximum_candidate;
+     237        1485 :     maximum->segment_idx = static_cast<int>(seg);
+     238             :   }
+     239             : 
+     240        1485 :   return true;
+     241             : }
+     242             : 
+     243             : //}
+     244             : 
+     245             : /* computeMinMaxMagnitude() //{ */
+     246             : 
+     247         144 : bool Trajectory::computeMinMaxMagnitude(int derivative, const std::vector<int>& dimensions, Extremum* minimum, Extremum* maximum) const {
+     248             : 
+     249         144 :   CHECK_NOTNULL(minimum);
+     250         144 :   CHECK_NOTNULL(maximum);
+     251             : 
+     252         144 :   minimum->value = std::numeric_limits<double>::max();
+     253         144 :   maximum->value = std::numeric_limits<double>::lowest();
+     254             : 
+     255             :   // For all segments in the trajectory:
+     256        1629 :   for (size_t segment_idx = 0; segment_idx < segments_.size(); segment_idx++) {
+     257             : 
+     258             :     // Compute candidates.
+     259        1485 :     std::vector<Extremum> candidates;
+     260        1485 :     if (!segments_[segment_idx].computeMinMaxMagnitudeCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, &candidates)) {
+     261           0 :       return false;
+     262             :     }
+     263             :     // Evaluate candidates.
+     264        1485 :     Extremum minimum_candidate, maximum_candidate;
+     265        1485 :     if (!segments_[segment_idx].selectMinMaxMagnitudeFromCandidates(derivative, 0.0, segments_[segment_idx].getTime(), dimensions, candidates,
+     266             :                                                                     &minimum_candidate, &maximum_candidate)) {
+     267           0 :       return false;
+     268             :     }
+     269             :     // Select minimum / maximum.
+     270        1485 :     if (minimum_candidate < *minimum) {
+     271         152 :       *minimum             = minimum_candidate;
+     272         152 :       minimum->segment_idx = static_cast<int>(segment_idx);
+     273             :     }
+     274        1485 :     if (maximum_candidate > *maximum) {
+     275         362 :       *maximum             = maximum_candidate;
+     276         362 :       maximum->segment_idx = static_cast<int>(segment_idx);
+     277             :     }
+     278             :   }
+     279         144 :   return true;
+     280             : }
+     281             : 
+     282             : //}
+     283             : 
+     284             : /* getSegmentTimes() //{ */
+     285             : 
+     286          16 : std::vector<double> Trajectory::getSegmentTimes() const {
+     287          16 :   std::vector<double> segment_times(segments_.size());
+     288         181 :   for (size_t i = 0; i < segment_times.size(); ++i) {
+     289         165 :     segment_times[i] = segments_[i].getTime();
+     290             :   }
+     291          16 :   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           0 :   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           0 :   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           0 :     return false;
+     385           0 :   if (!temp_vertex.getSubdimension(kYawDimensions, max_derivative_order_yaw, &yaw_vertices->front()))
+     386           0 :     return false;
+     387             : 
+     388           0 :   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           0 :       return false;
+     394           0 :     if (!temp_vertex.getSubdimension(kYawDimensions, max_derivative_order_yaw, &(*yaw_vertices)[i + 1]))
+     395           0 :       return false;
+     396             :   }
+     397           0 :   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         165 : 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         165 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     426             : 
+     427         165 :   dimensions.push_back(0);
+     428         165 :   dimensions.push_back(1);
+     429             : 
+     430         165 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     431             : 
+     432         165 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     433         165 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     434         165 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     435             : 
+     436         165 :   *v_max = v_max_traj.value;
+     437         165 :   *a_max = a_max_traj.value;
+     438         165 :   *j_max = j_max_traj.value;
+     439             : 
+     440         330 :   return success;
+     441             : }
+     442             : 
+     443             : //}
+     444             : 
+     445             : /* computeMaxDerivativesHorizontal() //{ */
+     446             : 
+     447             : // compute max velocity, acceleration and jerk
+     448          16 : 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          16 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     452             : 
+     453          16 :   dimensions.push_back(0);
+     454          16 :   dimensions.push_back(1);
+     455             : 
+     456          16 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     457             : 
+     458          16 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     459          16 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     460          16 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     461             : 
+     462          16 :   *v_max = v_max_traj.value;
+     463          16 :   *a_max = a_max_traj.value;
+     464          16 :   *j_max = j_max_traj.value;
+     465             : 
+     466          32 :   return success;
+     467             : }
+     468             : 
+     469             : //}
+     470             : 
+     471             : /* computeMaxDerivativesVertical() //{ */
+     472             : 
+     473             : // compute max velocity, acceleration and jerk
+     474         165 : 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         165 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     478             : 
+     479         165 :   dimensions.push_back(2);
+     480             : 
+     481         165 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     482             : 
+     483         165 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     484         165 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     485         165 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     486             : 
+     487         165 :   *v_max = v_max_traj.value;
+     488         165 :   *a_max = a_max_traj.value;
+     489         165 :   *j_max = j_max_traj.value;
+     490             : 
+     491         330 :   return success;
+     492             : }
+     493             : 
+     494             : //}
+     495             : 
+     496             : /* computeMaxDerivativesVertical() //{ */
+     497             : 
+     498             : // compute max velocity, acceleration and jerk
+     499          16 : 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          16 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     503             : 
+     504          16 :   dimensions.push_back(2);
+     505             : 
+     506          16 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     507             : 
+     508          16 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     509          16 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     510          16 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     511             : 
+     512          16 :   *v_max = v_max_traj.value;
+     513          16 :   *a_max = a_max_traj.value;
+     514          16 :   *j_max = j_max_traj.value;
+     515             : 
+     516          32 :   return success;
+     517             : }
+     518             : 
+     519             : //}
+     520             : 
+     521             : /* computeMaxDerivativesHeading() //{ */
+     522             : 
+     523             : // compute max velocity, acceleration and jerk
+     524         165 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max, int seg) const {
+     525             : 
+     526         165 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     527             : 
+     528         165 :   dimensions.push_back(3);  // 3 = heading
+     529             : 
+     530         165 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     531             : 
+     532         165 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj, seg);
+     533         165 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj, seg);
+     534         165 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj, seg);
+     535             : 
+     536         165 :   *v_max = v_max_traj.value;
+     537         165 :   *a_max = a_max_traj.value;
+     538         165 :   *j_max = j_max_traj.value;
+     539             : 
+     540         330 :   return success;
+     541             : }
+     542             : 
+     543             : //}
+     544             : 
+     545             : /* computeMaxDerivativesHeading() //{ */
+     546             : 
+     547             : // compute max velocity, acceleration and jerk
+     548          16 : bool Trajectory::computeMaxDerivativesHeading(double* v_max, double* a_max, double* j_max) const {
+     549             : 
+     550          16 :   std::vector<int> dimensions;  // Evaluate in whatever dimensions we have.
+     551             : 
+     552          16 :   dimensions.push_back(3);  // 3 = heading
+     553             : 
+     554          16 :   Extremum v_min_traj, v_max_traj, a_min_traj, a_max_traj, j_min_traj, j_max_traj;
+     555             : 
+     556          16 :   bool success = computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::VELOCITY, dimensions, &v_min_traj, &v_max_traj);
+     557          16 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::ACCELERATION, dimensions, &a_min_traj, &a_max_traj);
+     558          16 :   success &= computeMinMaxMagnitude(eth_trajectory_generation::derivative_order::JERK, dimensions, &j_min_traj, &j_max_traj);
+     559             : 
+     560          16 :   *v_max = v_max_traj.value;
+     561          16 :   *a_max = a_max_traj.value;
+     562          16 :   *j_max = j_max_traj.value;
+     563             : 
+     564          32 :   return success;
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* scaleSegmentTimes() //{ */
+     570             : 
+     571           0 : bool Trajectory::scaleSegmentTimes(double scaling) {
+     572           0 :   if (scaling < 1.0e-6)
+     573           0 :     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          16 : 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          16 :   constexpr size_t kMaxCounter = 20;
+     604          16 :   constexpr double kTolerance  = 1e-3;
+     605             : 
+     606          16 :   bool within_range = false;
+     607             : 
+     608          16 :   for (size_t i = 0; i < kMaxCounter; i++) {
+     609             : 
+     610         181 :     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             :       double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     616         165 :       computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual, seg);
+     617             : 
+     618             :       double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     619         165 :       computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual, seg);
+     620             : 
+     621             :       double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     622         165 :       computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual, seg);
+     623             : 
+     624             :       // Reevaluate constraint/bound violation
+     625         165 :       double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     626         165 :       double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     627         165 :       double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     628         165 :       double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     629         165 :       double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     630         165 :       double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     631             : 
+     632         165 :       double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     633         165 :       double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     634         165 :       double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     635             : 
+     636         165 :       double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     637         165 :       double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     638         165 :       double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     639             : 
+     640         165 :       within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     641             : 
+     642         165 :       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         165 :       double violation_scaling_inverse = 1.0 / violation_scaling;
+     646             : 
+     647             :       // Scale the segment times of each segment.
+     648         165 :       double new_max_time = 0.0;
+     649         165 :       double new_time     = segments_[seg].getTime() * violation_scaling;
+     650             : 
+     651         825 :       for (int d = 0; d < segments_[seg].D(); d++) {
+     652         660 :         (segments_[seg])[d].scalePolynomialInTime(violation_scaling_inverse);
+     653             :       }
+     654             : 
+     655         165 :       segments_[seg].setTime(new_time);
+     656         165 :       new_max_time += new_time;
+     657         165 :       max_time_ = new_max_time;
+     658             :     }
+     659             : 
+     660             :     double v_max_horizontal_actual, a_max_horizontal_actual, j_max_horizontal_actual;
+     661          16 :     computeMaxDerivativesHorizontal(&v_max_horizontal_actual, &a_max_horizontal_actual, &j_max_horizontal_actual);
+     662             : 
+     663             :     double v_max_vertical_actual, a_max_vertical_actual, j_max_vertical_actual;
+     664          16 :     computeMaxDerivativesVertical(&v_max_vertical_actual, &a_max_vertical_actual, &j_max_vertical_actual);
+     665             : 
+     666             :     double v_max_heading_actual, a_max_heading_actual, j_max_heading_actual;
+     667          16 :     computeMaxDerivativesHeading(&v_max_heading_actual, &a_max_heading_actual, &j_max_heading_actual);
+     668             : 
+     669             :     // Reevaluate constraint/bound violation
+     670          16 :     double velocity_violation_horizontal     = v_max_horizontal_actual / v_max_horizontal;
+     671          16 :     double velocity_violation_vertical       = v_max_vertical_actual / v_max_vertical;
+     672          16 :     double acceleration_violation_horizontal = a_max_horizontal_actual / a_max_horizontal;
+     673          16 :     double acceleration_violation_vertical   = a_max_vertical_actual / a_max_vertical;
+     674          16 :     double jerk_violation_horizontal         = j_max_horizontal_actual / j_max_horizontal;
+     675          16 :     double jerk_violation_vertical           = j_max_vertical_actual / j_max_vertical;
+     676             : 
+     677          16 :     double velocity_violation_heading     = v_max_heading_actual / v_max_heading;
+     678          16 :     double acceleration_violation_heading = a_max_heading_actual / a_max_heading;
+     679          16 :     double jerk_violation_heading         = j_max_heading_actual / j_max_heading;
+     680             : 
+     681          16 :     double velocity_violation     = std::max(std::max(velocity_violation_horizontal, velocity_violation_vertical), velocity_violation_heading);
+     682          16 :     double acceleration_violation = std::max(std::max(acceleration_violation_horizontal, acceleration_violation_vertical), acceleration_violation_heading);
+     683          16 :     double jerk_violation         = std::max(std::max(jerk_violation_horizontal, jerk_violation_vertical), jerk_violation_heading);
+     684             : 
+     685          16 :     within_range = velocity_violation <= 1.0 + kTolerance && acceleration_violation <= 1.0 + kTolerance && jerk_violation <= 1.0 + kTolerance;
+     686             : 
+     687          16 :     if (within_range) {
+     688          16 :       break;
+     689             :     }
+     690             :   }
+     691          16 :   return within_range;
+     692             : }
+     693             : 
+     694             : //}
+     695             : 
+     696             : }  // namespace eth_trajectory_generation
+
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    + + + + +
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    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
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    eth_trajectory_generation::sampleWholeTrajectory(eth_trajectory_generation::Trajectory const&, double, std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> >*)11
    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> >*)11
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    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> >*)11
    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> >*)11
    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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              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          11 : bool sampleTrajectoryInRange(const Trajectory& trajectory, double min_time, double max_time, double sampling_interval,
+      50             :                              eth_mav_msgs::EigenTrajectoryPointVector* states) {
+      51          11 :   CHECK_NOTNULL(states);
+      52          11 :   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          11 :   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          22 :   std::vector<Eigen::VectorXd> position, velocity, acceleration, jerk, snap, yaw, yaw_rate;
+      64             : 
+      65          11 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::POSITION, &position);
+      66          11 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::VELOCITY, &velocity);
+      67          11 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::ACCELERATION, &acceleration);
+      68          11 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::JERK, &jerk);
+      69          11 :   trajectory.evaluateRange(min_time, max_time, sampling_interval, derivative_order::SNAP, &snap);
+      70             : 
+      71          11 :   size_t n_samples = position.size();
+      72             : 
+      73          11 :   states->resize(n_samples);
+      74        1750 :   for (size_t i = 0; i < n_samples; ++i) {
+      75        1739 :     eth_mav_msgs::EigenTrajectoryPoint& state = (*states)[i];
+      76             : 
+      77             :     /* state.degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+      78        1739 :     state.position_W         = position[i].head<3>();
+      79        1739 :     state.velocity_W         = velocity[i].head<3>();
+      80        1739 :     state.acceleration_W     = acceleration[i].head<3>();
+      81        1739 :     state.jerk_W             = jerk[i].head<3>();
+      82        1739 :     state.snap_W             = snap[i].head<3>();
+      83        1739 :     state.time_from_start_ns = static_cast<int64_t>((min_time + sampling_interval * i) * kNumNanosecondsPerSecond);
+      84        1739 :     if (trajectory.D() == 4) {
+      85        1739 :       state.setFromYaw(position[i](3));
+      86        1739 :       state.setFromYawRate(velocity[i](3));
+      87        1739 :       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          11 :   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          11 : bool sampleWholeTrajectory(const Trajectory& trajectory, double sampling_interval, eth_mav_msgs::EigenTrajectoryPoint::Vector* states) {
+     120          11 :   const double min_time = trajectory.getMinTime();
+     121          11 :   const double max_time = trajectory.getMaxTime();
+     122             : 
+     123          11 :   return sampleTrajectoryInRange(trajectory, min_time, max_time, sampling_interval, states);
+     124             : }
+     125             : 
+     126             : //}
+     127             : 
+     128             : /* sampleSegmentAtTime() //{ */
+     129             : 
+     130           0 : bool sampleSegmentAtTime(const Segment& segment, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+     131           0 :   CHECK_NOTNULL(state);
+     132           0 :   if (sample_time < 0.0 || sample_time > segment.getTime()) {
+     133           0 :     LOG(ERROR) << "Sample time should be within [" << 0.0 << " " << segment.getTime() << "] but is " << sample_time;
+     134           0 :     return false;
+     135             :   }
+     136             : 
+     137           0 :   return sampleFlatStateAtTime<Segment>(segment, sample_time, state);
+     138             : }
+     139             : 
+     140             : //}
+     141             : 
+     142             : /* sampleFlatStateAtTime() //{ */
+     143             : 
+     144             : template <class T>
+     145           0 : bool sampleFlatStateAtTime(const T& type, double sample_time, eth_mav_msgs::EigenTrajectoryPoint* state) {
+     146           0 :   if (type.D() < 3) {
+     147           0 :     LOG(ERROR) << "Dimension has to be 3, 4, or 6 but is " << type.D();
+     148           0 :     return false;
+     149             :   }
+     150             : 
+     151           0 :   Eigen::VectorXd position     = type.evaluate(sample_time, derivative_order::POSITION);
+     152           0 :   Eigen::VectorXd velocity     = type.evaluate(sample_time, derivative_order::VELOCITY);
+     153           0 :   Eigen::VectorXd acceleration = type.evaluate(sample_time, derivative_order::ACCELERATION);
+     154             : 
+     155             :   /* state->degrees_of_freedom = eth_mav_msgs::MavActuation::DOF4; */
+     156           0 :   state->position_W     = position.head(3);
+     157           0 :   state->velocity_W     = velocity.head(3);
+     158           0 :   state->acceleration_W = acceleration.head(3);
+     159           0 :   state->jerk_W         = type.evaluate(sample_time, derivative_order::JERK).head(3);
+     160           0 :   state->snap_W         = type.evaluate(sample_time, derivative_order::SNAP).head(3);
+     161             : 
+     162           0 :   if (type.D() == 4) {
+     163           0 :     state->setFromYaw(position(3));
+     164           0 :     state->setFromYawRate(velocity(3));
+     165           0 :     state->setFromYawAcc(acceleration(3));
+     166             :   }
+     167             :   /* else if (type.D() == 6) { */
+     168             :   /*   // overactuated, write quaternion from interpolated rotation vector */
+     169             :   /*   Eigen::Vector3d rot_vec, rot_vec_vel, rot_vec_acc; */
+     170             :   /*   rot_vec  = position.tail(3); */
+     171             :   /*   rot_vec_vel = velocity.tail(3); */
+     172             :   /*   rot_vec_acc = acceleration.tail(3); */
+     173             :   /*   Eigen::Matrix3d rot_matrix; */
+     174             :   /*   eth_mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix); */
+     175             :   /*   state->orientation_W_B = Eigen::Quaterniond(rot_matrix); */
+     176             :   /*   state->angular_velocity_W = eth_mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel); */
+     177             :   /*   state->angular_acceleration_W = eth_mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc); */
+     178             :   /*   state->degrees_of_freedom = eth_mav_msgs::MavActuation::DOF6; */
+     179             :   /* } */
+     180             : 
+     181           0 :   state->time_from_start_ns = static_cast<int64_t>(sample_time * kNumNanosecondsPerSecond);
+     182           0 :   return true;
+     183             : }
+     184             : 
+     185             : //}
+     186             : 
+     187             : }  // namespace eth_trajectory_generation
+
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    Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:13527050.0 %
    Date:2024-02-24 08:13:25Functions: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)22
    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)22
    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)22
    eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)32
    eth_trajectory_generation::Vertex::addConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1> const&)534
    eth_trajectory_generation::Vertex::getConstraint(int, Eigen::Matrix<double, -1, 1, 0, -1, 1>*) const2728
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    Generated by: LCOV version 1.14
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    Test:MRS UAV System - Test coverage reportLines:13527050.0 %
    Date:2024-02-24 08:13:25Functions: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)22
    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)22
    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)22
    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&)534
    eth_trajectory_generation::Vertex::makeStartOrEnd(Eigen::Matrix<double, -1, 1, 0, -1, 1> const&, int)32
    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>*) const2728
    eth_trajectory_generation::Vertex::hasConstraint(int) const0
    eth_trajectory_generation::Vertex::getSubdimension(std::vector<unsigned long, std::allocator<unsigned long> > const&, int, eth_trajectory_generation::Vertex*) const0
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    Current view:top level - mrs_uav_trajectory_generation/src/eth_trajectory_generation - vertex.cpp (source / functions)HitTotalCoverage
    Test:MRS UAV System - Test coverage reportLines:13527050.0 %
    Date:2024-02-24 08:13:25Functions:61735.3 %
    Legend: Lines: + hit + not hit +
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    +
              Line data    Source code
    +
    +       1             : /*
+       2             :  * Copyright (c) 2016, Markus Achtelik, ASL, ETH Zurich, Switzerland
+       3             :  * Copyright (c) 2016, Michael Burri, ASL, ETH Zurich, Switzerland
+       4             :  * Copyright (c) 2016, Helen Oleynikova, ASL, ETH Zurich, Switzerland
+       5             :  * Copyright (c) 2016, Rik Bähnemann, ASL, ETH Zurich, Switzerland
+       6             :  * Copyright (c) 2016, Marija Popovic, ASL, ETH Zurich, Switzerland
+       7             :  *
+       8             :  * Licensed under the Apache License, Version 2.0 (the "License");
+       9             :  * you may not use this file except in compliance with the License.
+      10             :  * You may obtain a copy of the License at
+      11             :  *
+      12             :  * http://www.apache.org/licenses/LICENSE-2.0
+      13             :  *
+      14             :  * Unless required by applicable law or agreed to in writing, software
+      15             :  * distributed under the License is distributed on an "AS IS" BASIS,
+      16             :  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+      17             :  * See the License for the specific language governing permissions and
+      18             :  * limitations under the License.
+      19             :  */
+      20             : 
+      21             : #include <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             :     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           0 :         break;
+      73             :       }
+      74           0 :     }
+      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         534 : void Vertex::addConstraint(int derivative_order, const Eigen::VectorXd& constraint) {
+     135         534 :   CHECK_EQ(constraint.rows(), static_cast<long>(D_));
+     136         534 :   constraints_[derivative_order] = constraint;
+     137         534 : }
+     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           0 :     return false;
+     151             :   }
+     152             : }
+     153             : 
+     154             : //}
+     155             : 
+     156             : /* makeStartOrEnd() //{ */
+     157             : 
+     158          32 : void Vertex::makeStartOrEnd(const Eigen::VectorXd& constraint, int up_to_derivative) {
+     159          32 :   addConstraint(derivative_order::POSITION, constraint);
+     160          96 :   for (int i = 1; i <= up_to_derivative; ++i) {
+     161          64 :     constraints_[i] = ConstraintValue::Zero(static_cast<int>(D_));
+     162             :   }
+     163          32 : }
+     164             : 
+     165             : //}
+     166             : 
+     167             : /* getConstraint() //{ */
+     168             : 
+     169        2728 : bool Vertex::getConstraint(int derivative_order, Eigen::VectorXd* value) const {
+     170        2728 :   CHECK_NOTNULL(value);
+     171        2728 :   typename Constraints::const_iterator it = constraints_.find(derivative_order);
+     172        2728 :   if (it != constraints_.end()) {
+     173        1484 :     *value = it->second;
+     174        1484 :     return true;
+     175             :   } else
+     176        1244 :     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           0 :     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           0 :       return false;
+     204             :   }
+     205           0 :   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           0 :   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          22 : 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             :   return estimateSegmentTimesEuclidean(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+     270          22 :                                        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          22 : 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          22 :   CHECK_GE(vertices.size(), 2);
+     306          22 :   std::vector<double> segment_times;
+     307          22 :   segment_times.reserve(vertices.size() - 1);
+     308             : 
+     309             :   // for each vertex in the path
+     310         209 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     311             : 
+     312         374 :     Eigen::VectorXd start4d, end4d;
+     313             : 
+     314         187 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     315         187 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     316             : 
+     317         187 :     Eigen::Vector3d start     = start4d.head(3);
+     318         187 :     Eigen::Vector3d end       = end4d.head(3);
+     319         187 :     double          start_hdg = start4d(3);
+     320         187 :     double          end_hdg   = end4d(3);
+     321             : 
+     322         187 :     double acceleration_time_1 = 0;
+     323         187 :     double acceleration_time_2 = 0;
+     324             : 
+     325         187 :     double jerk_time_1 = 0;
+     326         187 :     double jerk_time_2 = 0;
+     327             : 
+     328         187 :     double acc_1_coeff = 0;
+     329         187 :     double acc_2_coeff = 0;
+     330             : 
+     331         187 :     double distance = (end - start).norm();
+     332             : 
+     333         187 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     334             : 
+     335             :     double v_max, a_max, j_max;
+     336             : 
+     337         187 :     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         187 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     341             :     }
+     342             : 
+     343         187 :     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         187 :       a_max = fabs(a_max_horizontal / cos(inclinator));
+     347             :     }
+     348             : 
+     349         187 :     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         187 :       j_max = fabs(j_max_horizontal / cos(inclinator));
+     353             :     }
+     354             : 
+     355         187 :     if (i >= 1) {
+     356             : 
+     357         165 :       Eigen::VectorXd pre4d;
+     358             : 
+     359         165 :       vertices[i - 1].getConstraint(derivative_order::POSITION, &pre4d);
+     360             : 
+     361         165 :       Eigen::Vector3d pre = pre4d.head(3);
+     362             : 
+     363         165 :       Eigen::Vector3d vec1 = start - pre;
+     364         165 :       Eigen::Vector3d vec2 = end - start;
+     365             : 
+     366         165 :       vec1.normalize();
+     367         165 :       vec2.normalize();
+     368             : 
+     369         165 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     370             : 
+     371         165 :       acc_1_coeff = (1 - scalar);
+     372             : 
+     373         165 :       acceleration_time_1 = acc_1_coeff * ((v_max / a_max) + (a_max / j_max));
+     374             : 
+     375         165 :       jerk_time_1 = acc_1_coeff * (2 * (a_max / j_max));
+     376             :     }
+     377             : 
+     378             :     // the first vertex
+     379         187 :     if (i == 0) {
+     380          22 :       acc_1_coeff         = 1.0;
+     381          22 :       acceleration_time_1 = (v_max / a_max) + (a_max / j_max);
+     382          22 :       jerk_time_1         = (2 * (a_max / j_max));
+     383             :     }
+     384             : 
+     385             :     // last vertex
+     386         187 :     if (i == vertices.size() - 2) {
+     387          22 :       acc_2_coeff         = 1.0;
+     388          22 :       acceleration_time_2 = (v_max / a_max) + (a_max / j_max);
+     389          22 :       jerk_time_2         = (2 * (a_max / j_max));
+     390             :     }
+     391             : 
+     392             :     // a vertex
+     393         187 :     if (i < vertices.size() - 2) {
+     394             : 
+     395         165 :       Eigen::VectorXd post4d;
+     396             : 
+     397         165 :       vertices[i + 2].getConstraint(derivative_order::POSITION, &post4d);
+     398             : 
+     399         165 :       Eigen::Vector3d post = post4d.head(3);
+     400             : 
+     401         165 :       Eigen::Vector3d vec1 = end - start;
+     402         165 :       Eigen::Vector3d vec2 = post - end;
+     403             : 
+     404         165 :       vec1.normalize();
+     405         165 :       vec2.normalize();
+     406             : 
+     407         165 :       double scalar = vec1.dot(vec2) < 0 ? 0.0 : vec1.dot(vec2);
+     408             : 
+     409         165 :       acc_2_coeff = (1 - scalar);
+     410             : 
+     411         165 :       acceleration_time_2 = acc_2_coeff * ((v_max / a_max) + (a_max / j_max));
+     412             : 
+     413         165 :       jerk_time_2 = acc_2_coeff * (2 * (a_max / j_max));
+     414             :     }
+     415             : 
+     416         187 :     if (acceleration_time_1 > sqrt(2 * distance / a_max)) {
+     417          18 :       acceleration_time_1 = sqrt(2 * distance / a_max);
+     418             :     }
+     419             : 
+     420         187 :     if (jerk_time_1 > sqrt(2 * v_max / j_max)) {
+     421           0 :       jerk_time_1 = sqrt(2 * v_max / j_max);
+     422             :     }
+     423             : 
+     424         187 :     if (acceleration_time_2 > sqrt(2 * distance / a_max)) {
+     425          20 :       acceleration_time_2 = sqrt(2 * distance / a_max);
+     426             :     }
+     427             : 
+     428         187 :     if (jerk_time_2 > sqrt(2 * v_max / j_max)) {
+     429           0 :       jerk_time_2 = sqrt(2 * v_max / j_max);
+     430             :     }
+     431             : 
+     432             :     double max_velocity_time;
+     433             : 
+     434         187 :     const double distance_due_acceleration = a_max * pow(acceleration_time_1, 2) + a_max * pow(acceleration_time_2, 2);
+     435             : 
+     436         187 :     if (distance > distance_due_acceleration) {
+     437          83 :       max_velocity_time = ((distance - distance_due_acceleration) / v_max);
+     438             :     } else {
+     439         104 :       max_velocity_time = (distance_due_acceleration / v_max);
+     440             :     }
+     441             : 
+     442         187 :     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         187 :     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         187 :     if (t < 0.01) {
+     452           0 :       t = 0.01;
+     453             :     }
+     454             : 
+     455             :     // | ------------- check the heading rotation time ------------ |
+     456             : 
+     457         187 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     458             : 
+     459         187 :     double hdg_velocity_time     = 0;
+     460         187 :     double hdg_acceleration_time = 0;
+     461             : 
+     462         187 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     463             : 
+     464         187 :       if (((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     465         184 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     466             :       } else {
+     467           3 :         hdg_velocity_time = ((angular_distance - (2 * (heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     468             :       }
+     469             : 
+     470         187 :       if (angular_distance > M_PI / 4) {
+     471          43 :         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         187 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     477             : 
+     478         187 :     if (heading_fix_time > t) {
+     479           0 :       t = heading_fix_time;
+     480             :     }
+     481             : 
+     482         187 :     segment_times.push_back(t);
+     483             :   }
+     484          22 :   return segment_times;
+     485             : }
+     486             : 
+     487             : //}
+     488             : 
+     489             : /* estimateSegmentTimesEuclidean() //{ */
+     490             : 
+     491          22 : 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          22 :   double v_max = std::min(v_max_horizontal, v_max_vertical);
+     496             : 
+     497          22 :   CHECK_GE(vertices.size(), 2);
+     498          22 :   std::vector<double> segment_times;
+     499          22 :   segment_times.reserve(vertices.size() - 1);
+     500             : 
+     501             :   // for each vertex in the path
+     502         209 :   for (size_t i = 0; i < vertices.size() - 1; ++i) {
+     503             : 
+     504         374 :     Eigen::VectorXd start4d, end4d;
+     505             : 
+     506         187 :     vertices[i].getConstraint(derivative_order::POSITION, &start4d);
+     507         187 :     vertices[i + 1].getConstraint(derivative_order::POSITION, &end4d);
+     508             : 
+     509         187 :     Eigen::Vector3d start = start4d.head(3);
+     510         187 :     Eigen::Vector3d end   = end4d.head(3);
+     511             : 
+     512         187 :     double inclinator = atan2(end(2) - start(2), sqrt(pow(end(0) - start(0), 2) + pow(end(1) - start(1), 2)));
+     513             : 
+     514             :     double v_max;
+     515             : 
+     516         187 :     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         187 :       v_max = fabs(v_max_horizontal / cos(inclinator));
+     520             :     }
+     521             : 
+     522         187 :     double start_hdg = start4d(3);
+     523         187 :     double end_hdg   = end4d(3);
+     524             : 
+     525         187 :     double distance = (end - start).norm();
+     526             : 
+     527         187 :     double t = distance / v_max;
+     528             : 
+     529         187 :     if (t < 0.01) {
+     530           0 :       t = 0.01;
+     531             :     }
+     532             : 
+     533             :     // | ------------- check the heading rotation time ------------ |
+     534             : 
+     535             : 
+     536         187 :     double angular_distance = fabs(mrs_lib::geometry::radians::dist(start_hdg, end_hdg));
+     537             : 
+     538         187 :     double hdg_velocity_time     = 0;
+     539         187 :     double hdg_acceleration_time = 0;
+     540             : 
+     541         187 :     if (heading_speed_max < std::numeric_limits<float>::max() && heading_acc_max < std::numeric_limits<float>::max()) {
+     542             : 
+     543         187 :       if (((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max) < 0) {
+     544         146 :         hdg_velocity_time = ((angular_distance) / heading_speed_max);
+     545             :       } else {
+     546          41 :         hdg_velocity_time = ((angular_distance - ((heading_speed_max * heading_speed_max) / heading_acc_max)) / heading_speed_max);
+     547             :       }
+     548             : 
+     549         187 :       if (angular_distance > M_PI / 4) {
+     550          43 :         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         187 :     double heading_fix_time = 1.5 * (hdg_velocity_time + hdg_acceleration_time);
+     556             : 
+     557         187 :     if (heading_fix_time > t) {
+     558          20 :       t = heading_fix_time;
+     559             :     }
+     560             : 
+     561         187 :     segment_times.push_back(t);
+     562             :   }
+     563             : 
+     564          22 :   return segment_times;
+     565             : }
+     566             : 
+     567             : //}
+     568             : 
+     569             : /* computeTimeVelocityRamp() //{ */
+     570             : 
+     571           0 : double computeTimeVelocityRamp(const Eigen::VectorXd& start, const Eigen::VectorXd& goal, double v_max, double a_max) {
+     572             : 
+     573           0 :   const double distance = (start - goal).norm();
+     574             :   // Time to accelerate or decelerate to or from maximum velocity:
+     575           0 :   const double acc_time = v_max / a_max;
+     576             :   // Distance covered during complete acceleration or decelerate:
+     577           0 :   const double acc_distance = 0.5 * v_max * acc_time;
+     578             :   // Compute total segment time:
+     579           0 :   if (distance < 2.0 * acc_distance) {
+     580             :     // Case 1: Distance too small to accelerate to maximum velocity.
+     581           0 :     return 2.0 * std::sqrt(distance / a_max);
+     582             :   } else {
+     583             :     // Case 2: Distance long enough to accelerate to maximum velocity.
+     584           0 :     return 2.0 * acc_time + (distance - 2.0 * acc_distance) / v_max;
+     585             :   }
+     586             : }
+     587             : 
+     588             : //}
+     589             : 
+     590             : }  // namespace eth_trajectory_generation
+
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    Function Name Sort by function nameHit count Sort by hit count
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)1
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)2
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)3
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)4
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::transformPath(mrs_msgs::Path_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)6
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&)6
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)11
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)11
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, bool, bool)11
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()16
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::validateTrajectorySpatial(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)17
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
    (anonymous namespace)::ProxyExec0::ProxyExec0()81
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)81
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()81
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)898
    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&)5142
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9826
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)142267
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    Test:MRS UAV System - Test coverage reportLines:747109568.2 %
    Date:2024-02-24 08:13:25Functions:2222100.0 %
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    Function Name Sort by function nameHit count Sort by hit count
    (anonymous namespace)::ProxyExec0::ProxyExec0()81
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig&, unsigned int)81
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPath(boost::shared_ptr<mrs_msgs::Path_<std::allocator<void> > const>)1
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::trajectorySrv(mrs_msgs::TrajectoryReference_<std::allocator<void> > const&)4
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::transformPath(mrs_msgs::Path_<std::allocator<void> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)6
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectory(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::preprocessPath(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)11
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrvRequest_<std::allocator<void> >&, mrs_msgs::PathSrvResponse_<std::allocator<void> >&)3
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::distFromSegment(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)5142
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackUavState(boost::shared_ptr<mrs_msgs::UavState_<std::allocator<void> > const>)142267
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::interpolatePoint(Waypoint_t const&, Waypoint_t const&, double const&)898
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrvRequest_<std::allocator<void> >&, mrs_msgs::GetPathSrvResponse_<std::allocator<void> >&)2
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryAsync(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&, bool const&)16
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::findTrajectoryFallback(std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, double const&, bool const&)6
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::getTrajectoryReference(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::optional<mrs_msgs::TrackerCommand_<std::allocator<void> > > const&, double const&)6
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::prepareInitialCondition(ros::Time)11
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::validateTrajectorySpatial(std::vector<eth_mav_msgs::EigenTrajectoryPoint, Eigen::aligned_allocator<eth_mav_msgs::EigenTrajectoryPoint> > const&, std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&)17
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::onInit()81
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::checkNaN(Waypoint_t const&)24
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::optimize[abi:cxx11](std::vector<Waypoint_t, std::allocator<Waypoint_t> > const&, std_msgs::Header_<std::allocator<void> > const&, bool, bool)11
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::overtime()9826
    mrs_uav_trajectory_generation::MrsTrajectoryGeneration::timeLeft()16
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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:747109568.2 %
    Date:2024-02-24 08:13:25Functions:2222100.0 %
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    +
              Line data    Source code
    +
    +       1             : /* includes //{ */
+       2             : 
+       3             : #include <ros/ros.h>
+       4             : #include <ros/package.h>
+       5             : #include <nodelet/nodelet.h>
+       6             : 
+       7             : #include <mrs_msgs/TrajectoryReferenceSrv.h>
+       8             : #include <mrs_msgs/TrajectoryReference.h>
+       9             : 
+      10             : #include <std_srvs/Trigger.h>
+      11             : 
+      12             : #include <geometry_msgs/Vector3Stamped.h>
+      13             : 
+      14             : #include <mrs_msgs/DynamicsConstraints.h>
+      15             : #include <mrs_msgs/Path.h>
+      16             : #include <mrs_msgs/PathSrv.h>
+      17             : #include <mrs_msgs/GetPathSrv.h>
+      18             : #include <mrs_msgs/TrackerCommand.h>
+      19             : #include <mrs_msgs/MpcPredictionFullState.h>
+      20             : #include <mrs_msgs/Reference.h>
+      21             : #include <mrs_msgs/ControlManagerDiagnostics.h>
+      22             : #include <mrs_msgs/UavState.h>
+      23             : 
+      24             : #include <eth_trajectory_generation/impl/polynomial_optimization_nonlinear_impl.h>
+      25             : #include <eth_trajectory_generation/trajectory.h>
+      26             : #include <eth_trajectory_generation/trajectory_sampling.h>
+      27             : 
+      28             : #include <mrs_lib/param_loader.h>
+      29             : #include <mrs_lib/geometry/cyclic.h>
+      30             : #include <mrs_lib/geometry/misc.h>
+      31             : #include <mrs_lib/mutex.h>
+      32             : #include <mrs_lib/batch_visualizer.h>
+      33             : #include <mrs_lib/transformer.h>
+      34             : #include <mrs_lib/utils.h>
+      35             : #include <mrs_lib/scope_timer.h>
+      36             : #include <mrs_lib/attitude_converter.h>
+      37             : #include <mrs_lib/publisher_handler.h>
+      38             : #include <mrs_lib/subscribe_handler.h>
+      39             : 
+      40             : #include <dynamic_reconfigure/server.h>
+      41             : #include <mrs_uav_trajectory_generation/drsConfig.h>
+      42             : 
+      43             : #include <future>
+      44             : 
+      45             : //}
+      46             : 
+      47             : /* using //{ */
+      48             : 
+      49             : using vec2_t = mrs_lib::geometry::vec_t<2>;
+      50             : using vec3_t = mrs_lib::geometry::vec_t<3>;
+      51             : using mat3_t = Eigen::Matrix3Xd;
+      52             : 
+      53             : using radians  = mrs_lib::geometry::radians;
+      54             : using sradians = mrs_lib::geometry::sradians;
+      55             : 
+      56             : //}
+      57             : 
+      58             : /* defines //{ */
+      59             : 
+      60             : #define FUTURIZATION_EXEC_TIME_FACTOR 0.5        // [0, 1]
+      61             : #define FUTURIZATION_FIRST_WAYPOINT_FACTOR 0.50  // [0, 1]
+      62             : #define OVERTIME_SAFETY_FACTOR 0.95              // [0, 1]
+      63             : #define OVERTIME_SAFETY_OFFSET 0.01              // [s]
+      64             : #define NLOPT_EXEC_TIME_FACTOR 0.95              // [0, 1]
+      65             : 
+      66             : typedef struct
+      67             : {
+      68             :   Eigen::Vector4d coords;
+      69             :   bool            stop_at;
+      70             : } Waypoint_t;
+      71             : 
+      72             : //}
+      73             : 
+      74             : namespace mrs_uav_trajectory_generation
+      75             : {
+      76             : 
+      77             : /* class MrsTrajectoryGeneration //{ */
+      78             : class MrsTrajectoryGeneration : public nodelet::Nodelet {
+      79             : 
+      80             : public:
+      81             :   virtual void onInit();
+      82             : 
+      83             : private:
+      84             :   ros::NodeHandle nh_;
+      85             : 
+      86             :   bool is_initialized_ = false;
+      87             : 
+      88             :   // | ----------------------- parameters ----------------------- |
+      89             : 
+      90             :   double _sampling_dt_;
+      91             : 
+      92             :   double _max_trajectory_len_factor_;
+      93             :   double _min_trajectory_len_factor_;
+      94             : 
+      95             :   int _n_attempts_;
+      96             : 
+      97             :   double _min_waypoint_distance_;
+      98             : 
+      99             :   bool   _fallback_sampling_enabled_;
+     100             :   double _fallback_sampling_speed_factor_;
+     101             :   double _fallback_sampling_accel_factor_;
+     102             :   double _fallback_sampling_stopping_time_;
+     103             :   bool   _fallback_sampling_first_waypoint_additional_stop_;
+     104             : 
+     105             :   std::string _uav_name_;
+     106             : 
+     107             :   bool   _trajectory_max_segment_deviation_enabled_;
+     108             :   double trajectory_max_segment_deviation_;
+     109             :   int    _trajectory_max_segment_deviation_max_iterations_;
+     110             : 
+     111             :   bool   _path_straightener_enabled_;
+     112             :   double _path_straightener_max_deviation_;
+     113             :   double _path_straightener_max_hdg_deviation_;
+     114             : 
+     115             :   // | -------- variable parameters (come with the path) -------- |
+     116             : 
+     117             :   std::string frame_id_;
+     118             :   bool        fly_now_                              = false;
+     119             :   bool        use_heading_                          = false;
+     120             :   bool        stop_at_waypoints_                    = false;
+     121             :   bool        override_constraints_                 = false;
+     122             :   bool        loop_                                 = false;
+     123             :   double      override_max_velocity_horizontal_     = 0.0;
+     124             :   double      override_max_velocity_vertical_       = 0.0;
+     125             :   double      override_max_acceleration_horizontal_ = 0.0;
+     126             :   double      override_max_acceleration_vertical_   = 0.0;
+     127             :   double      override_max_jerk_horizontal_         = 0.0;
+     128             :   double      override_max_jerk_vertical_           = 0.0;
+     129             : 
+     130             :   // | -------------- variable parameters (deduced) ------------- |
+     131             : 
+     132             :   double     max_execution_time_ = 0;
+     133             :   std::mutex mutex_max_execution_time_;
+     134             : 
+     135             :   bool max_deviation_first_segment_;
+     136             : 
+     137             :   std::atomic<bool> dont_prepend_initial_condition_ = false;
+     138             : 
+     139             :   // | -------------------- the transformer  -------------------- |
+     140             : 
+     141             :   std::shared_ptr<mrs_lib::Transformer> transformer_;
+     142             : 
+     143             :   // | ------------------- scope timer logger ------------------- |
+     144             : 
+     145             :   bool                                       scope_timer_enabled_ = false;
+     146             :   std::shared_ptr<mrs_lib::ScopeTimerLogger> scope_timer_logger_;
+     147             : 
+     148             :   // service client for input
+     149             :   bool               callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res);
+     150             :   ros::ServiceServer service_server_path_;
+     151             : 
+     152             :   // service client for returning result to the user
+     153             :   bool               callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res);
+     154             :   ros::ServiceServer service_server_get_path_;
+     155             : 
+     156             :   void                                      callbackPath(const mrs_msgs::Path::ConstPtr msg);
+     157             :   mrs_lib::SubscribeHandler<mrs_msgs::Path> sh_path_;
+     158             : 
+     159             :   mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>      sh_tracker_cmd_;
+     160             :   mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints> sh_constraints_;
+     161             : 
+     162             :   void                                          callbackUavState(const mrs_msgs::UavState::ConstPtr msg);
+     163             :   mrs_lib::SubscribeHandler<mrs_msgs::UavState> sh_uav_state_;
+     164             : 
+     165             :   mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics> sh_control_manager_diag_;
+     166             : 
+     167             :   // service client for publishing trajectory out
+     168             :   ros::ServiceClient service_client_trajectory_reference_;
+     169             : 
+     170             :   // solve the whole problem
+     171             :   std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> optimize(const std::vector<Waypoint_t>& waypoints_in, const std_msgs::Header& waypoints_stamp,
+     172             :                                                                         bool fallback_sampling, const bool relax_heading);
+     173             : 
+     174             :   std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> prepareInitialCondition(const ros::Time path_time);
+     175             : 
+     176             :   // batch vizualizer
+     177             :   mrs_lib::BatchVisualizer bw_original_;
+     178             :   mrs_lib::BatchVisualizer bw_final_;
+     179             : 
+     180             :   // transforming TrackerCommand
+     181             :   std::optional<mrs_msgs::Path> transformPath(const mrs_msgs::Path& path, const std::string& target_frame);
+     182             : 
+     183             :   // | ------------------ trajectory validation ----------------- |
+     184             : 
+     185             :   /**
+     186             :    * @brief validates samples of a trajectory agains a path of waypoints
+     187             :    *
+     188             :    * @param trajectory
+     189             :    * @param segments
+     190             :    *
+     191             :    * @return <success, traj_fail_idx, path_fail_segment>
+     192             :    */
+     193             :   std::tuple<bool, int, std::vector<bool>, double> validateTrajectorySpatial(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     194             :                                                                              const std::vector<Waypoint_t>&                    waypoints);
+     195             : 
+     196             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     197             :                                                                            const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     198             :                                                                            const double& sampling_dt, const bool& relax_heading);
+     199             : 
+     200             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints, const double& sampling_dt,
+     201             :                                                                                    const bool& relax_heading);
+     202             : 
+     203             :   std::future<std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector>> future_trajectory_result_;
+     204             :   std::atomic<bool>                                                      running_async_planning_ = false;
+     205             : 
+     206             :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> findTrajectoryAsync(const std::vector<Waypoint_t>&                 waypoints,
+     207             :                                                                                 const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     208             :                                                                                 const double& sampling_dt, const bool& relax_heading);
+     209             : 
+     210             :   std::vector<Waypoint_t> preprocessPath(const std::vector<Waypoint_t>& waypoints_in);
+     211             : 
+     212             :   mrs_msgs::TrajectoryReference getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+     213             :                                                        const std::optional<mrs_msgs::TrackerCommand>& initial_condition, const double& sampling_dt);
+     214             : 
+     215             :   Waypoint_t interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff);
+     216             : 
+     217             :   bool checkNaN(const Waypoint_t& a);
+     218             : 
+     219             :   double distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2);
+     220             : 
+     221             :   bool trajectorySrv(const mrs_msgs::TrajectoryReference& msg);
+     222             : 
+     223             :   // | --------------- dynamic reconfigure server --------------- |
+     224             : 
+     225             :   boost::recursive_mutex                           mutex_drs_;
+     226             :   typedef mrs_uav_trajectory_generation::drsConfig DrsParams_t;
+     227             :   typedef dynamic_reconfigure::Server<DrsParams_t> Drs_t;
+     228             :   boost::shared_ptr<Drs_t>                         drs_;
+     229             :   void                                             callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, uint32_t level);
+     230             :   DrsParams_t                                      params_;
+     231             :   std::mutex                                       mutex_params_;
+     232             : 
+     233             :   // | ------------ Republisher for the desired path ------------ |
+     234             : 
+     235             :   mrs_lib::PublisherHandler<mrs_msgs::Path> ph_original_path_;
+     236             : 
+     237             :   // | ------------- measuring the time of execution ------------ |
+     238             : 
+     239             :   ros::Time  start_time_total_;
+     240             :   std::mutex mutex_start_time_total_;
+     241             :   bool       overtime(void);
+     242             :   double     timeLeft(void);
+     243             : };
+     244             : 
+     245             : //}
+     246             : 
+     247             : /* onInit() //{ */
+     248             : 
+     249          81 : void MrsTrajectoryGeneration::onInit() {
+     250             : 
+     251             :   /* obtain node handle */
+     252          81 :   nh_ = nodelet::Nodelet::getMTPrivateNodeHandle();
+     253             : 
+     254             :   /* waits for the ROS to publish clock */
+     255          81 :   ros::Time::waitForValid();
+     256             : 
+     257             :   // | ----------------------- publishers ----------------------- |
+     258             : 
+     259          81 :   ph_original_path_ = mrs_lib::PublisherHandler<mrs_msgs::Path>(nh_, "original_path_out", 1);
+     260             : 
+     261             :   // | ----------------------- subscribers ---------------------- |
+     262             : 
+     263         162 :   mrs_lib::SubscribeHandlerOptions shopts;
+     264          81 :   shopts.nh                 = nh_;
+     265          81 :   shopts.node_name          = "TrajectoryGeneration";
+     266          81 :   shopts.no_message_timeout = mrs_lib::no_timeout;
+     267          81 :   shopts.threadsafe         = true;
+     268          81 :   shopts.autostart          = true;
+     269          81 :   shopts.queue_size         = 10;
+     270          81 :   shopts.transport_hints    = ros::TransportHints().tcpNoDelay();
+     271             : 
+     272          81 :   sh_constraints_          = mrs_lib::SubscribeHandler<mrs_msgs::DynamicsConstraints>(shopts, "constraints_in");
+     273          81 :   sh_tracker_cmd_          = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "tracker_cmd_in");
+     274          81 :   sh_uav_state_            = mrs_lib::SubscribeHandler<mrs_msgs::UavState>(shopts, "uav_state_in", &MrsTrajectoryGeneration::callbackUavState, this);
+     275          81 :   sh_control_manager_diag_ = mrs_lib::SubscribeHandler<mrs_msgs::ControlManagerDiagnostics>(shopts, "control_manager_diag_in");
+     276             : 
+     277          81 :   sh_path_ = mrs_lib::SubscribeHandler<mrs_msgs::Path>(shopts, "path_in", &MrsTrajectoryGeneration::callbackPath, this);
+     278             : 
+     279             :   // | --------------------- service servers -------------------- |
+     280             : 
+     281          81 :   service_server_path_ = nh_.advertiseService("path_in", &MrsTrajectoryGeneration::callbackPathSrv, this);
+     282             : 
+     283          81 :   service_server_get_path_ = nh_.advertiseService("get_path_in", &MrsTrajectoryGeneration::callbackGetPathSrv, this);
+     284             : 
+     285          81 :   service_client_trajectory_reference_ = nh_.serviceClient<mrs_msgs::TrajectoryReferenceSrv>("trajectory_reference_out");
+     286             : 
+     287             :   // | ----------------------- parameters ----------------------- |
+     288             : 
+     289         162 :   mrs_lib::ParamLoader param_loader(nh_, "MrsTrajectoryGeneration");
+     290             : 
+     291         162 :   std::string custom_config_path;
+     292         162 :   std::string platform_config_path;
+     293             : 
+     294          81 :   param_loader.loadParam("custom_config", custom_config_path);
+     295          81 :   param_loader.loadParam("platform_config", platform_config_path);
+     296             : 
+     297          81 :   if (custom_config_path != "") {
+     298          81 :     param_loader.addYamlFile(custom_config_path);
+     299             :   }
+     300             : 
+     301          81 :   if (platform_config_path != "") {
+     302          81 :     param_loader.addYamlFile(platform_config_path);
+     303             :   }
+     304             : 
+     305          81 :   param_loader.addYamlFileFromParam("private_config");
+     306          81 :   param_loader.addYamlFileFromParam("public_config");
+     307             : 
+     308         162 :   const std::string yaml_prefix = "mrs_uav_trajectory_generation/";
+     309             : 
+     310          81 :   param_loader.loadParam("uav_name", _uav_name_);
+     311             : 
+     312          81 :   param_loader.loadParam(yaml_prefix + "sampling_dt", _sampling_dt_);
+     313             : 
+     314          81 :   param_loader.loadParam(yaml_prefix + "enforce_fallback_solver", params_.enforce_fallback_solver);
+     315             : 
+     316          81 :   param_loader.loadParam(yaml_prefix + "max_trajectory_len_factor", _max_trajectory_len_factor_);
+     317          81 :   param_loader.loadParam(yaml_prefix + "min_trajectory_len_factor", _min_trajectory_len_factor_);
+     318             : 
+     319          81 :   param_loader.loadParam(yaml_prefix + "n_attempts", _n_attempts_);
+     320          81 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/enabled", _fallback_sampling_enabled_);
+     321          81 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/speed_factor", _fallback_sampling_speed_factor_);
+     322          81 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/accel_factor", _fallback_sampling_accel_factor_);
+     323          81 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/stopping_time", _fallback_sampling_stopping_time_);
+     324          81 :   param_loader.loadParam(yaml_prefix + "fallback_sampling/first_waypoint_additional_stop", _fallback_sampling_first_waypoint_additional_stop_);
+     325             : 
+     326          81 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/enabled", _trajectory_max_segment_deviation_enabled_);
+     327          81 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_deviation", params_.max_deviation);
+     328          81 :   param_loader.loadParam(yaml_prefix + "check_trajectory_deviation/max_iterations", _trajectory_max_segment_deviation_max_iterations_);
+     329             : 
+     330          81 :   param_loader.loadParam(yaml_prefix + "path_straightener/enabled", _path_straightener_enabled_);
+     331          81 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_deviation", _path_straightener_max_deviation_);
+     332          81 :   param_loader.loadParam(yaml_prefix + "path_straightener/max_hdg_deviation", _path_straightener_max_hdg_deviation_);
+     333             : 
+     334          81 :   param_loader.loadParam(yaml_prefix + "min_waypoint_distance", _min_waypoint_distance_);
+     335             : 
+     336             :   // | --------------------- tf transformer --------------------- |
+     337             : 
+     338          81 :   transformer_ = std::make_shared<mrs_lib::Transformer>(nh_, "TrajectoryGeneration");
+     339          81 :   transformer_->setDefaultPrefix(_uav_name_);
+     340          81 :   transformer_->retryLookupNewest(true);
+     341             : 
+     342             :   // | ------------------- scope timer logger ------------------- |
+     343             : 
+     344          81 :   param_loader.loadParam(yaml_prefix + "scope_timer/enabled", scope_timer_enabled_);
+     345         243 :   const std::string scope_timer_log_filename = param_loader.loadParam2("scope_timer/log_filename", std::string(""));
+     346          81 :   scope_timer_logger_                        = std::make_shared<mrs_lib::ScopeTimerLogger>(scope_timer_log_filename, scope_timer_enabled_);
+     347             : 
+     348             :   // | --------------------- service clients -------------------- |
+     349             : 
+     350          81 :   param_loader.loadParam(yaml_prefix + "time_penalty", params_.time_penalty);
+     351          81 :   param_loader.loadParam(yaml_prefix + "soft_constraints_enabled", params_.soft_constraints_enabled);
+     352          81 :   param_loader.loadParam(yaml_prefix + "soft_constraints_weight", params_.soft_constraints_weight);
+     353          81 :   param_loader.loadParam(yaml_prefix + "time_allocation", params_.time_allocation);
+     354          81 :   param_loader.loadParam(yaml_prefix + "equality_constraint_tolerance", params_.equality_constraint_tolerance);
+     355          81 :   param_loader.loadParam(yaml_prefix + "inequality_constraint_tolerance", params_.inequality_constraint_tolerance);
+     356          81 :   param_loader.loadParam(yaml_prefix + "max_iterations", params_.max_iterations);
+     357          81 :   param_loader.loadParam(yaml_prefix + "derivative_to_optimize", params_.derivative_to_optimize);
+     358             : 
+     359          81 :   param_loader.loadParam(yaml_prefix + "max_time", params_.max_execution_time);
+     360             : 
+     361          81 :   max_execution_time_ = params_.max_execution_time;
+     362             : 
+     363          81 :   if (!param_loader.loadedSuccessfully()) {
+     364           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: could not load all parameters!");
+     365           0 :     ros::shutdown();
+     366             :   }
+     367             : 
+     368             :   // | -------------------- batch visualizer -------------------- |
+     369             : 
+     370          81 :   bw_original_ = mrs_lib::BatchVisualizer(nh_, "markers/original", "");
+     371             : 
+     372          81 :   bw_original_.clearBuffers();
+     373          81 :   bw_original_.clearVisuals();
+     374             : 
+     375          81 :   bw_final_ = mrs_lib::BatchVisualizer(nh_, "markers/final", "");
+     376             : 
+     377          81 :   bw_final_.clearBuffers();
+     378          81 :   bw_final_.clearVisuals();
+     379             : 
+     380             :   // | --------------- dynamic reconfigure server --------------- |
+     381             : 
+     382          81 :   drs_.reset(new Drs_t(mutex_drs_, nh_));
+     383          81 :   drs_->updateConfig(params_);
+     384          81 :   Drs_t::CallbackType f = boost::bind(&MrsTrajectoryGeneration::callbackDrs, this, _1, _2);
+     385          81 :   drs_->setCallback(f);
+     386             : 
+     387             :   // | --------------------- finish the init -------------------- |
+     388             : 
+     389          81 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: initialized");
+     390             : 
+     391          81 :   is_initialized_ = true;
+     392          81 : }
+     393             : 
+     394             : //}
+     395             : 
+     396             : // | ---------------------- main routines --------------------- |
+     397             : 
+     398             : /*
+     399             :  * 1. preprocessPath(): preprocessing the incoming path
+     400             :  *    - throughs away too close waypoints
+     401             :  *    - straightness path by neglecting waypoints close to segments
+     402             :  * 2. optimize(): solves the whole problem including
+     403             :  *    - subdivision for satisfying max deviation
+     404             :  * 3. findTrajectory(): solves single instance by the ETH tool
+     405             :  * 4. findTrajectoryFallback(): Baca's sampling for backup solution
+     406             :  * 5. validateTrajectorySpatial(): checks for the spatial soundness of a trajectory vs. the original path
+     407             :  */
+     408             : 
+     409             : /* preprocessPath() //{ */
+     410             : 
+     411          11 : std::vector<Waypoint_t> MrsTrajectoryGeneration::preprocessPath(const std::vector<Waypoint_t>& waypoints_in) {
+     412             : 
+     413          33 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::preprocessPath", scope_timer_logger_, scope_timer_enabled_);
+     414             : 
+     415          11 :   std::vector<Waypoint_t> waypoints;
+     416             : 
+     417          11 :   size_t last_added_idx = 0;  // in "waypoints_in"
+     418             : 
+     419          62 :   for (size_t i = 0; i < waypoints_in.size(); i++) {
+     420             : 
+     421          51 :     double x       = waypoints_in.at(i).coords[0];
+     422          51 :     double y       = waypoints_in.at(i).coords[1];
+     423          51 :     double z       = waypoints_in.at(i).coords[2];
+     424          51 :     double heading = waypoints_in.at(i).coords[3];
+     425             : 
+     426          51 :     bw_original_.addPoint(vec3_t(x, y, z), 1.0, 0.0, 0.0, 1.0);
+     427             : 
+     428          51 :     if (_path_straightener_enabled_ && waypoints_in.size() >= 3 && i > 0 && i < (waypoints_in.size() - 1)) {
+     429             : 
+     430           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]);
+     431           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]);
+     432             : 
+     433           0 :       double first_hdg = waypoints_in.at(last_added_idx).coords[3];
+     434           0 :       double last_hdg  = waypoints_in.at(i + 1).coords[3];
+     435             : 
+     436           0 :       size_t next_point = last_added_idx + 1;
+     437             : 
+     438           0 :       bool segment_is_ok = true;
+     439             : 
+     440           0 :       for (size_t j = next_point; j < i + 1; j++) {
+     441             : 
+     442           0 :         vec3_t mid(waypoints_in.at(j).coords[0], waypoints_in.at(j).coords[1], waypoints_in.at(j).coords[2]);
+     443           0 :         double mid_hdg = waypoints_in.at(j).coords[3];
+     444             : 
+     445           0 :         double dist_from_segment = distFromSegment(mid, first, last);
+     446             : 
+     447           0 :         if (dist_from_segment > _path_straightener_max_deviation_ || fabs(radians::diff(first_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_) ||
+     448           0 :             fabs(radians::diff(last_hdg, mid_hdg) > _path_straightener_max_hdg_deviation_)) {
+     449           0 :           segment_is_ok = false;
+     450           0 :           break;
+     451             :         }
+     452             :       }
+     453             : 
+     454           0 :       if (segment_is_ok) {
+     455           0 :         continue;
+     456             :       }
+     457             :     }
+     458             : 
+     459          51 :     if (i > 0 && i < (waypoints_in.size() - 1)) {
+     460             : 
+     461          29 :       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]);
+     462          29 :       vec3_t last(waypoints_in.at(i).coords[0], waypoints_in.at(i).coords[1], waypoints_in.at(i).coords[2]);
+     463             : 
+     464          29 :       if (mrs_lib::geometry::dist(first, last) < _min_waypoint_distance_) {
+     465           0 :         ROS_INFO("[MrsTrajectoryGeneration]: waypoint #%d too close (< %.3f m) to the previous one (#%d), throwing it away", int(i), _min_waypoint_distance_,
+     466             :                  int(last_added_idx));
+     467           0 :         continue;
+     468             :       }
+     469             :     }
+     470             : 
+     471          51 :     Waypoint_t wp;
+     472          51 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+     473          51 :     wp.stop_at = waypoints_in.at(i).stop_at;
+     474          51 :     waypoints.push_back(wp);
+     475             : 
+     476          51 :     last_added_idx = i;
+     477             :   }
+     478             : 
+     479          22 :   return waypoints;
+     480             : }
+     481             : 
+     482             : //}
+     483             : 
+     484             : /* prepareInitialCondition() //{ */
+     485             : 
+     486          11 : std::tuple<std::optional<mrs_msgs::TrackerCommand>, bool, int> MrsTrajectoryGeneration::prepareInitialCondition(const ros::Time path_time) {
+     487             : 
+     488          11 :   if (dont_prepend_initial_condition_) {
+     489           0 :     return {{}, false, 0};
+     490             :   }
+     491             : 
+     492          11 :   if (!sh_tracker_cmd_.hasMsg()) {
+     493           8 :     return {{}, false, 0};
+     494             :   }
+     495             : 
+     496          14 :   auto tracker_cmd = sh_tracker_cmd_.getMsg();
+     497             : 
+     498             :   // | ------------- prepare the initial conditions ------------- |
+     499             : 
+     500          14 :   mrs_msgs::TrackerCommand initial_condition;
+     501             : 
+     502           7 :   bool path_from_future = false;
+     503             : 
+     504             :   // positive = in the future
+     505           7 :   double path_time_offset = 0;
+     506             : 
+     507           7 :   if (path_time != ros::Time(0)) {
+     508           0 :     path_time_offset = (path_time - ros::Time::now()).toSec();
+     509             :   }
+     510             : 
+     511           7 :   int path_sample_offset = 0;
+     512             : 
+     513             :   // if the desired path starts in the future, more than one MPC step ahead
+     514           7 :   if (path_time_offset > 0.2) {
+     515             : 
+     516           0 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is from the future by %.2f s", path_time_offset);
+     517             : 
+     518             :     // calculate the offset in samples in the predicted trajectory
+     519             :     // 0.01 is subtracted for the first sample, which is smaller
+     520             :     // +1 is added due to the first sample, which was subtarcted
+     521           0 :     path_sample_offset = int(ceil((path_time_offset * FUTURIZATION_FIRST_WAYPOINT_FACTOR - 0.01) / 0.2)) + 1;
+     522             : 
+     523           0 :     if (path_sample_offset > (int(tracker_cmd->full_state_prediction.position.size()) - 1)) {
+     524             : 
+     525           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: can not extrapolate into the waypoints, using tracker_cmd instead");
+     526           0 :       initial_condition = *tracker_cmd;
+     527             : 
+     528             :     } else {
+     529             : 
+     530             :       // copy the sample from the current prediction into TrackerCommand, so that we can easily transform it
+     531           0 :       mrs_msgs::TrackerCommand full_state;
+     532             : 
+     533           0 :       full_state.header = tracker_cmd->full_state_prediction.header;
+     534             : 
+     535           0 :       full_state.position     = tracker_cmd->full_state_prediction.position[path_sample_offset];
+     536           0 :       full_state.velocity     = tracker_cmd->full_state_prediction.velocity[path_sample_offset];
+     537           0 :       full_state.acceleration = tracker_cmd->full_state_prediction.acceleration[path_sample_offset];
+     538           0 :       full_state.jerk         = tracker_cmd->full_state_prediction.jerk[path_sample_offset];
+     539             : 
+     540           0 :       full_state.heading              = tracker_cmd->full_state_prediction.heading[path_sample_offset];
+     541           0 :       full_state.heading_rate         = tracker_cmd->full_state_prediction.heading_rate[path_sample_offset];
+     542           0 :       full_state.heading_acceleration = tracker_cmd->full_state_prediction.heading_acceleration[path_sample_offset];
+     543           0 :       full_state.heading_jerk         = tracker_cmd->full_state_prediction.heading_jerk[path_sample_offset];
+     544             : 
+     545           0 :       ROS_INFO("[MrsTrajectoryGeneration]: getting initial condition from the %d-th sample of the MPC prediction", path_sample_offset);
+     546             : 
+     547           0 :       initial_condition.header = full_state.header;
+     548             : 
+     549           0 :       initial_condition.position     = full_state.position;
+     550           0 :       initial_condition.velocity     = full_state.velocity;
+     551           0 :       initial_condition.acceleration = full_state.acceleration;
+     552           0 :       initial_condition.jerk         = full_state.jerk;
+     553             : 
+     554           0 :       initial_condition.heading              = full_state.heading;
+     555           0 :       initial_condition.heading_rate         = full_state.heading_rate;
+     556           0 :       initial_condition.heading_acceleration = full_state.heading_acceleration;
+     557           0 :       initial_condition.heading_jerk         = full_state.heading_jerk;
+     558             : 
+     559           0 :       path_from_future = true;
+     560             :     }
+     561             : 
+     562             :   } else {
+     563             : 
+     564           7 :     ROS_INFO("[MrsTrajectoryGeneration]: desired path is NOT from the future, using tracker_cmd as the initial condition");
+     565             : 
+     566           7 :     initial_condition = *tracker_cmd;
+     567             :   }
+     568             : 
+     569           7 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     570             : 
+     571           7 :   if (path_time == ros::Time(0)) {
+     572           7 :     if (!control_manager_diag->tracker_status.have_goal) {
+     573           3 :       initial_condition.header.stamp = ros::Time(0);
+     574             :     }
+     575             :   }
+     576             : 
+     577           7 :   return {{initial_condition}, path_from_future, path_sample_offset};
+     578             : }
+     579             : 
+     580             : //}
+     581             : 
+     582             : /* optimize() //{ */
+     583             : 
+     584          11 : std::tuple<bool, std::string, mrs_msgs::TrajectoryReference> MrsTrajectoryGeneration::optimize(const std::vector<Waypoint_t>& waypoints_in,
+     585             :                                                                                                const std_msgs::Header&        waypoints_header,
+     586             :                                                                                                const bool fallback_sampling, const bool relax_heading) {
+     587             : 
+     588          33 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::optimize", scope_timer_logger_, scope_timer_enabled_);
+     589             : 
+     590          11 :   ros::Time optimize_time_start = ros::Time::now();
+     591             : 
+     592             :   // | ---------------- reset the visual markers ---------------- |
+     593             : 
+     594          11 :   bw_original_.clearBuffers();
+     595          11 :   bw_original_.clearVisuals();
+     596          11 :   bw_final_.clearBuffers();
+     597          11 :   bw_final_.clearVisuals();
+     598             : 
+     599          11 :   bw_original_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     600          11 :   bw_final_.setParentFrame(transformer_->resolveFrame(frame_id_));
+     601             : 
+     602          11 :   bw_original_.setPointsScale(0.4);
+     603          11 :   bw_final_.setPointsScale(0.35);
+     604             : 
+     605             :   // empty path is invalid
+     606          11 :   if (waypoints_in.size() == 0) {
+     607           0 :     std::stringstream ss;
+     608           0 :     ss << "the path is empty (before postprocessing)";
+     609           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     610           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     611             :   }
+     612             : 
+     613          22 :   std::vector<Waypoint_t> waypoints_in_with_init = waypoints_in;
+     614             : 
+     615          11 :   double path_time_offset = (waypoints_header.stamp - ros::Time::now()).toSec();
+     616             : 
+     617          11 :   if (path_time_offset > 0.2 && waypoints_in_with_init.size() >= 2) {
+     618           0 :     waypoints_in_with_init.erase(waypoints_in_with_init.begin());
+     619             :   }
+     620             : 
+     621          22 :   auto [initial_condition, path_from_future, path_sample_offset] = prepareInitialCondition(waypoints_header.stamp);
+     622             : 
+     623             :   // prepend the initial condition
+     624          11 :   if (initial_condition) {
+     625             : 
+     626           7 :     Waypoint_t initial_waypoint;
+     627             :     initial_waypoint.coords =
+     628           7 :         Eigen::Vector4d(initial_condition->position.x, initial_condition->position.y, initial_condition->position.z, initial_condition->heading);
+     629           7 :     initial_waypoint.stop_at = false;
+     630           7 :     waypoints_in_with_init.insert(waypoints_in_with_init.begin(), initial_waypoint);
+     631             : 
+     632             :   } else {
+     633           4 :     if (!dont_prepend_initial_condition_) {
+     634           4 :       fly_now_ = false;
+     635             :     }
+     636             :   }
+     637             : 
+     638          22 :   std::vector<Waypoint_t> waypoints = preprocessPath(waypoints_in_with_init);
+     639             : 
+     640          11 :   if (waypoints.size() <= 1) {
+     641           0 :     std::stringstream ss;
+     642           0 :     ss << "the path is empty (after postprocessing)";
+     643           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     644           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     645             :   }
+     646             : 
+     647          11 :   bool              safe = false;
+     648             :   int               traj_idx;
+     649          22 :   std::vector<bool> segment_safeness;
+     650          11 :   double            max_deviation = 0;
+     651             : 
+     652          22 :   eth_mav_msgs::EigenTrajectoryPoint::Vector trajectory;
+     653             : 
+     654          11 :   double sampling_dt = 0;
+     655             : 
+     656          11 :   if (path_from_future) {
+     657           0 :     ROS_INFO("[MrsTrajectoryGeneration]: changing dt = 0.2, cause the path is from the future");
+     658           0 :     sampling_dt = 0.2;
+     659             :   } else {
+     660          11 :     sampling_dt = _sampling_dt_;
+     661             :   }
+     662             : 
+     663          11 :   std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> result;
+     664             : 
+     665          22 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+     666             : 
+     667          11 :   if (params.enforce_fallback_solver) {
+     668           0 :     ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     669           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     670          11 :   } else if (fallback_sampling) {
+     671           0 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     672           0 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     673          11 :   } else if (running_async_planning_) {
+     674           5 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     675           5 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     676           6 :   } else if (overtime()) {
+     677           1 :     ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     678           1 :     result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     679             :   } else {
+     680             : 
+     681           5 :     result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     682             :   }
+     683             : 
+     684          11 :   if (result) {
+     685          11 :     trajectory = result.value();
+     686             :   } else {
+     687           0 :     std::stringstream ss;
+     688           0 :     ss << "failed to find trajectory";
+     689           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     690           0 :     return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     691             :   }
+     692             : 
+     693          17 :   for (int k = 0; k < _trajectory_max_segment_deviation_max_iterations_; k++) {
+     694             : 
+     695          17 :     ROS_DEBUG("[MrsTrajectoryGeneration]: revalidation cycle #%d", k);
+     696             : 
+     697          17 :     std::tie(safe, traj_idx, segment_safeness, max_deviation) = validateTrajectorySpatial(trajectory, waypoints);
+     698             : 
+     699          17 :     if (_trajectory_max_segment_deviation_enabled_ && !safe) {
+     700             : 
+     701          11 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is not safe, max deviation %.3f m", max_deviation);
+     702             : 
+     703          11 :       std::vector<Waypoint_t>::iterator waypoint = waypoints.begin();
+     704          11 :       std::vector<bool>::iterator       safeness = segment_safeness.begin();
+     705             : 
+     706         109 :       for (; waypoint < waypoints.end() - 1; waypoint++) {
+     707             : 
+     708          98 :         if (!(*safeness)) {
+     709             : 
+     710          49 :           if (waypoint > waypoints.begin() || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+     711          49 :             Waypoint_t midpoint2 = interpolatePoint(*waypoint, *(waypoint + 1), 0.5);
+     712          49 :             waypoint             = waypoints.insert(waypoint + 1, midpoint2);
+     713             :           }
+     714             :         }
+     715             : 
+     716          98 :         safeness++;
+     717             :       }
+     718             : 
+     719          11 :       if (params.enforce_fallback_solver) {
+     720           0 :         ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling enforced");
+     721           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     722          11 :       } else if (fallback_sampling) {
+     723           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling");
+     724           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     725          11 :       } else if (running_async_planning_) {
+     726           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, the previous async task is still running");
+     727           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     728          11 :       } else if (overtime()) {
+     729           0 :         ROS_WARN("[MrsTrajectoryGeneration]: executing fallback sampling, we are running over time");
+     730           0 :         result = findTrajectoryFallback(waypoints, sampling_dt, relax_heading);
+     731             :       } else {
+     732          11 :         result = findTrajectoryAsync(waypoints, initial_condition, sampling_dt, relax_heading);
+     733             :       }
+     734             : 
+     735          11 :       if (result) {
+     736           6 :         trajectory = result.value();
+     737             :       } else {
+     738           5 :         std::stringstream ss;
+     739           5 :         ss << "failed to find trajectory";
+     740           5 :         ROS_WARN_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     741           5 :         return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     742           6 :       }
+     743             : 
+     744             :     } else {
+     745           6 :       ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory is safe (%.2f)", max_deviation);
+     746           6 :       safe = true;
+     747           6 :       break;
+     748             :     }
+     749             :   }
+     750             : 
+     751           6 :   ROS_INFO("[MrsTrajectoryGeneration]: final max trajectory-path deviation: %.2f m, total trajectory time: %.2fs ", max_deviation,
+     752             :            trajectory.size() * sampling_dt);
+     753             : 
+     754             :   // prepare rviz markers
+     755          34 :   for (int i = 0; i < int(waypoints.size()); i++) {
+     756          28 :     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);
+     757             :   }
+     758             : 
+     759          12 :   mrs_msgs::TrajectoryReference mrs_trajectory;
+     760             : 
+     761             :   // convert the optimized trajectory to mrs_msgs::TrajectoryReference
+     762           6 :   mrs_trajectory = getTrajectoryReference(trajectory, initial_condition, sampling_dt);
+     763             : 
+     764             :   // insert part of the MPC prediction in the front of the generated trajectory to compensate for the future
+     765           6 :   if (path_from_future) {
+     766             : 
+     767           0 :     auto current_prediction = sh_tracker_cmd_.getMsg()->full_state_prediction;
+     768             : 
+     769             :     // calculate the starting idx that we will use from the current_prediction
+     770           0 :     double path_time_offset_2   = (ros::Time::now() - current_prediction.header.stamp).toSec();  // = how long did it take to optimize
+     771           0 :     int    path_sample_offset_2 = int(floor((path_time_offset_2 - 0.01) / 0.2)) + 1;
+     772             : 
+     773             :     // if there is anything to insert
+     774           0 :     if (path_sample_offset > path_sample_offset_2) {
+     775             : 
+     776           0 :       ROS_INFO("[MrsTrajectoryGeneration]: inserting pre-trajectory from the prediction, idxs %d to %d", path_sample_offset_2, path_sample_offset);
+     777             : 
+     778           0 :       for (int i = path_sample_offset - 1; i >= 0; i--) {
+     779             : 
+     780           0 :         ROS_DEBUG("[MrsTrajectoryGeneration]: inserting idx %d", i);
+     781             : 
+     782           0 :         mrs_msgs::ReferenceStamped reference;
+     783             : 
+     784           0 :         reference.header = current_prediction.header;
+     785             : 
+     786           0 :         reference.reference.heading  = current_prediction.heading[i];
+     787           0 :         reference.reference.position = current_prediction.position[i];
+     788             : 
+     789           0 :         auto res = transformer_->transformSingle(reference, waypoints_header.frame_id);
+     790             : 
+     791           0 :         if (res) {
+     792           0 :           reference = res.value();
+     793             :         } else {
+     794           0 :           std::stringstream ss;
+     795           0 :           ss << "could not transform reference to the path frame";
+     796           0 :           ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+     797           0 :           return std::tuple(false, ss.str(), mrs_msgs::TrajectoryReference());
+     798             :         }
+     799             : 
+     800           0 :         mrs_trajectory.points.insert(mrs_trajectory.points.begin(), reference.reference);
+     801             :       }
+     802             :     }
+     803             :   }
+     804             : 
+     805           6 :   bw_original_.publish();
+     806           6 :   bw_final_.publish();
+     807             : 
+     808           6 :   std::stringstream ss;
+     809           6 :   ss << "trajectory generated";
+     810             : 
+     811           6 :   ROS_DEBUG("[MrsTrajectoryGeneration]: trajectory generated, took %.3f s", (ros::Time::now() - optimize_time_start).toSec());
+     812             : 
+     813           6 :   return std::tuple(true, ss.str(), mrs_trajectory);
+     814             : }
+     815             : 
+     816             : //}
+     817             : 
+     818             : /* findTrajectory() //{ */
+     819             : 
+     820          16 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectory(const std::vector<Waypoint_t>&                 waypoints,
+     821             :                                                                                                   const std::optional<mrs_msgs::TrackerCommand>& initial_state,
+     822             :                                                                                                   const double& sampling_dt, const bool& relax_heading) {
+     823             : 
+     824          48 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectory", scope_timer_logger_, scope_timer_enabled_);
+     825             : 
+     826          32 :   mrs_lib::AtomicScopeFlag unset_running(running_async_planning_);
+     827             : 
+     828          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: findTrajectory() started");
+     829             : 
+     830          16 :   ros::Time find_trajectory_time_start = ros::Time::now();
+     831             : 
+     832          32 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+     833          32 :   auto constraints = sh_constraints_.getMsg();
+     834             : 
+     835          32 :   auto control_manager_diag = sh_control_manager_diag_.getMsg();
+     836             : 
+     837          16 :   if (initial_state && (initial_state->header.stamp - ros::Time::now()).toSec() < 0.2 && control_manager_diag->tracker_status.have_goal) {
+     838           3 :     max_deviation_first_segment_ = false;
+     839             :   } else {
+     840          13 :     max_deviation_first_segment_ = true;
+     841             :   }
+     842             : 
+     843             :   // optimizer
+     844             : 
+     845          16 :   eth_trajectory_generation::NonlinearOptimizationParameters parameters;
+     846             : 
+     847          16 :   parameters.f_rel                  = 0.05;
+     848          16 :   parameters.x_rel                  = 0.1;
+     849          16 :   parameters.time_penalty           = params.time_penalty;
+     850          16 :   parameters.use_soft_constraints   = params.soft_constraints_enabled;
+     851          16 :   parameters.soft_constraint_weight = params.soft_constraints_weight;
+     852          16 :   parameters.time_alloc_method      = static_cast<eth_trajectory_generation::NonlinearOptimizationParameters::TimeAllocMethod>(params.time_allocation);
+     853          16 :   if (params.time_allocation == 2) {
+     854          16 :     parameters.algorithm = nlopt::LD_LBFGS;
+     855             :   }
+     856          16 :   parameters.initial_stepsize_rel            = 0.1;
+     857          16 :   parameters.inequality_constraint_tolerance = params.inequality_constraint_tolerance;
+     858          16 :   parameters.equality_constraint_tolerance   = params.equality_constraint_tolerance;
+     859          16 :   parameters.max_iterations                  = params.max_iterations;
+     860             : 
+     861             :   // let's tell the solver tha it is more time then it thinks, to not stop prematurely
+     862          16 :   parameters.max_time = 2 * (NLOPT_EXEC_TIME_FACTOR * timeLeft());
+     863             : 
+     864          32 :   eth_trajectory_generation::Vertex::Vector vertices;
+     865          16 :   const int                                 dimension = 4;
+     866             : 
+     867          16 :   int derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     868             : 
+     869          16 :   switch (params.derivative_to_optimize) {
+     870          16 :     case 0: {
+     871          16 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::ACCELERATION;
+     872          16 :       break;
+     873             :     }
+     874           0 :     case 1: {
+     875           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::JERK;
+     876           0 :       break;
+     877             :     }
+     878           0 :     case 2: {
+     879           0 :       derivative_to_optimize = eth_trajectory_generation::derivative_order::SNAP;
+     880           0 :       break;
+     881             :     }
+     882             :   }
+     883             : 
+     884             :   // | --------------- add constraints to vertices -------------- |
+     885             : 
+     886             :   double last_heading;
+     887             : 
+     888          16 :   if (initial_state) {
+     889          12 :     last_heading = initial_state->heading;
+     890             :   } else {
+     891           4 :     last_heading = waypoints.at(0).coords[3];
+     892             :   }
+     893             : 
+     894         197 :   for (size_t i = 0; i < waypoints.size(); i++) {
+     895         181 :     double x       = waypoints.at(i).coords[0];
+     896         181 :     double y       = waypoints.at(i).coords[1];
+     897         181 :     double z       = waypoints.at(i).coords[2];
+     898         181 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+     899         181 :     last_heading   = heading;
+     900             : 
+     901         362 :     eth_trajectory_generation::Vertex vertex(dimension);
+     902             : 
+     903         181 :     if (i == 0) {
+     904             : 
+     905          16 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     906             : 
+     907          16 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     908             : 
+     909          16 :       if (initial_state) {
+     910             : 
+     911          12 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY,
+     912          12 :                              Eigen::Vector4d(initial_state->velocity.x, initial_state->velocity.y, initial_state->velocity.z, initial_state->heading_rate));
+     913             : 
+     914          12 :         vertex.addConstraint(
+     915             :             eth_trajectory_generation::derivative_order::ACCELERATION,
+     916          12 :             Eigen::Vector4d(initial_state->acceleration.x, initial_state->acceleration.y, initial_state->acceleration.z, initial_state->heading_acceleration));
+     917             : 
+     918          12 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK,
+     919          24 :                              Eigen::Vector4d(initial_state->jerk.x, initial_state->jerk.y, initial_state->jerk.z, initial_state->heading_jerk));
+     920             :       }
+     921             : 
+     922         165 :     } else if (i == (waypoints.size() - 1)) {  // the last point
+     923             : 
+     924          16 :       vertex.makeStartOrEnd(Eigen::Vector4d(x, y, z, heading), derivative_to_optimize);
+     925             : 
+     926          16 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     927             : 
+     928             :     } else {  // mid points
+     929             : 
+     930         149 :       vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+     931             : 
+     932         149 :       if (waypoints.at(i).stop_at) {
+     933           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::VELOCITY, Eigen::Vector4d(0, 0, 0, 0));
+     934           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::ACCELERATION, Eigen::Vector4d(0, 0, 0, 0));
+     935           0 :         vertex.addConstraint(eth_trajectory_generation::derivative_order::JERK, Eigen::Vector4d(0, 0, 0, 0));
+     936             :       }
+     937             :     }
+     938             : 
+     939         181 :     vertices.push_back(vertex);
+     940             :   }
+     941             : 
+     942             :   // | ---------------- compute the segment times --------------- |
+     943             : 
+     944             :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+     945             :   double v_max_vertical, a_max_vertical, j_max_vertical;
+     946             : 
+     947             :   // use the small of the ascending/descending values
+     948          16 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+     949          16 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+     950             : 
+     951          16 :   v_max_horizontal = constraints->horizontal_speed;
+     952          16 :   a_max_horizontal = constraints->horizontal_acceleration;
+     953             : 
+     954          16 :   v_max_vertical = vertical_speed_lim;
+     955          16 :   a_max_vertical = vertical_acceleration_lim;
+     956             : 
+     957          16 :   j_max_horizontal = constraints->horizontal_jerk;
+     958          16 :   j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+     959             : 
+     960          16 :   if (override_constraints_) {
+     961             : 
+     962           0 :     bool can_change = true;
+     963             : 
+     964             : 
+     965           0 :     if (initial_state) {
+     966           0 :       can_change = (hypot(initial_state->velocity.x, initial_state->velocity.y) < override_max_velocity_horizontal_) &&
+     967           0 :                    (hypot(initial_state->acceleration.x, initial_state->acceleration.y) < override_max_acceleration_horizontal_) &&
+     968           0 :                    (hypot(initial_state->jerk.x, initial_state->jerk.y) < override_max_jerk_horizontal_) &&
+     969           0 :                    (fabs(initial_state->velocity.z) < override_max_velocity_vertical_) &&
+     970           0 :                    (fabs(initial_state->acceleration.z) < override_max_acceleration_vertical_) && (fabs(initial_state->jerk.z) < override_max_jerk_vertical_);
+     971             :     }
+     972             : 
+     973           0 :     if (can_change) {
+     974             : 
+     975           0 :       v_max_horizontal = override_max_velocity_horizontal_;
+     976           0 :       a_max_horizontal = override_max_acceleration_horizontal_;
+     977           0 :       j_max_horizontal = override_max_jerk_horizontal_;
+     978             : 
+     979           0 :       v_max_vertical = override_max_velocity_vertical_;
+     980           0 :       a_max_vertical = override_max_acceleration_vertical_;
+     981           0 :       j_max_vertical = override_max_jerk_vertical_;
+     982             : 
+     983           0 :       ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+     984             : 
+     985             :     } else {
+     986             : 
+     987           0 :       ROS_WARN("[MrsTrajectoryGeneration]: overrifing constraints refused due to possible infeasibility");
+     988             :     }
+     989             :   }
+     990             : 
+     991             :   double v_max_heading, a_max_heading, j_max_heading;
+     992             : 
+     993          16 :   if (relax_heading) {
+     994           0 :     v_max_heading = std::numeric_limits<float>::max();
+     995           0 :     a_max_heading = std::numeric_limits<float>::max();
+     996           0 :     j_max_heading = std::numeric_limits<float>::max();
+     997             :   } else {
+     998          16 :     v_max_heading = constraints->heading_speed;
+     999          16 :     a_max_heading = constraints->heading_acceleration;
+    1000          16 :     j_max_heading = constraints->heading_jerk;
+    1001             :   }
+    1002             : 
+    1003          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1004          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1005          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1006          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1007             : 
+    1008          32 :   std::vector<double> segment_times, segment_times_baca;
+    1009          32 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1010          16 :                                        v_max_heading, a_max_heading);
+    1011          32 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1012          16 :                                                 v_max_heading, a_max_heading);
+    1013             : 
+    1014          16 :   double initial_total_time      = 0;
+    1015          16 :   double initial_total_time_baca = 0;
+    1016         181 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1017         165 :     initial_total_time += segment_times[i];
+    1018         165 :     initial_total_time_baca += segment_times_baca[i];
+    1019             :   }
+    1020             : 
+    1021          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Euclidean): %.2f", initial_total_time);
+    1022          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: initial total time (Baca): %.2f", initial_total_time_baca);
+    1023             : 
+    1024             :   // | --------- create an optimizer object and solve it -------- |
+    1025             : 
+    1026          16 :   const int                                                     N = 10;
+    1027          32 :   eth_trajectory_generation::PolynomialOptimizationNonLinear<N> opt(dimension, parameters);
+    1028          16 :   opt.setupFromVertices(vertices, segment_times, derivative_to_optimize);
+    1029             : 
+    1030          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1031          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1032          16 :   opt.addMaximumMagnitudeConstraint(0, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1033             : 
+    1034          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::VELOCITY, v_max_horizontal);
+    1035          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_horizontal);
+    1036          16 :   opt.addMaximumMagnitudeConstraint(1, eth_trajectory_generation::derivative_order::JERK, j_max_horizontal);
+    1037             : 
+    1038          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::VELOCITY, v_max_vertical);
+    1039          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_vertical);
+    1040          16 :   opt.addMaximumMagnitudeConstraint(2, eth_trajectory_generation::derivative_order::JERK, j_max_vertical);
+    1041             : 
+    1042          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::VELOCITY, v_max_heading);
+    1043          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::ACCELERATION, a_max_heading);
+    1044          16 :   opt.addMaximumMagnitudeConstraint(3, eth_trajectory_generation::derivative_order::JERK, j_max_heading);
+    1045             : 
+    1046          16 :   opt.optimize();
+    1047             : 
+    1048          16 :   if (overtime()) {
+    1049           5 :     return {};
+    1050             :   }
+    1051             : 
+    1052          22 :   std::string result_str;
+    1053             : 
+    1054          11 :   switch (opt.getOptimizationInfo().stopping_reason) {
+    1055           3 :     case nlopt::FAILURE: {
+    1056           3 :       result_str = "generic failure";
+    1057           3 :       break;
+    1058             :     }
+    1059           0 :     case nlopt::INVALID_ARGS: {
+    1060           0 :       result_str = "invalid args";
+    1061           0 :       break;
+    1062             :     }
+    1063           0 :     case nlopt::OUT_OF_MEMORY: {
+    1064           0 :       result_str = "out of memory";
+    1065           0 :       break;
+    1066             :     }
+    1067           0 :     case nlopt::ROUNDOFF_LIMITED: {
+    1068           0 :       result_str = "roundoff limited";
+    1069           0 :       break;
+    1070             :     }
+    1071           0 :     case nlopt::FORCED_STOP: {
+    1072           0 :       result_str = "forced stop";
+    1073           0 :       break;
+    1074             :     }
+    1075           0 :     case nlopt::STOPVAL_REACHED: {
+    1076           0 :       result_str = "stopval reached";
+    1077           0 :       break;
+    1078             :     }
+    1079           3 :     case nlopt::FTOL_REACHED: {
+    1080           3 :       result_str = "ftol reached";
+    1081           3 :       break;
+    1082             :     }
+    1083           3 :     case nlopt::XTOL_REACHED: {
+    1084           3 :       result_str = "xtol reached";
+    1085           3 :       break;
+    1086             :     }
+    1087           2 :     case nlopt::MAXEVAL_REACHED: {
+    1088           2 :       result_str = "maxeval reached";
+    1089           2 :       break;
+    1090             :     }
+    1091           0 :     case nlopt::MAXTIME_REACHED: {
+    1092           0 :       result_str = "maxtime reached";
+    1093           0 :       break;
+    1094             :     }
+    1095           0 :     default: {
+    1096           0 :       result_str = "UNKNOWN FAILURE CODE";
+    1097           0 :       break;
+    1098             :     }
+    1099             :   }
+    1100             : 
+    1101          11 :   if (opt.getOptimizationInfo().stopping_reason >= 1 && opt.getOptimizationInfo().stopping_reason != 6) {
+    1102           8 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished successfully with code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1103             :               result_str.c_str());
+    1104             : 
+    1105           3 :   } else if (opt.getOptimizationInfo().stopping_reason == -1) {
+    1106           3 :     ROS_DEBUG("[MrsTrajectoryGeneration]: optimization finished with a generic error code %d, '%s'", opt.getOptimizationInfo().stopping_reason,
+    1107             :               result_str.c_str());
+    1108             : 
+    1109             :   } else {
+    1110           0 :     ROS_WARN("[MrsTrajectoryGeneration]: optimization failed with code %d, '%s', took %.3f s", opt.getOptimizationInfo().stopping_reason, result_str.c_str(),
+    1111             :              (ros::Time::now() - find_trajectory_time_start).toSec());
+    1112           0 :     return {};
+    1113             :   }
+    1114             : 
+    1115             :   // | ------------- obtain the polynomial segments ------------- |
+    1116             : 
+    1117          22 :   eth_trajectory_generation::Segment::Vector segments;
+    1118          11 :   opt.getPolynomialOptimizationRef().getSegments(&segments);
+    1119             : 
+    1120          11 :   if (overtime()) {
+    1121           0 :     return {};
+    1122             :   }
+    1123             : 
+    1124             :   // | --------------- create the trajectory class -------------- |
+    1125             : 
+    1126          22 :   eth_trajectory_generation::Trajectory trajectory;
+    1127          11 :   opt.getTrajectory(&trajectory);
+    1128             : 
+    1129          22 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1130             : 
+    1131          11 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting eth sampling with dt = %.2f s ", sampling_dt);
+    1132             : 
+    1133          11 :   bool success = eth_trajectory_generation::sampleWholeTrajectory(trajectory, sampling_dt, &states);
+    1134             : 
+    1135          11 :   if (overtime()) {
+    1136           0 :     return {};
+    1137             :   }
+    1138             : 
+    1139             :   // validate the temporal sampling of the trajectory
+    1140             : 
+    1141             :   // only check this if the trajectory is > 1.0 sec, this check does not make much sense for the short ones
+    1142          11 :   if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) > (_max_trajectory_len_factor_ * initial_total_time_baca)) {
+    1143           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too long = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1144             :               (states.size() * sampling_dt), initial_total_time_baca, _max_trajectory_len_factor_);
+    1145             : 
+    1146           0 :     std::stringstream ss;
+    1147           0 :     ss << "trajectory sampling failed";
+    1148           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1149           0 :     return {};
+    1150             : 
+    1151          11 :   } else if ((states.size() * sampling_dt) > 1.0 && (states.size() * sampling_dt) < (_min_trajectory_len_factor_ * initial_total_time_baca)) {
+    1152           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: the final trajectory sampling is too short = %.2f, initial 'baca' estimate = %.2f, allowed factor %.2f, aborting",
+    1153             :               (states.size() * sampling_dt), initial_total_time_baca, _min_trajectory_len_factor_);
+    1154             : 
+    1155           0 :     std::stringstream ss;
+    1156           0 :     ss << "trajectory sampling failed";
+    1157           0 :     ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    1158           0 :     return {};
+    1159             : 
+    1160             :   } else {
+    1161          11 :     ROS_DEBUG("[MrsTrajectoryGeneration]: estimated/final trajectory length ratio (final/estimated) %.2f",
+    1162             :               (states.size() * sampling_dt) / initial_total_time_baca);
+    1163             :   }
+    1164             : 
+    1165          11 :   if (success) {
+    1166          11 :     ROS_DEBUG("[MrsTrajectoryGeneration]: eth sampling finished, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1167          11 :     return std::optional(states);
+    1168             : 
+    1169             :   } else {
+    1170           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: eth could not sample the trajectory, took %.3f s", (ros::Time::now() - find_trajectory_time_start).toSec());
+    1171           0 :     return {};
+    1172             :   }
+    1173             : }
+    1174             : 
+    1175             : //}
+    1176             : 
+    1177             : /* findTrajectoryFallback() //{ */
+    1178             : 
+    1179           6 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryFallback(const std::vector<Waypoint_t>& waypoints,
+    1180             :                                                                                                           const double&                  sampling_dt,
+    1181             :                                                                                                           const bool&                    relax_heading) {
+    1182             : 
+    1183          18 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::findTrajectoryFallback", scope_timer_logger_, scope_timer_enabled_);
+    1184             : 
+    1185           6 :   ros::Time time_start = ros::Time::now();
+    1186             : 
+    1187           6 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback sampling started");
+    1188             : 
+    1189          12 :   auto params      = mrs_lib::get_mutexed(mutex_params_, params_);
+    1190          12 :   auto constraints = sh_constraints_.getMsg();
+    1191             : 
+    1192          12 :   eth_trajectory_generation::Vertex::Vector vertices;
+    1193           6 :   const int                                 dimension = 4;
+    1194             : 
+    1195             :   // | --------------- add constraints to vertices -------------- |
+    1196             : 
+    1197           6 :   double last_heading = waypoints.at(0).coords[3];
+    1198             : 
+    1199          34 :   for (size_t i = 0; i < waypoints.size(); i++) {
+    1200             : 
+    1201          28 :     double x       = waypoints.at(i).coords[0];
+    1202          28 :     double y       = waypoints.at(i).coords[1];
+    1203          28 :     double z       = waypoints.at(i).coords[2];
+    1204          28 :     double heading = sradians::unwrap(waypoints.at(i).coords[3], last_heading);
+    1205          28 :     last_heading   = heading;
+    1206             : 
+    1207          56 :     eth_trajectory_generation::Vertex vertex(dimension);
+    1208             : 
+    1209          28 :     vertex.addConstraint(eth_trajectory_generation::derivative_order::POSITION, Eigen::Vector4d(x, y, z, heading));
+    1210             : 
+    1211          28 :     vertices.push_back(vertex);
+    1212             :   }
+    1213             : 
+    1214             :   // | ---------------- compute the segment times --------------- |
+    1215             : 
+    1216             :   double v_max_horizontal, a_max_horizontal, j_max_horizontal;
+    1217             :   double v_max_vertical, a_max_vertical, j_max_vertical;
+    1218             : 
+    1219             :   // use the small of the ascending/descending values
+    1220           6 :   double vertical_speed_lim        = std::min(constraints->vertical_ascending_speed, constraints->vertical_descending_speed);
+    1221           6 :   double vertical_acceleration_lim = std::min(constraints->vertical_ascending_acceleration, constraints->vertical_descending_acceleration);
+    1222             : 
+    1223           6 :   if (override_constraints_) {
+    1224             : 
+    1225           0 :     v_max_horizontal = override_max_velocity_horizontal_;
+    1226           0 :     a_max_horizontal = override_max_acceleration_horizontal_;
+    1227           0 :     j_max_horizontal = override_max_jerk_horizontal_;
+    1228             : 
+    1229           0 :     v_max_vertical = override_max_velocity_vertical_;
+    1230           0 :     a_max_vertical = override_max_acceleration_vertical_;
+    1231           0 :     j_max_vertical = override_max_jerk_vertical_;
+    1232             : 
+    1233           0 :     ROS_DEBUG("[MrsTrajectoryGeneration]: overriding constraints by a user");
+    1234             :   } else {
+    1235             : 
+    1236           6 :     v_max_horizontal = constraints->horizontal_speed;
+    1237           6 :     a_max_horizontal = constraints->horizontal_acceleration;
+    1238             : 
+    1239           6 :     v_max_vertical = vertical_speed_lim;
+    1240           6 :     a_max_vertical = vertical_acceleration_lim;
+    1241             : 
+    1242           6 :     j_max_horizontal = constraints->horizontal_jerk;
+    1243           6 :     j_max_vertical   = std::min(constraints->vertical_ascending_jerk, constraints->vertical_descending_jerk);
+    1244             :   }
+    1245             : 
+    1246             : 
+    1247             :   double v_max_heading, a_max_heading, j_max_heading;
+    1248             : 
+    1249           6 :   if (relax_heading) {
+    1250           0 :     v_max_heading = std::numeric_limits<float>::max();
+    1251           0 :     a_max_heading = std::numeric_limits<float>::max();
+    1252           0 :     j_max_heading = std::numeric_limits<float>::max();
+    1253             :   } else {
+    1254           6 :     v_max_heading = constraints->heading_speed;
+    1255           6 :     a_max_heading = constraints->heading_acceleration;
+    1256           6 :     j_max_heading = constraints->heading_jerk;
+    1257             :   }
+    1258             : 
+    1259           6 :   v_max_horizontal *= _fallback_sampling_speed_factor_;
+    1260           6 :   v_max_vertical *= _fallback_sampling_speed_factor_;
+    1261             : 
+    1262           6 :   a_max_horizontal *= _fallback_sampling_accel_factor_;
+    1263           6 :   a_max_vertical *= _fallback_sampling_accel_factor_;
+    1264             : 
+    1265           6 :   ROS_DEBUG("[MrsTrajectoryGeneration]: using constraints:");
+    1266           6 :   ROS_DEBUG("[MrsTrajectoryGeneration]: horizontal: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_horizontal, a_max_horizontal, j_max_horizontal);
+    1267           6 :   ROS_DEBUG("[MrsTrajectoryGeneration]: vertical: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_vertical, a_max_vertical, j_max_vertical);
+    1268           6 :   ROS_DEBUG("[MrsTrajectoryGeneration]: heading: vel = %.2f, acc = %.2f, jerk = %.2f", v_max_heading, a_max_heading, j_max_heading);
+    1269             : 
+    1270          12 :   std::vector<double> segment_times, segment_times_baca;
+    1271          12 :   segment_times      = estimateSegmentTimes(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1272           6 :                                        v_max_heading, a_max_heading);
+    1273          12 :   segment_times_baca = estimateSegmentTimesBaca(vertices, v_max_horizontal, v_max_vertical, a_max_horizontal, a_max_vertical, j_max_horizontal, j_max_vertical,
+    1274           6 :                                                 v_max_heading, a_max_heading);
+    1275             : 
+    1276           6 :   double initial_total_time      = 0;
+    1277           6 :   double initial_total_time_baca = 0;
+    1278          28 :   for (int i = 0; i < int(segment_times_baca.size()); i++) {
+    1279          22 :     initial_total_time += segment_times[i];
+    1280          22 :     initial_total_time_baca += segment_times_baca[i];
+    1281             : 
+    1282          22 :     ROS_DEBUG("[MrsTrajectoryGeneration]: segment time [%d] = %.2f", i, segment_times_baca[i]);
+    1283             :   }
+    1284             : 
+    1285           6 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Euclidean): %.2f", initial_total_time);
+    1286           6 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: initial total time (Baca): %.2f", initial_total_time_baca);
+    1287             : 
+    1288          12 :   eth_mav_msgs::EigenTrajectoryPoint::Vector states;
+    1289             : 
+    1290             :   // interpolate each segment
+    1291          28 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1292             : 
+    1293          44 :     Eigen::VectorXd start, end;
+    1294             : 
+    1295          22 :     const double segment_time = segment_times_baca[i];
+    1296             : 
+    1297             :     int    n_samples;
+    1298             :     double interp_step;
+    1299             : 
+    1300          22 :     if (segment_time > 1e-1) {
+    1301             : 
+    1302          22 :       n_samples = ceil(segment_time / sampling_dt);
+    1303             : 
+    1304             :       // important
+    1305          22 :       if (n_samples > 0) {
+    1306          22 :         interp_step = 1.0 / double(n_samples);
+    1307             :       } else {
+    1308           0 :         interp_step = 0.5;
+    1309             :       }
+    1310             : 
+    1311             :     } else {
+    1312           0 :       n_samples   = 0;
+    1313           0 :       interp_step = 0;
+    1314             :     }
+    1315             : 
+    1316          22 :     ROS_DEBUG("[MrsTrajectoryGeneration]: segment n_samples [%lu] = %d", i, n_samples);
+    1317             : 
+    1318             :     // for the last segment, hit the last waypoint completely
+    1319             :     // otherwise, it is hit as the first sample of the following segment
+    1320          22 :     if (n_samples > 0 && i == waypoints.size() - 2) {
+    1321           6 :       n_samples++;
+    1322             :     }
+    1323             : 
+    1324         871 :     for (int j = 0; j < n_samples; j++) {
+    1325             : 
+    1326         849 :       Waypoint_t point = interpolatePoint(waypoints[i], waypoints[i + 1], j * interp_step);
+    1327             : 
+    1328         849 :       eth_mav_msgs::EigenTrajectoryPoint eth_point;
+    1329         849 :       eth_point.position_W[0] = point.coords[0];
+    1330         849 :       eth_point.position_W[1] = point.coords[1];
+    1331         849 :       eth_point.position_W[2] = point.coords[2];
+    1332         849 :       eth_point.setFromYaw(point.coords[3]);
+    1333             : 
+    1334         849 :       states.push_back(eth_point);
+    1335             : 
+    1336         849 :       if (j == 0 && i > 0 && waypoints[i].stop_at) {
+    1337             : 
+    1338           0 :         int insert_samples = int(round(_fallback_sampling_stopping_time_ / sampling_dt));
+    1339             : 
+    1340           0 :         for (int k = 0; k < insert_samples; k++) {
+    1341           0 :           states.push_back(eth_point);
+    1342             :         }
+    1343             :       }
+    1344             :     }
+    1345             :   }
+    1346             : 
+    1347           6 :   bool success = true;
+    1348             : 
+    1349           6 :   ROS_WARN("[MrsTrajectoryGeneration]: fallback: sampling finished, took %.3f s", (ros::Time::now() - time_start).toSec());
+    1350             : 
+    1351             :   // | --------------- create the trajectory class -------------- |
+    1352             : 
+    1353           6 :   if (success) {
+    1354           6 :     return std::optional(states);
+    1355             :   } else {
+    1356           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: fallback: sampling failed");
+    1357           0 :     return {};
+    1358             :   }
+    1359             : }
+    1360             : 
+    1361             : //}
+    1362             : 
+    1363             : /* validateTrajectorySpatial() //{ */
+    1364             : 
+    1365          17 : std::tuple<bool, int, std::vector<bool>, double> MrsTrajectoryGeneration::validateTrajectorySpatial(
+    1366             :     const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory, const std::vector<Waypoint_t>& waypoints) {
+    1367             : 
+    1368          51 :   mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MrsTrajectoryGeneration::validateTrajectorySpatial", scope_timer_logger_, scope_timer_enabled_);
+    1369             : 
+    1370             :   // prepare the output
+    1371             : 
+    1372          17 :   std::vector<bool> segments;
+    1373         137 :   for (size_t i = 0; i < waypoints.size() - 1; i++) {
+    1374         120 :     segments.push_back(true);
+    1375             :   }
+    1376             : 
+    1377          17 :   int waypoint_idx = 0;
+    1378             : 
+    1379          17 :   bool   is_safe       = true;
+    1380          17 :   double max_deviation = 0;
+    1381             : 
+    1382        2588 :   for (size_t i = 0; i < trajectory.size() - 1; i++) {
+    1383             : 
+    1384             :     // the trajectory sample
+    1385        2571 :     const vec3_t sample = vec3_t(trajectory[i].position_W[0], trajectory[i].position_W[1], trajectory[i].position_W[2]);
+    1386             : 
+    1387             :     // next sample
+    1388        2571 :     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]);
+    1389             : 
+    1390             :     // segment start
+    1391        2571 :     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]);
+    1392             : 
+    1393             :     // segment end
+    1394             :     const vec3_t segment_end =
+    1395        2571 :         vec3_t(waypoints.at(waypoint_idx + 1).coords[0], waypoints.at(waypoint_idx + 1).coords[1], waypoints.at(waypoint_idx + 1).coords[2]);
+    1396             : 
+    1397        2571 :     const double distance_from_segment = distFromSegment(sample, segment_start, segment_end);
+    1398             : 
+    1399        2571 :     const double segment_end_dist = distFromSegment(segment_end, sample, next_sample);
+    1400             : 
+    1401        2571 :     if (waypoint_idx > 0 || max_deviation_first_segment_ || int(waypoints.size()) <= 2) {
+    1402             : 
+    1403        2195 :       if (distance_from_segment > max_deviation) {
+    1404         350 :         max_deviation = distance_from_segment;
+    1405             :       }
+    1406             : 
+    1407        2195 :       if (distance_from_segment > trajectory_max_segment_deviation_) {
+    1408         942 :         segments.at(waypoint_idx) = false;
+    1409         942 :         is_safe                   = false;
+    1410             :       }
+    1411             :     }
+    1412             : 
+    1413        2571 :     if (segment_end_dist < 0.05 && waypoint_idx < (int(waypoints.size()) - 2)) {
+    1414         103 :       waypoint_idx++;
+    1415             :     }
+    1416             :   }
+    1417             : 
+    1418          51 :   return std::tuple(is_safe, trajectory.size(), segments, max_deviation);
+    1419             : }
+    1420             : 
+    1421             : //}
+    1422             : 
+    1423             : // | --------------------- minor routines --------------------- |
+    1424             : 
+    1425             : /* findTrajectoryAsync() //{ */
+    1426             : 
+    1427          16 : std::optional<eth_mav_msgs::EigenTrajectoryPoint::Vector> MrsTrajectoryGeneration::findTrajectoryAsync(
+    1428             :     const std::vector<Waypoint_t>& waypoints, const std::optional<mrs_msgs::TrackerCommand>& initial_state, const double& sampling_dt,
+    1429             :     const bool& relax_heading) {
+    1430             : 
+    1431          16 :   ROS_DEBUG("[MrsTrajectoryGeneration]: starting the async planning task");
+    1432             : 
+    1433             :   future_trajectory_result_ =
+    1434          16 :       std::async(std::launch::async, &MrsTrajectoryGeneration::findTrajectory, this, waypoints, initial_state, sampling_dt, relax_heading);
+    1435             : 
+    1436        9782 :   while (ros::ok() && future_trajectory_result_.wait_for(std::chrono::milliseconds(1)) != std::future_status::ready) {
+    1437             : 
+    1438        9771 :     if (overtime()) {
+    1439           5 :       ROS_WARN("[MrsTrajectoryGeneration]: async task planning timeout, breaking");
+    1440           5 :       return {};
+    1441             :     }
+    1442             :   }
+    1443             : 
+    1444          11 :   ROS_DEBUG("[MrsTrajectoryGeneration]: async planning task finished successfully");
+    1445             : 
+    1446          11 :   return future_trajectory_result_.get();
+    1447             : }
+    1448             : 
+    1449             : //}
+    1450             : 
+    1451             : /* distFromSegment() //{ */
+    1452             : 
+    1453        5142 : double MrsTrajectoryGeneration::distFromSegment(const vec3_t& point, const vec3_t& seg1, const vec3_t& seg2) {
+    1454             : 
+    1455        5142 :   vec3_t segment_vector = seg2 - seg1;
+    1456        5142 :   double segment_len    = segment_vector.norm();
+    1457             : 
+    1458        5142 :   vec3_t segment_vector_norm = segment_vector;
+    1459        5142 :   segment_vector_norm.normalize();
+    1460             : 
+    1461        5142 :   double point_coordinate = segment_vector_norm.dot(point - seg1);
+    1462             : 
+    1463        5142 :   if (point_coordinate < 0) {
+    1464          20 :     return (point - seg1).norm();
+    1465        5122 :   } else if (point_coordinate > segment_len) {
+    1466        2538 :     return (point - seg2).norm();
+    1467             :   } else {
+    1468             : 
+    1469        2584 :     mat3_t segment_projector = segment_vector_norm * segment_vector_norm.transpose();
+    1470        2584 :     vec3_t projection        = seg1 + segment_projector * (point - seg1);
+    1471             : 
+    1472        2584 :     return (point - projection).norm();
+    1473             :   }
+    1474             : }
+    1475             : 
+    1476             : //}
+    1477             : 
+    1478             : /* getTrajectoryReference() //{ */
+    1479             : 
+    1480           6 : mrs_msgs::TrajectoryReference MrsTrajectoryGeneration::getTrajectoryReference(const eth_mav_msgs::EigenTrajectoryPoint::Vector& trajectory,
+    1481             :                                                                               const std::optional<mrs_msgs::TrackerCommand>&    initial_condition,
+    1482             :                                                                               const double&                                     sampling_dt) {
+    1483             : 
+    1484           6 :   mrs_msgs::TrajectoryReference msg;
+    1485             : 
+    1486           6 :   if (initial_condition) {
+    1487           4 :     msg.header.stamp = initial_condition->header.stamp;
+    1488             :   } else {
+    1489           2 :     msg.header.stamp = ros::Time::now();
+    1490             :   }
+    1491             : 
+    1492           6 :   msg.header.frame_id = frame_id_;
+    1493           6 :   msg.fly_now         = fly_now_;
+    1494           6 :   msg.loop            = loop_;
+    1495           6 :   msg.use_heading     = use_heading_;
+    1496           6 :   msg.dt              = sampling_dt;
+    1497             : 
+    1498         855 :   for (size_t it = 0; it < trajectory.size(); it++) {
+    1499             : 
+    1500         849 :     mrs_msgs::Reference point;
+    1501         849 :     point.heading    = 0;
+    1502         849 :     point.position.x = trajectory[it].position_W[0];
+    1503         849 :     point.position.y = trajectory[it].position_W[1];
+    1504         849 :     point.position.z = trajectory[it].position_W[2];
+    1505         849 :     point.heading    = trajectory[it].getYaw();
+    1506             : 
+    1507         849 :     msg.points.push_back(point);
+    1508             :   }
+    1509             : 
+    1510           6 :   return msg;
+    1511             : }
+    1512             : 
+    1513             : //}
+    1514             : 
+    1515             : /* interpolatePoint() //{ */
+    1516             : 
+    1517         898 : Waypoint_t MrsTrajectoryGeneration::interpolatePoint(const Waypoint_t& a, const Waypoint_t& b, const double& coeff) {
+    1518             : 
+    1519         898 :   Waypoint_t      out;
+    1520         898 :   Eigen::Vector4d diff = b.coords - a.coords;
+    1521             : 
+    1522         898 :   out.coords[0] = a.coords[0] + coeff * diff[0];
+    1523         898 :   out.coords[1] = a.coords[1] + coeff * diff[1];
+    1524         898 :   out.coords[2] = a.coords[2] + coeff * diff[2];
+    1525         898 :   out.coords[3] = radians::interp(a.coords[3], b.coords[3], coeff);
+    1526             : 
+    1527         898 :   out.stop_at = false;
+    1528             : 
+    1529        1796 :   return out;
+    1530             : }
+    1531             : 
+    1532             : //}
+    1533             : 
+    1534             : /* checkNaN() //{ */
+    1535             : 
+    1536          24 : bool MrsTrajectoryGeneration::checkNaN(const Waypoint_t& a) {
+    1537             : 
+    1538          24 :   if (!std::isfinite(a.coords[0])) {
+    1539           0 :     ROS_ERROR("NaN detected in variable \"a.coords[0]\"!!!");
+    1540           0 :     return false;
+    1541             :   }
+    1542             : 
+    1543          24 :   if (!std::isfinite(a.coords[1])) {
+    1544           0 :     ROS_ERROR("NaN detected in variable \"a.coords[1]\"!!!");
+    1545           0 :     return false;
+    1546             :   }
+    1547             : 
+    1548          24 :   if (!std::isfinite(a.coords[2])) {
+    1549           0 :     ROS_ERROR("NaN detected in variable \"a.coords[2]\"!!!");
+    1550           0 :     return false;
+    1551             :   }
+    1552             : 
+    1553          24 :   if (!std::isfinite(a.coords[3])) {
+    1554           0 :     ROS_ERROR("NaN detected in variable \"a.coords[3]\"!!!");
+    1555           0 :     return false;
+    1556             :   }
+    1557             : 
+    1558          24 :   return true;
+    1559             : }
+    1560             : 
+    1561             : //}
+    1562             : 
+    1563             : /* trajectorySrv() //{ */
+    1564             : 
+    1565           4 : bool MrsTrajectoryGeneration::trajectorySrv(const mrs_msgs::TrajectoryReference& msg) {
+    1566             : 
+    1567           8 :   mrs_msgs::TrajectoryReferenceSrv srv;
+    1568           4 :   srv.request.trajectory = msg;
+    1569             : 
+    1570           4 :   bool res = service_client_trajectory_reference_.call(srv);
+    1571             : 
+    1572           4 :   if (res) {
+    1573             : 
+    1574           4 :     if (!srv.response.success) {
+    1575           0 :       ROS_WARN("[MrsTrajectoryGeneration]: service call for trajectory_reference returned: '%s'", srv.response.message.c_str());
+    1576             :     }
+    1577             : 
+    1578           4 :     return srv.response.success;
+    1579             : 
+    1580             :   } else {
+    1581             : 
+    1582           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: service call for trajectory_reference failed!");
+    1583             : 
+    1584           0 :     return false;
+    1585             :   }
+    1586             : }
+    1587             : 
+    1588             : //}
+    1589             : 
+    1590             : /* transformTrackerCmd() //{ */
+    1591             : 
+    1592           6 : std::optional<mrs_msgs::Path> MrsTrajectoryGeneration::transformPath(const mrs_msgs::Path& path_in, const std::string& target_frame) {
+    1593             : 
+    1594             :   // if we transform to the current control frame, which is in fact the same frame as the tracker_cmd is in
+    1595           6 :   if (target_frame == path_in.header.frame_id) {
+    1596           6 :     return path_in;
+    1597             :   }
+    1598             : 
+    1599             :   // find the transformation
+    1600           0 :   auto tf = transformer_->getTransform(path_in.header.frame_id, target_frame, path_in.header.stamp);
+    1601             : 
+    1602           0 :   if (!tf) {
+    1603           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(),
+    1604             :               path_in.header.stamp.toSec());
+    1605           0 :     return {};
+    1606             :   }
+    1607             : 
+    1608           0 :   mrs_msgs::Path path_out = path_in;
+    1609             : 
+    1610           0 :   path_out.header.stamp    = tf.value().header.stamp;
+    1611           0 :   path_out.header.frame_id = transformer_->frame_to(tf.value());
+    1612             : 
+    1613           0 :   for (size_t i = 0; i < path_in.points.size(); i++) {
+    1614             : 
+    1615           0 :     mrs_msgs::ReferenceStamped waypoint;
+    1616             : 
+    1617           0 :     waypoint.header    = path_in.header;
+    1618           0 :     waypoint.reference = path_in.points[i];
+    1619             : 
+    1620           0 :     if (auto ret = transformer_->transform(waypoint, tf.value())) {
+    1621             : 
+    1622           0 :       path_out.points[i] = ret.value().reference;
+    1623             : 
+    1624             :     } else {
+    1625           0 :       return {};
+    1626             :     }
+    1627             :   }
+    1628             : 
+    1629           0 :   return path_out;
+    1630             : }
+    1631             : 
+    1632             : //}
+    1633             : 
+    1634             : /* overtime() //{ */
+    1635             : 
+    1636        9826 : bool MrsTrajectoryGeneration::overtime(void) {
+    1637             : 
+    1638        9826 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1639        9826 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1640             : 
+    1641        9826 :   double overtime = (ros::Time::now() - start_time_total).toSec();
+    1642             : 
+    1643        9826 :   if (overtime > (OVERTIME_SAFETY_FACTOR * max_execution_time - OVERTIME_SAFETY_OFFSET)) {
+    1644          11 :     return true;
+    1645             :   }
+    1646             : 
+    1647        9815 :   return false;
+    1648             : }
+    1649             : 
+    1650             : //}
+    1651             : 
+    1652             : /* timeLeft() //{ */
+    1653             : 
+    1654          16 : double MrsTrajectoryGeneration::timeLeft(void) {
+    1655             : 
+    1656          16 :   auto start_time_total   = mrs_lib::get_mutexed(mutex_start_time_total_, start_time_total_);
+    1657          16 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1658             : 
+    1659          16 :   double current_execution_time = (ros::Time::now() - start_time_total).toSec();
+    1660             : 
+    1661          16 :   if (current_execution_time >= max_execution_time) {
+    1662           0 :     return 0;
+    1663             :   } else {
+    1664          16 :     return max_execution_time - current_execution_time;
+    1665             :   }
+    1666             : }
+    1667             : 
+    1668             : //}
+    1669             : 
+    1670             : // | ------------------------ callbacks ----------------------- |
+    1671             : 
+    1672             : /* callbackPath() //{ */
+    1673             : 
+    1674           1 : void MrsTrajectoryGeneration::callbackPath(const mrs_msgs::Path::ConstPtr msg) {
+    1675             : 
+    1676           1 :   if (!is_initialized_) {
+    1677           0 :     return;
+    1678             :   }
+    1679             : 
+    1680             :   /* preconditions //{ */
+    1681             : 
+    1682           1 :   if (!sh_constraints_.hasMsg()) {
+    1683           0 :     std::stringstream ss;
+    1684           0 :     ss << "missing constraints";
+    1685           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1686           0 :     return;
+    1687             :   }
+    1688             : 
+    1689           1 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1690           0 :     std::stringstream ss;
+    1691           0 :     ss << "missing control manager diagnostics";
+    1692           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1693           0 :     return;
+    1694             :   }
+    1695             : 
+    1696           1 :   if (!sh_uav_state_.hasMsg()) {
+    1697           0 :     std::stringstream ss;
+    1698           0 :     ss << "missing UAV state";
+    1699           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1700           0 :     return;
+    1701             :   }
+    1702             : 
+    1703             :   //}
+    1704             : 
+    1705             :   {
+    1706           2 :     std::scoped_lock lock(mutex_start_time_total_);
+    1707             : 
+    1708           1 :     start_time_total_ = ros::Time::now();
+    1709             :   }
+    1710             : 
+    1711           1 :   double path_time_offset = 0;
+    1712             : 
+    1713           1 :   if (msg->header.stamp != ros::Time(0)) {
+    1714           0 :     path_time_offset = (msg->header.stamp - ros::Time::now()).toSec();
+    1715             :   }
+    1716             : 
+    1717           1 :   if (path_time_offset > 1e-3) {
+    1718             : 
+    1719           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1720             : 
+    1721           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1722             : 
+    1723           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1724             :              path_time_offset);
+    1725             :   } else {
+    1726             : 
+    1727           1 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1728             : 
+    1729           1 :     max_execution_time_ = params_.max_execution_time;
+    1730             :   }
+    1731             : 
+    1732           1 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from message");
+    1733             : 
+    1734           1 :   ph_original_path_.publish(msg);
+    1735             : 
+    1736           1 :   if (msg->points.empty()) {
+    1737           0 :     std::stringstream ss;
+    1738           0 :     ss << "received an empty message";
+    1739           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1740           0 :     return;
+    1741             :   }
+    1742             : 
+    1743           2 :   auto transformed_path = transformPath(*msg, "");
+    1744             : 
+    1745           1 :   if (!transformed_path) {
+    1746           0 :     std::stringstream ss;
+    1747           0 :     ss << "could not transform the path to the current control frame";
+    1748           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1749           0 :     return;
+    1750             :   }
+    1751             : 
+    1752           1 :   fly_now_                              = transformed_path->fly_now;
+    1753           1 :   use_heading_                          = transformed_path->use_heading;
+    1754           1 :   frame_id_                             = transformed_path->header.frame_id;
+    1755           1 :   override_constraints_                 = transformed_path->override_constraints;
+    1756           1 :   loop_                                 = transformed_path->loop;
+    1757           1 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1758           1 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1759           1 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1760           1 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1761           1 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1762           1 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1763           1 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1764             : 
+    1765           1 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    1766             : 
+    1767           1 :   if (transformed_path->max_execution_time > 0) {
+    1768             : 
+    1769           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1770             : 
+    1771           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    1772             : 
+    1773             :   } else {
+    1774             : 
+    1775           1 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1776             : 
+    1777           1 :     max_execution_time_ = params.max_execution_time;
+    1778             :   }
+    1779             : 
+    1780           1 :   if (transformed_path->max_deviation_from_path > 0) {
+    1781           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    1782             :   } else {
+    1783           1 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    1784             :   }
+    1785             : 
+    1786           1 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    1787             : 
+    1788           1 :   std::vector<Waypoint_t> waypoints;
+    1789             : 
+    1790           5 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    1791             : 
+    1792           4 :     double x       = transformed_path->points[i].position.x;
+    1793           4 :     double y       = transformed_path->points[i].position.y;
+    1794           4 :     double z       = transformed_path->points[i].position.z;
+    1795           4 :     double heading = transformed_path->points[i].heading;
+    1796             : 
+    1797           4 :     Waypoint_t wp;
+    1798           4 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    1799           4 :     wp.stop_at = stop_at_waypoints_;
+    1800             : 
+    1801           4 :     if (!checkNaN(wp)) {
+    1802           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    1803           0 :       return;
+    1804             :     }
+    1805             : 
+    1806           4 :     waypoints.push_back(wp);
+    1807             :   }
+    1808             : 
+    1809           1 :   if (loop_) {
+    1810           0 :     waypoints.push_back(waypoints[0]);
+    1811             :   }
+    1812             : 
+    1813           1 :   bool                          success = false;
+    1814           2 :   std::string                   message;
+    1815           2 :   mrs_msgs::TrajectoryReference trajectory;
+    1816             : 
+    1817           2 :   for (int i = 0; i < _n_attempts_; i++) {
+    1818             : 
+    1819             :     // the last iteration and the fallback sampling is enabled
+    1820           2 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    1821             : 
+    1822           2 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    1823             : 
+    1824           2 :     if (success) {
+    1825           1 :       break;
+    1826             :     } else {
+    1827           1 :       if (i < _n_attempts_) {
+    1828           1 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    1829             :       } else {
+    1830           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    1831             :       }
+    1832             :     }
+    1833             :   }
+    1834             : 
+    1835           1 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    1836             : 
+    1837           1 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    1838             : 
+    1839           1 :   if (total_time > max_execution_time) {
+    1840           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    1841             :               total_time - max_execution_time);
+    1842             :   } else {
+    1843           1 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    1844             :   }
+    1845             : 
+    1846           1 :   trajectory.input_id = transformed_path->input_id;
+    1847             : 
+    1848           1 :   if (success) {
+    1849             : 
+    1850           1 :     bool published = trajectorySrv(trajectory);
+    1851             : 
+    1852           1 :     if (published) {
+    1853             : 
+    1854           1 :       ROS_INFO("[MrsTrajectoryGeneration]: trajectory successfully published");
+    1855             : 
+    1856             :     } else {
+    1857             : 
+    1858           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: could not publish the trajectory");
+    1859             :     }
+    1860             : 
+    1861             :   } else {
+    1862             : 
+    1863           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, no publishing a result");
+    1864             :   }
+    1865             : }
+    1866             : 
+    1867             : //}
+    1868             : 
+    1869             : /* callbackPathSrv() //{ */
+    1870             : 
+    1871           3 : bool MrsTrajectoryGeneration::callbackPathSrv(mrs_msgs::PathSrv::Request& req, mrs_msgs::PathSrv::Response& res) {
+    1872             : 
+    1873           3 :   if (!is_initialized_) {
+    1874           0 :     return false;
+    1875             :   }
+    1876             : 
+    1877             :   /* preconditions //{ */
+    1878             : 
+    1879           3 :   if (!sh_constraints_.hasMsg()) {
+    1880           0 :     std::stringstream ss;
+    1881           0 :     ss << "missing constraints";
+    1882           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1883             : 
+    1884           0 :     res.message = ss.str();
+    1885           0 :     res.success = false;
+    1886           0 :     return true;
+    1887             :   }
+    1888             : 
+    1889           3 :   if (!sh_control_manager_diag_.hasMsg()) {
+    1890           0 :     std::stringstream ss;
+    1891           0 :     ss << "missing control manager diagnostics";
+    1892           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1893             : 
+    1894           0 :     res.message = ss.str();
+    1895           0 :     res.success = false;
+    1896           0 :     return true;
+    1897             :   }
+    1898             : 
+    1899           3 :   if (!sh_uav_state_.hasMsg()) {
+    1900           0 :     std::stringstream ss;
+    1901           0 :     ss << "missing UAV state";
+    1902           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1903             : 
+    1904           0 :     res.message = ss.str();
+    1905           0 :     res.success = false;
+    1906           0 :     return true;
+    1907             :   }
+    1908             : 
+    1909             :   //}
+    1910             : 
+    1911             :   {
+    1912           6 :     std::scoped_lock lock(mutex_start_time_total_);
+    1913             : 
+    1914           3 :     start_time_total_ = ros::Time::now();
+    1915             :   }
+    1916             : 
+    1917           3 :   double path_time_offset = 0;
+    1918             : 
+    1919           3 :   if (req.path.header.stamp != ros::Time(0)) {
+    1920           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    1921             :   }
+    1922             : 
+    1923           3 :   if (path_time_offset > 1e-3) {
+    1924             : 
+    1925           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1926             : 
+    1927           0 :     max_execution_time_ = std::min(FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset, params_.max_execution_time);
+    1928             : 
+    1929           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    1930             :              path_time_offset);
+    1931             :   } else {
+    1932             : 
+    1933           3 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    1934             : 
+    1935           3 :     max_execution_time_ = params_.max_execution_time;
+    1936             :   }
+    1937             : 
+    1938           3 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    1939             : 
+    1940           3 :   ph_original_path_.publish(req.path);
+    1941             : 
+    1942           3 :   if (req.path.points.empty()) {
+    1943           0 :     std::stringstream ss;
+    1944           0 :     ss << "received an empty message";
+    1945           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1946             : 
+    1947           0 :     res.message = ss.str();
+    1948           0 :     res.success = false;
+    1949           0 :     return true;
+    1950             :   }
+    1951             : 
+    1952           9 :   auto transformed_path = transformPath(req.path, "");
+    1953             : 
+    1954           3 :   if (!transformed_path) {
+    1955           0 :     std::stringstream ss;
+    1956           0 :     ss << "could not transform the path to the current control frame";
+    1957           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    1958             : 
+    1959           0 :     res.message = ss.str();
+    1960           0 :     res.success = false;
+    1961           0 :     return true;
+    1962             :   }
+    1963             : 
+    1964           3 :   fly_now_                              = transformed_path->fly_now;
+    1965           3 :   use_heading_                          = transformed_path->use_heading;
+    1966           3 :   frame_id_                             = transformed_path->header.frame_id;
+    1967           3 :   override_constraints_                 = transformed_path->override_constraints;
+    1968           3 :   loop_                                 = transformed_path->loop;
+    1969           3 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    1970           3 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    1971           3 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    1972           3 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    1973           3 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    1974           3 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    1975           3 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    1976             : 
+    1977           6 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    1978             : 
+    1979           3 :   if (transformed_path->max_execution_time > 0) {
+    1980             : 
+    1981           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1982             : 
+    1983           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    1984             : 
+    1985             :   } else {
+    1986             : 
+    1987           3 :     std::scoped_lock lock(mutex_max_execution_time_);
+    1988             : 
+    1989           3 :     max_execution_time_ = params.max_execution_time;
+    1990             :   }
+    1991             : 
+    1992           3 :   if (transformed_path->max_deviation_from_path > 0) {
+    1993           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    1994             :   } else {
+    1995           3 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    1996             :   }
+    1997             : 
+    1998           3 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    1999             : 
+    2000           6 :   std::vector<Waypoint_t> waypoints;
+    2001             : 
+    2002          15 :   for (size_t i = 0; i < req.path.points.size(); i++) {
+    2003             : 
+    2004          12 :     double x       = transformed_path->points[i].position.x;
+    2005          12 :     double y       = transformed_path->points[i].position.y;
+    2006          12 :     double z       = transformed_path->points[i].position.z;
+    2007          12 :     double heading = transformed_path->points[i].heading;
+    2008             : 
+    2009          12 :     Waypoint_t wp;
+    2010          12 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2011          12 :     wp.stop_at = stop_at_waypoints_;
+    2012             : 
+    2013          12 :     if (!checkNaN(wp)) {
+    2014           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2015           0 :       res.success = false;
+    2016           0 :       res.message = "invalid path";
+    2017           0 :       return true;
+    2018             :     }
+    2019             : 
+    2020          12 :     waypoints.push_back(wp);
+    2021             :   }
+    2022             : 
+    2023           3 :   if (loop_) {
+    2024           0 :     waypoints.push_back(waypoints[0]);
+    2025             :   }
+    2026             : 
+    2027           3 :   bool                          success = false;
+    2028           6 :   std::string                   message;
+    2029           3 :   mrs_msgs::TrajectoryReference trajectory;
+    2030             : 
+    2031           5 :   for (int i = 0; i < _n_attempts_; i++) {
+    2032             : 
+    2033             :     // the last iteration and the fallback sampling is enabled
+    2034           5 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2035             : 
+    2036           5 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2037             : 
+    2038           5 :     if (success) {
+    2039           3 :       break;
+    2040             :     } else {
+    2041           2 :       if (i < _n_attempts_) {
+    2042           2 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2043             :       } else {
+    2044           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2045             :       }
+    2046             :     }
+    2047             :   }
+    2048             : 
+    2049           3 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2050             : 
+    2051           3 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2052             : 
+    2053           3 :   if (total_time > max_execution_time) {
+    2054           1 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2055             :               total_time - max_execution_time);
+    2056             :   } else {
+    2057           2 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2058             :   }
+    2059             : 
+    2060           3 :   trajectory.input_id = transformed_path->input_id;
+    2061             : 
+    2062           3 :   if (success) {
+    2063             : 
+    2064           3 :     bool published = trajectorySrv(trajectory);
+    2065             : 
+    2066           3 :     if (published) {
+    2067             : 
+    2068           3 :       res.success = success;
+    2069           3 :       res.message = message;
+    2070             : 
+    2071             :     } else {
+    2072             : 
+    2073           0 :       std::stringstream ss;
+    2074           0 :       ss << "could not publish the trajectory";
+    2075             : 
+    2076           0 :       res.success = false;
+    2077           0 :       res.message = ss.str();
+    2078             : 
+    2079           0 :       ROS_ERROR_STREAM("[MrsTrajectoryGeneration]: " << ss.str());
+    2080             :     }
+    2081             : 
+    2082             :   } else {
+    2083             : 
+    2084           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, not publishing a result");
+    2085             : 
+    2086           0 :     res.success = success;
+    2087           0 :     res.message = message;
+    2088             :   }
+    2089             : 
+    2090           3 :   return true;
+    2091             : }
+    2092             : 
+    2093             : //}
+    2094             : 
+    2095             : /* callbackGetPathSrv() //{ */
+    2096             : 
+    2097           2 : bool MrsTrajectoryGeneration::callbackGetPathSrv(mrs_msgs::GetPathSrv::Request& req, mrs_msgs::GetPathSrv::Response& res) {
+    2098             : 
+    2099           2 :   if (!is_initialized_) {
+    2100           0 :     return false;
+    2101             :   }
+    2102             : 
+    2103             :   /* preconditions //{ */
+    2104             : 
+    2105           2 :   if (!sh_constraints_.hasMsg()) {
+    2106           0 :     std::stringstream ss;
+    2107           0 :     ss << "missing constraints";
+    2108           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2109             : 
+    2110           0 :     res.message = ss.str();
+    2111           0 :     res.success = false;
+    2112           0 :     return true;
+    2113             :   }
+    2114             : 
+    2115           2 :   if (!sh_control_manager_diag_.hasMsg()) {
+    2116           0 :     std::stringstream ss;
+    2117           0 :     ss << "missing control manager diagnostics";
+    2118           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2119             : 
+    2120           0 :     res.message = ss.str();
+    2121           0 :     res.success = false;
+    2122           0 :     return true;
+    2123             :   }
+    2124             : 
+    2125           2 :   if (!sh_uav_state_.hasMsg()) {
+    2126           0 :     std::stringstream ss;
+    2127           0 :     ss << "missing UAV state";
+    2128           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2129             : 
+    2130           0 :     res.message = ss.str();
+    2131           0 :     res.success = false;
+    2132           0 :     return true;
+    2133             :   }
+    2134             : 
+    2135             :   //}
+    2136             : 
+    2137             :   {
+    2138           4 :     std::scoped_lock lock(mutex_start_time_total_);
+    2139             : 
+    2140           2 :     start_time_total_ = ros::Time::now();
+    2141             :   }
+    2142             : 
+    2143           2 :   double path_time_offset = 0;
+    2144             : 
+    2145           2 :   if (req.path.header.stamp != ros::Time(0)) {
+    2146           0 :     path_time_offset = (req.path.header.stamp - ros::Time::now()).toSec();
+    2147             :   }
+    2148             : 
+    2149           2 :   if (path_time_offset > 1e-3) {
+    2150             : 
+    2151           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2152             : 
+    2153           0 :     max_execution_time_ = FUTURIZATION_EXEC_TIME_FACTOR * path_time_offset;
+    2154             : 
+    2155           0 :     ROS_INFO("[MrsTrajectoryGeneration]: setting the max execution time to %.3f s = %.1f * %.3f", max_execution_time_, FUTURIZATION_EXEC_TIME_FACTOR,
+    2156             :              path_time_offset);
+    2157             :   } else {
+    2158             : 
+    2159           2 :     std::scoped_lock lock(mutex_max_execution_time_, mutex_params_);
+    2160             : 
+    2161           2 :     max_execution_time_ = params_.max_execution_time;
+    2162             :   }
+    2163             : 
+    2164           2 :   ROS_INFO("[MrsTrajectoryGeneration]: got path from service");
+    2165             : 
+    2166           2 :   ph_original_path_.publish(req.path);
+    2167             : 
+    2168           2 :   if (req.path.points.empty()) {
+    2169           0 :     std::stringstream ss;
+    2170           0 :     ss << "received an empty message";
+    2171           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2172             : 
+    2173           0 :     res.message = ss.str();
+    2174           0 :     res.success = false;
+    2175           0 :     return true;
+    2176             :   }
+    2177             : 
+    2178           6 :   auto transformed_path = transformPath(req.path, "");
+    2179             : 
+    2180           2 :   if (!transformed_path) {
+    2181           0 :     std::stringstream ss;
+    2182           0 :     ss << "could not transform the path to the current control frame";
+    2183           0 :     ROS_ERROR_STREAM_THROTTLE(1.0, "[MrsTrajectoryGeneration]: " << ss.str());
+    2184             : 
+    2185           0 :     res.message = ss.str();
+    2186           0 :     res.success = false;
+    2187           0 :     return true;
+    2188             :   }
+    2189             : 
+    2190           2 :   fly_now_                              = transformed_path->fly_now;
+    2191           2 :   use_heading_                          = transformed_path->use_heading;
+    2192           2 :   frame_id_                             = transformed_path->header.frame_id;
+    2193           2 :   override_constraints_                 = transformed_path->override_constraints;
+    2194           2 :   loop_                                 = transformed_path->loop;
+    2195           2 :   override_max_velocity_horizontal_     = transformed_path->override_max_velocity_horizontal;
+    2196           2 :   override_max_velocity_vertical_       = transformed_path->override_max_velocity_vertical;
+    2197           2 :   override_max_acceleration_horizontal_ = transformed_path->override_max_acceleration_horizontal;
+    2198           2 :   override_max_acceleration_vertical_   = transformed_path->override_max_acceleration_vertical;
+    2199           2 :   override_max_jerk_horizontal_         = transformed_path->override_max_jerk_horizontal;
+    2200           2 :   override_max_jerk_vertical_           = transformed_path->override_max_jerk_horizontal;
+    2201           2 :   stop_at_waypoints_                    = transformed_path->stop_at_waypoints;
+    2202             : 
+    2203           4 :   auto params = mrs_lib::get_mutexed(mutex_params_, params_);
+    2204             : 
+    2205           2 :   if (transformed_path->max_execution_time > 0) {
+    2206             : 
+    2207           0 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2208             : 
+    2209           0 :     max_execution_time_ = transformed_path->max_execution_time;
+    2210             : 
+    2211             :   } else {
+    2212             : 
+    2213           2 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2214             : 
+    2215           2 :     max_execution_time_ = params.max_execution_time;
+    2216             :   }
+    2217             : 
+    2218           2 :   if (transformed_path->max_deviation_from_path > 0) {
+    2219           0 :     trajectory_max_segment_deviation_ = transformed_path->max_deviation_from_path;
+    2220             :   } else {
+    2221           2 :     trajectory_max_segment_deviation_ = params.max_deviation;
+    2222             :   }
+    2223             : 
+    2224           2 :   dont_prepend_initial_condition_ = transformed_path->dont_prepend_current_state;
+    2225             : 
+    2226           4 :   std::vector<Waypoint_t> waypoints;
+    2227             : 
+    2228          10 :   for (size_t i = 0; i < transformed_path->points.size(); i++) {
+    2229             : 
+    2230           8 :     double x       = transformed_path->points[i].position.x;
+    2231           8 :     double y       = transformed_path->points[i].position.y;
+    2232           8 :     double z       = transformed_path->points[i].position.z;
+    2233           8 :     double heading = transformed_path->points[i].heading;
+    2234             : 
+    2235           8 :     Waypoint_t wp;
+    2236           8 :     wp.coords  = Eigen::Vector4d(x, y, z, heading);
+    2237           8 :     wp.stop_at = stop_at_waypoints_;
+    2238             : 
+    2239           8 :     if (!checkNaN(wp)) {
+    2240           0 :       ROS_ERROR("[MrsTrajectoryGeneration]: NaN detected in waypoint #%d", int(i));
+    2241           0 :       res.success = false;
+    2242           0 :       res.message = "invalid path";
+    2243           0 :       return true;
+    2244             :     }
+    2245             : 
+    2246           8 :     waypoints.push_back(wp);
+    2247             :   }
+    2248             : 
+    2249           2 :   if (loop_) {
+    2250           0 :     waypoints.push_back(waypoints[0]);
+    2251             :   }
+    2252             : 
+    2253           2 :   bool                          success = false;
+    2254           4 :   std::string                   message;
+    2255           2 :   mrs_msgs::TrajectoryReference trajectory;
+    2256             : 
+    2257           4 :   for (int i = 0; i < _n_attempts_; i++) {
+    2258             : 
+    2259             :     // the last iteration and the fallback sampling is enabled
+    2260           4 :     bool fallback_sampling = (_n_attempts_ > 1) && (i == (_n_attempts_ - 1)) && _fallback_sampling_enabled_;
+    2261             : 
+    2262           4 :     std::tie(success, message, trajectory) = optimize(waypoints, transformed_path->header, fallback_sampling, transformed_path->relax_heading);
+    2263             : 
+    2264           4 :     if (success) {
+    2265           2 :       break;
+    2266             :     } else {
+    2267           2 :       if (i < _n_attempts_) {
+    2268           2 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory, trying again with different initial conditions!");
+    2269             :       } else {
+    2270           0 :         ROS_WARN("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2271             :       }
+    2272             :     }
+    2273             :   }
+    2274             : 
+    2275           2 :   double total_time = (ros::Time::now() - start_time_total_).toSec();
+    2276             : 
+    2277           2 :   auto max_execution_time = mrs_lib::get_mutexed(mutex_max_execution_time_, max_execution_time_);
+    2278             : 
+    2279           2 :   if (total_time > max_execution_time) {
+    2280           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (exceeding maxtime %.3f s by %.3f s)", total_time, max_execution_time,
+    2281             :               total_time - max_execution_time);
+    2282             :   } else {
+    2283           2 :     ROS_INFO("[MrsTrajectoryGeneration]: trajectory ready, took %.3f s in total (out of %.3f)", total_time, max_execution_time);
+    2284             :   }
+    2285             : 
+    2286           2 :   if (success) {
+    2287             : 
+    2288           6 :     std::optional<geometry_msgs::TransformStamped> tf_traj_state = transformer_->getTransform("", req.path.header.frame_id, ros::Time::now());
+    2289             : 
+    2290           4 :     std::stringstream ss;
+    2291             : 
+    2292           2 :     if (!tf_traj_state) {
+    2293           0 :       ss << "could not create TF transformer for the trajectory to the requested frame";
+    2294           0 :       ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    2295           0 :       res.success = false;
+    2296           0 :       res.message = ss.str();
+    2297             :     }
+    2298             : 
+    2299           2 :     trajectory.header.frame_id = transformer_->frame_to(*tf_traj_state);
+    2300             : 
+    2301         271 :     for (unsigned long i = 0; i < trajectory.points.size(); i++) {
+    2302             : 
+    2303         538 :       mrs_msgs::ReferenceStamped trajectory_point;
+    2304         269 :       trajectory_point.header    = trajectory.header;
+    2305         269 :       trajectory_point.reference = trajectory.points[i];
+    2306             : 
+    2307         538 :       auto ret = transformer_->transform(trajectory_point, *tf_traj_state);
+    2308             : 
+    2309         269 :       if (!ret) {
+    2310             : 
+    2311           0 :         ss << "trajectory cannnot be transformed to the requested frame";
+    2312           0 :         ROS_WARN_STREAM_THROTTLE(1.0, "[ControlManager]: " << ss.str());
+    2313           0 :         res.success = false;
+    2314           0 :         res.message = ss.str();
+    2315             : 
+    2316             :       } else {
+    2317             : 
+    2318             :         // transform the points in the trajectory to the current frame
+    2319         269 :         trajectory.points[i] = ret.value().reference;
+    2320             :       }
+    2321             :     }
+    2322             : 
+    2323           2 :     res.trajectory = trajectory;
+    2324           2 :     res.success    = success;
+    2325           2 :     res.message    = message;
+    2326             : 
+    2327             :   } else {
+    2328             : 
+    2329           0 :     ROS_ERROR("[MrsTrajectoryGeneration]: failed to calculate a feasible trajectory");
+    2330             : 
+    2331           0 :     res.success = success;
+    2332           0 :     res.message = message;
+    2333             :   }
+    2334             : 
+    2335           2 :   return true;
+    2336             : }
+    2337             : 
+    2338             : //}
+    2339             : 
+    2340             : /* callbackUavState() //{ */
+    2341             : 
+    2342      142267 : void MrsTrajectoryGeneration::callbackUavState(const mrs_msgs::UavState::ConstPtr msg) {
+    2343             : 
+    2344      142267 :   if (!is_initialized_) {
+    2345           0 :     return;
+    2346             :   }
+    2347             : 
+    2348      142267 :   ROS_INFO_ONCE("[MrsTrajectoryGeneration]: getting uav state");
+    2349             : 
+    2350      142267 :   transformer_->setDefaultFrame(msg->header.frame_id);
+    2351             : }
+    2352             : 
+    2353             : //}
+    2354             : 
+    2355             : /* //{ callbackDrs() */
+    2356             : 
+    2357          81 : void MrsTrajectoryGeneration::callbackDrs(mrs_uav_trajectory_generation::drsConfig& params, [[maybe_unused]] uint32_t level) {
+    2358             : 
+    2359          81 :   mrs_lib::set_mutexed(mutex_params_, params, params_);
+    2360             : 
+    2361             :   {
+    2362          81 :     std::scoped_lock lock(mutex_max_execution_time_);
+    2363             : 
+    2364          81 :     max_execution_time_ = params.max_execution_time;
+    2365             :   }
+    2366             : 
+    2367          81 :   ROS_INFO("[MrsTrajectoryGeneration]: DRS updated");
+    2368          81 : }
+    2369             : 
+    2370             : //}
+    2371             : 
+    2372             : }  // namespace mrs_uav_trajectory_generation
+    2373             : 
+    2374             : #include <pluginlib/class_list_macros.h>
+    2375          81 : PLUGINLIB_EXPORT_CLASS(mrs_uav_trajectory_generation::MrsTrajectoryGeneration, nodelet::Nodelet);
+
    +
    +
    + + + + +
    Generated by: LCOV version 1.14
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    + + + 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..63c33c9a94 --- /dev/null +++ b/mrs_uav_trajectory_generation/src/mrs_trajectory_generation.cpp.gcov.overview.html @@ -0,0 +1,614 @@ + + + + + + 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 + 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    + Overview +
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